├── .gitignore ├── .travis.yml ├── COPYING.txt ├── README.md ├── images ├── robot.jpg └── system.png ├── license.txt ├── roborts └── package.xml ├── roborts_base ├── CMakeLists.txt ├── chassis │ ├── chassis.cpp │ └── chassis.h ├── cmake_module │ └── FindGlog.cmake ├── config │ └── roborts_base_parameter.yaml ├── gimbal │ ├── gimbal.cpp │ └── gimbal.h ├── package.xml ├── referee_system │ ├── referee_system.cpp │ └── referee_system.h ├── roborts_base_config.h ├── roborts_base_node.cpp ├── roborts_sdk │ ├── dispatch │ │ ├── dispatch.h │ │ ├── execution.cpp │ │ ├── execution.h │ │ ├── handle.cpp │ │ └── handle.h │ ├── hardware │ │ ├── hardware_interface.h │ │ ├── serial_device.cpp │ │ └── serial_device.h │ ├── protocol │ │ ├── protocol.cpp │ │ ├── protocol.h │ │ └── protocol_define.h │ ├── sdk.h │ ├── test │ │ └── sdk_test.cpp │ └── utilities │ │ ├── circular_buffer.h │ │ ├── crc.h │ │ ├── log.h │ │ └── memory_pool.h └── ros_dep.h ├── roborts_bringup ├── CMakeLists.txt ├── launch │ ├── base.launch │ ├── mapping.launch │ ├── mapping_stage.launch │ ├── roborts.launch │ ├── roborts_stage.launch │ ├── slam_gmapping.xml │ └── static_tf.launch ├── maps │ ├── icra2018.pgm │ ├── icra2018.yaml │ ├── icra2019.pgm │ └── icra2019.yaml ├── package.xml ├── rviz │ ├── mapping.rviz │ ├── roborts.rviz │ └── teb_test.rviz ├── scripts │ ├── udev │ │ ├── create_udev_rules.sh │ │ ├── delete_udev_rules.sh │ │ └── roborts.rules │ └── upstart │ │ ├── create_upstart_service.sh │ │ ├── delete_upstart_service.sh │ │ ├── jetson_clocks.sh │ │ ├── max-performance.service │ │ ├── max_performance.sh │ │ ├── roborts-start.sh │ │ └── roborts.service └── worlds │ ├── icra2018.world │ └── icra2019.world ├── roborts_camera ├── CMakeLists.txt ├── camera_base.h ├── camera_node.cpp ├── camera_node.h ├── camera_param.cpp ├── camera_param.h ├── cmake_module │ └── FindProtoBuf.cmake ├── config │ └── camera_param.prototxt ├── package.xml ├── proto │ └── camera_param.proto ├── test │ └── image_capture.cpp └── uvc │ ├── CMakeLists.txt │ ├── uvc_driver.cpp │ └── uvc_driver.h ├── roborts_common ├── CMakeLists.txt ├── cmake_module │ ├── FindEigen3.cmake │ ├── FindGTEST.cmake │ ├── FindGlog.cmake │ └── FindProtoBuf.cmake ├── include │ ├── alg_factory │ │ ├── CMakeLists.txt │ │ ├── algorithm_factory.h │ │ └── bind_this.h │ ├── io │ │ ├── CMakeLists.txt │ │ └── io.h │ ├── state │ │ ├── CMakeLists.txt │ │ ├── error_code.h │ │ └── node_state.h │ └── timer │ │ ├── CMakeLists.txt │ │ └── timer.h ├── math │ ├── CMakeLists.txt │ ├── geometry.h │ └── math.h └── package.xml ├── roborts_costmap ├── CMakeLists.txt ├── cmake_module │ ├── FindEigen3.cmake │ └── FindProtoBuf.cmake ├── config │ ├── costmap_parameter_config_for_decision.prototxt │ ├── costmap_parameter_config_for_global_plan.prototxt │ ├── costmap_parameter_config_for_local_plan.prototxt │ ├── inflation_layer_config.prototxt │ ├── inflation_layer_config_min.prototxt │ ├── obstacle_layer_config.prototxt │ └── static_layer_config.prototxt ├── include │ └── costmap │ │ ├── costmap_2d.h │ │ ├── costmap_interface.h │ │ ├── costmap_layer.h │ │ ├── costmap_math.h │ │ ├── footprint.h │ │ ├── inflation_layer.h │ │ ├── layer.h │ │ ├── layered_costmap.h │ │ ├── map_common.h │ │ ├── observation.h │ │ ├── observation_buffer.h │ │ ├── obstacle_layer.h │ │ └── static_layer.h ├── package.xml ├── proto │ ├── costmap_parameter_setting.proto │ ├── inflation_layer_setting.proto │ ├── obstacle_layer_setting.proto │ └── static_layer_setting.proto └── src │ ├── costmap_2d.cpp │ ├── costmap_interface.cpp │ ├── costmap_layer.cpp │ ├── costmap_math.cpp │ ├── footprint.cpp │ ├── inflation_layer.cpp │ ├── layer.cpp │ ├── layered_costmap.cpp │ ├── observation_buffer.cpp │ ├── obstacle_layer.cpp │ ├── static_layer.cpp │ └── test_costmap.cpp ├── roborts_decision ├── CMakeLists.txt ├── behavior_test.cpp ├── behavior_tree │ ├── behavior_node.h │ ├── behavior_state.h │ └── behavior_tree.h ├── blackboard │ └── blackboard.h ├── cmake_module │ ├── FindEigen3.cmake │ └── FindProtoBuf.cmake ├── config │ └── decision.prototxt ├── example_behavior │ ├── back_boot_area_behavior.h │ ├── chase_behavior.h │ ├── escape_behavior.h │ ├── goal_behavior.h │ ├── line_iterator.h │ ├── patrol_behavior.h │ └── search_behavior.h ├── executor │ ├── chassis_executor.cpp │ ├── chassis_executor.h │ ├── gimbal_executor.cpp │ └── gimbal_executor.h ├── package.xml └── proto │ └── decision.proto ├── roborts_detection ├── CMakeLists.txt ├── armor_detection │ ├── CMakeLists.txt │ ├── armor_detection_algorithms.h │ ├── armor_detection_base.h │ ├── armor_detection_client.cpp │ ├── armor_detection_node.cpp │ ├── armor_detection_node.h │ ├── config │ │ └── armor_detection.prototxt │ ├── constraint_set │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── constraint_set.prototxt │ │ ├── constraint_set.cpp │ │ ├── constraint_set.h │ │ └── proto │ │ │ └── constraint_set.proto │ ├── gimbal_control.cpp │ ├── gimbal_control.h │ └── proto │ │ └── armor_detection.proto ├── cmake_module │ ├── FindEigen3.cmake │ └── FindProtoBuf.cmake ├── package.xml └── util │ ├── CMakeLists.txt │ └── cv_toolbox.h ├── roborts_localization ├── CMakeLists.txt ├── amcl │ ├── CMakeLists.txt │ ├── amcl.cpp │ ├── amcl.h │ ├── amcl_config.h │ ├── config │ │ └── amcl.yaml │ ├── map │ │ ├── amcl_map.cpp │ │ └── amcl_map.h │ ├── particle_filter │ │ ├── particle_filter.cpp │ │ ├── particle_filter.h │ │ ├── particle_filter_gaussian_pdf.cpp │ │ ├── particle_filter_gaussian_pdf.h │ │ ├── particle_filter_kdtree.cpp │ │ ├── particle_filter_kdtree.h │ │ └── particle_filter_sample.h │ └── sensors │ │ ├── sensor_laser.cpp │ │ ├── sensor_laser.h │ │ ├── sensor_odom.cpp │ │ └── sensor_odom.h ├── cmake_module │ ├── FindEigen3.cmake │ └── FindGlog.cmake ├── config │ └── localization.yaml ├── localization_config.h ├── localization_math.cpp ├── localization_math.h ├── localization_node.cpp ├── localization_node.h ├── log.h ├── package.xml └── types.h ├── roborts_msgs ├── CMakeLists.txt ├── action │ ├── ArmorDetection.action │ ├── GlobalPlanner.action │ └── LocalPlanner.action ├── msg │ ├── GimbalAngle.msg │ ├── GimbalRate.msg │ ├── ObstacleMsg.msg │ ├── ShootInfo.msg │ ├── ShootState.msg │ ├── TwistAccel.msg │ └── referee_system │ │ ├── BonusStatus.msg │ │ ├── GameResult.msg │ │ ├── GameStatus.msg │ │ ├── GameSurvivor.msg │ │ ├── ProjectileSupply.msg │ │ ├── RobotBonus.msg │ │ ├── RobotDamage.msg │ │ ├── RobotHeat.msg │ │ ├── RobotShoot.msg │ │ ├── RobotStatus.msg │ │ └── SupplierStatus.msg ├── package.xml └── srv │ ├── FricWhl.srv │ ├── GimbalMode.srv │ └── ShootCmd.srv ├── roborts_planning ├── CMakeLists.txt ├── cmake_module │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ ├── FindProtoBuf.cmake │ └── FindSUITESPARSE.cmake ├── global_planner │ ├── CMakeLists.txt │ ├── a_star_planner │ │ ├── CMakeLists.txt │ │ ├── a_star_planner.cpp │ │ ├── a_star_planner.h │ │ ├── config │ │ │ └── a_star_planner_config.prototxt │ │ └── proto │ │ │ └── a_star_planner_config.proto │ ├── config │ │ └── global_planner_config.prototxt │ ├── global_planner_algorithms.h │ ├── global_planner_base.h │ ├── global_planner_node.cpp │ ├── global_planner_node.h │ ├── global_planner_test.cpp │ └── proto │ │ └── global_planner_config.proto ├── local_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── local_planner.prototxt │ ├── include │ │ └── local_planner │ │ │ ├── data_base.h │ │ │ ├── data_converter.h │ │ │ ├── distance_calculation.h │ │ │ ├── line_iterator.h │ │ │ ├── local_planner_algorithms.h │ │ │ ├── local_planner_base.h │ │ │ ├── local_planner_node.h │ │ │ ├── local_visualization.h │ │ │ ├── obstacle.h │ │ │ ├── odom_info.h │ │ │ ├── optimal_base.h │ │ │ ├── proto │ │ │ └── local_planner.proto │ │ │ ├── robot_footprint_model.h │ │ │ ├── robot_position_cost.h │ │ │ └── utility_tool.h │ ├── src │ │ ├── local_planner_node.cpp │ │ ├── local_visualization.cpp │ │ ├── obstacles.cpp │ │ ├── odom_info.cpp │ │ ├── robot_position_cost.cpp │ │ ├── teb_test.cpp │ │ └── vel_converter.cpp │ └── timed_elastic_band │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── hcp.prototxt │ │ ├── recovery.prototxt │ │ └── timed_elastic_band.prototxt │ │ ├── include │ │ └── timed_elastic_band │ │ │ ├── proto │ │ │ └── timed_elastic_band.proto │ │ │ ├── teb_acceleration_eage.h │ │ │ ├── teb_base_eage.h │ │ │ ├── teb_kinematics_edge.h │ │ │ ├── teb_local_planner.h │ │ │ ├── teb_obstacle_eage.h │ │ │ ├── teb_optimal.h │ │ │ ├── teb_penalties.h │ │ │ ├── teb_prefer_rotdir_edge.h │ │ │ ├── teb_time_optimal_eage.h │ │ │ ├── teb_velocity_eage.h │ │ │ ├── teb_vertex_console.h │ │ │ ├── teb_vertex_pose.h │ │ │ ├── teb_vertex_timediff.h │ │ │ ├── teb_via_point_edge.h │ │ │ └── timed_elastic_band.hpp │ │ └── src │ │ ├── teb_local_planner.cpp │ │ ├── teb_optimal.cpp │ │ └── teb_vertex_console.cpp └── package.xml └── roborts_tracking ├── CMakeLists.txt ├── KCFcpp ├── CMakeLists.txt ├── KCFCpp.sh ├── KCFLabCpp.sh ├── LICENSE ├── README.md └── src │ ├── ffttools.hpp │ ├── fhog.cpp │ 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