├── .github └── ISSUE_TEMPLATE │ └── student_issue.yml ├── README.md ├── assets ├── Mobile-Robotics-Engineer.png └── slambot.jpg ├── control_systems ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── CMakeLists.txt ├── README.md ├── config │ ├── cs.perspective │ ├── diffbot_controller.yaml │ └── urdf_view.rviz ├── docs │ ├── LQR.ipynb │ └── Robotism.png ├── include │ ├── lqr_lib.hpp │ └── lqr_node.hpp ├── launch │ ├── goal_planer.launch.py │ ├── lqr_multi_goals.launch.py │ └── velocity_controller.launch.py ├── package.xml ├── src │ ├── goal_linear.cpp │ ├── goal_planer.cpp │ ├── lqr_lib.cpp │ ├── lqr_node.cpp │ └── velocity_controller_drive.cpp └── urdf │ └── diff_drive_velocity_controller.urdf ├── cpp_fundamentals ├── .clang-tidy ├── CMakeLists.txt ├── README.md ├── include │ └── lib_line_following.h └── src │ ├── class_robot.cpp │ ├── formate.cpp │ ├── functions_sensor_reading.cpp │ ├── lib_line_following.cpp │ ├── lib_main.cpp │ ├── namespaces_sensor_processing.cpp │ ├── pointers_robot_location.cpp │ ├── ros2_node.cpp │ └── template_robot.cpp ├── custom_robots ├── CMakeLists.txt ├── README.md ├── config │ └── urdf_view.rviz ├── launch │ ├── gazebo.launch.py │ └── rviz.launch.py ├── package.xml ├── src │ └── static_transform.cpp └── urdf │ └── diff_drive.urdf ├── drive_mobile_robot ├── CMakeLists.txt ├── README.md ├── launch │ ├── multi_nodes.launch.py │ ├── multi_turtle_drive.launch.py │ └── turtletbot_drive.launch.py ├── package.xml └── src │ ├── drive_turtle.cpp │ ├── publisher.cpp │ └── subscriber.cpp ├── mapping ├── CMakeLists.txt ├── README.md ├── bag │ └── rosbag2_2024_03_24-08_46_04 │ │ ├── metadata.yaml │ │ └── rosbag2_2024_03_24-08_46_04_0.db3 ├── config │ └── map_loading_goal.rviz ├── launch │ ├── goal_with_markers.launch.py │ ├── map_loading_2d.launch.py │ ├── maze_mapping_2d.launch.py │ ├── maze_mapping_3d.launch.py │ ├── maze_tb3_bringup.launch.py │ └── slambot_mapping_bringup.launch.py ├── map │ ├── map.png │ ├── map.yaml │ ├── maze_2d.pgm │ ├── maze_2d.yaml │ ├── room.pgm │ └── room.yaml ├── models │ └── maze_map │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── src │ ├── lidar_sub.cpp │ ├── lidar_to_grid.cpp │ ├── occupancy_grid_pub.cpp │ ├── occupancy_grid_sub.cpp │ └── occupancy_grid_to_map.cpp └── worlds │ └── maze_map.world ├── navigation_ ├── CMakeLists.txt ├── Readme.md ├── config │ ├── nav2.rviz │ ├── nav2_params.yaml │ ├── nav2_slambot_params.yaml │ ├── nav2_steps.rviz │ └── planner_params_v2.yaml ├── launch │ ├── nav2_stack.launch.py │ ├── nav2_steps.launch.py │ └── slambot_navigation.launch.py ├── package.xml └── src │ └── nav2_goal.cpp ├── path_planning ├── .clang-tidy ├── CMakeLists.txt ├── README.md ├── config │ ├── global_planner_plugin.xml │ ├── nav2_steps.rviz │ ├── planner_params.yaml │ ├── search_path_planning.rviz │ └── servers.rviz ├── docs │ ├── RRT.ipynb │ └── img │ │ ├── HighLevel.drawio.png │ │ └── rrt_1.drawio.png ├── include │ └── path_planning │ │ ├── Node.hpp │ │ ├── Rrt_Planner.hpp │ │ ├── algo_astar.h │ │ ├── algo_astar_plugin.h │ │ ├── algo_gridsweep.h │ │ ├── algo_rrt.hpp │ │ ├── algo_rrt_node.hpp │ │ └── nav2_planner_interface.hpp ├── launch │ ├── custom_planner.launch.py │ ├── path_plan_rviz.launch.py │ └── servers.launch.py ├── overlays │ └── Astar.md ├── package.xml ├── src │ ├── algo_astar.cpp │ ├── algo_astar_plugin.cpp │ ├── algo_gridsweep.cpp │ ├── algo_rrt.cpp │ ├── algo_rrt_node.cpp │ ├── nav2_planner_interface.cpp │ ├── occupancy_grid.cpp │ └── path_planning.cpp └── test │ ├── test_rrt.cpp │ └── test_rrt_node.cpp ├── planners └── planner_custom │ ├── README.md │ ├── config │ ├── global_planner_plugin.xml │ └── planner_params.yaml │ ├── docs │ ├── RRT.ipynb │ └── img │ │ ├── HighLevel.drawio.png │ │ └── rrt_1.drawio.png │ ├── include │ └── planner_custom │ │ ├── Node.hpp │ │ ├── Rrt_Planner.hpp │ │ ├── algo_astar.h │ │ ├── algo_astar_plugin.h │ │ ├── algo_gridsweep.h │ │ ├── algo_rrt.hpp │ │ ├── algo_rrt_node.hpp │ │ └── nav2_planner_interface.hpp │ ├── launch │ ├── custom_planner.launch.py │ └── path_plan_rviz.launch.py │ ├── rviz │ ├── nav2_steps.rviz │ └── search_path_planning.rviz │ ├── src │ ├── algo_astar.cpp │ ├── algo_astar_plugin.cpp │ ├── algo_gridsweep.cpp │ ├── algo_rrt.cpp │ ├── algo_rrt_node.cpp │ ├── nav2_planner_interface.cpp │ ├── occupancy_grid.cpp │ └── path_planning.cpp │ └── test │ ├── test_rrt.cpp │ └── test_rrt_node.cpp ├── robot_sensing ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── README.md ├── bag │ └── rosbag2_2024_03_17-11_56_55 │ │ ├── metadata.yaml │ │ └── rosbag2_2024_03_17-11_56_55_0.db3 ├── launch │ ├── camera_line_following.launch.py │ ├── custom_sensors.launch.py │ └── lidar_maze_solving.launch.py ├── models │ ├── line_track │ │ ├── model.config │ │ └── model.sdf │ └── meshes │ │ ├── base.dae │ │ └── line.dae ├── package.xml ├── src │ ├── lidar_splitter.cpp │ ├── line_following_with_camera.cpp │ └── maze_solving_with_lidar.cpp ├── urdf │ └── diff_drive.urdf └── worlds │ ├── line_following.world │ └── maze.world ├── sensor_fusion ├── CMakeLists.txt ├── README.md ├── config │ ├── ekf_tb3_imu_odom.yaml │ ├── kitti.rviz │ ├── kitti_viz.rviz │ ├── sensor_fusion.rviz │ └── visualize.rviz ├── docs │ ├── Extended_Kalman.md │ ├── Kalman.md │ └── README.md ├── include │ └── ekf_lib.hpp ├── launch │ ├── ekf_tb3_imu_odom.launch.py │ ├── kitti_data_run.launch.py │ └── linear_kf.launch.py ├── package.xml └── src │ ├── ekf_lib.cpp │ ├── ekf_node.cpp │ └── linear_kf.cpp ├── slam ├── README.md ├── config │ └── 3d_mapping_tb3.rviz └── launch │ ├── 2d_map_load_rviz.launch.py │ ├── 2d_mapping_tb3.launch.py │ ├── 3d_mapping_drone.launch.py │ └── 3d_mapping_tb3.launch.py └── slambot ├── Readme.md ├── slambot_bringup ├── CMakeLists.txt ├── Readme.md ├── config │ └── bringup.rviz ├── launch │ ├── odom_tf_ready.launch.py │ ├── slam_bringup.launch.py │ └── slam_with_hw_intf.launch.py ├── map │ ├── big_room.pgm │ ├── big_room.yaml │ ├── small_room.pgm │ └── small_room.yaml ├── package.xml └── src │ ├── imu_fix.cpp │ └── odom_generator.cpp ├── slambot_control ├── CMakeLists.txt ├── config │ └── slambot_controller.yaml ├── diffbot_system_hardware.xml ├── include │ └── slambot_control │ │ └── diffbot_system.hpp ├── launch │ ├── ros2_controller_bringup.launch.py │ └── rviz_view_robot.launch.py ├── package.xml ├── src │ └── diffbot_system.cpp └── urdf │ ├── slambot.urdf │ └── slambot_mock.urdf ├── slambot_navigation ├── CMakeLists.txt ├── config │ ├── nav2.rviz │ └── nav2_params.yaml ├── launch │ └── nav2_stack.launch.py └── package.xml ├── slambot_pio ├── .gitignore ├── .vscode │ └── extensions.json ├── Readme.md ├── docs │ ├── lectures.md │ ├── main_.cpp │ ├── physical_videos.md │ ├── test_encoders.cpp │ ├── test_interface_motors_enc_imu.cpp │ ├── test_motors_cmdVel.cpp │ └── test_mpu.cpp ├── include │ └── README ├── lib │ ├── EncoderSensor │ │ ├── EncoderSensor.cpp │ │ └── EncoderSensor.h │ ├── MotorControl │ │ ├── MotorControl.cpp │ │ └── 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