├── .catkin_workspace ├── .gitignore ├── README.md ├── sh ├── 0-双击关闭所有终端.sh └── 1-启动仿真.sh └── src ├── CMakeLists.txt ├── auto_car ├── CMakeLists.txt ├── auto_world.world ├── auto_world │ ├── meshes │ │ └── auto_world.dae │ ├── model.config │ └── model.sdf ├── config │ ├── auto_car.rviz │ └── joint_names_auto_car.yaml ├── export.log ├── launch │ ├── display.launch │ └── gazebo.launch ├── meshes │ ├── base_link.STL │ ├── cam_link.STL │ ├── imu_link.STL │ ├── lf_wheel_link.STL │ ├── lidar_link.STL │ ├── lr_wheel_link.STL │ ├── pitch_link.STL │ ├── rf_wheel_link.STL │ ├── rr_wheel_link.STL │ └── yaw_link.STL ├── package.xml ├── robots │ └── auto_car.xacro └── urdf │ ├── auto_car.csv │ ├── auto_car.urdf │ ├── base │ ├── base.gazebo.xacro │ └── base.urdf.xacro │ ├── sensor │ ├── camera │ │ ├── camera.gazebo.xacro │ │ └── camera.urdf.xacro │ ├── gps │ │ └── gps.urdf.xacro │ ├── imu │ │ ├── imu.gazebo.xacro │ │ └── imu.urdf.xacro │ ├── kinect │ │ └── kinect_gazebo.xacro │ └── lidar │ │ ├── lidar.gazebo.xacro │ │ └── lidar.urdf.xacro │ ├── suspension │ ├── globalpitch.urdf.xacro │ ├── globalyaw.urdf.xacro │ ├── suspension.gazebo.xacro │ └── suspension.transmission.xacro │ └── wheel │ ├── wheel.gazebo.xacro │ ├── wheel.transmission.xacro │ ├── wheel_lf.urdf.xacro │ ├── wheel_lr.urdf.xacro │ ├── wheel_rf.urdf.xacro │ └── wheel_rr.urdf.xacro ├── auto_control ├── CMakeLists.txt ├── config │ └── taurus_control.yaml ├── include │ ├── joint_state_update_node.h │ └── joy_ctrl.h ├── launch │ ├── joy_control.launch │ ├── launch_robot.launch │ └── taurus_control.launch ├── package.xml ├── scripts │ └── tf_control.py └── src │ ├── joint_state_update_node.cpp │ └── joy_ctrl.cpp ├── auto_nav ├── CMakeLists.txt ├── config │ ├── params │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── teb_local_planner_params.yaml │ ├── point_pid_params │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── teb_local_planner_params.yaml │ └── rviz │ │ ├── auto_gmapping.rviz │ │ └── auto_navi_demo.rviz ├── include │ ├── cubic_spline │ │ ├── cpprobotics_types.h │ │ ├── cubic_spline.h │ │ └── cubic_spline_ros.h │ ├── pid.h │ ├── pid_position_follow.h │ └── utility.h ├── launch │ ├── amcl.launch │ ├── amcl_simulink.launch │ ├── auto_fsm.launch │ ├── auto_simulink_gmapping.launch │ ├── gmapping.launch │ ├── gmapping_demo.launch │ ├── navi_pid_follow.launch │ ├── navi_pid_follow_simulink.launch │ ├── navi_pure_follow_simulink.launch │ ├── navi_simulink.launch │ ├── pid_follow_planner.launch │ └── test_tf.launch ├── map │ ├── game_map.pgm │ ├── game_map.yaml │ ├── gcmap1.pgm │ ├── gcmap1.yaml │ ├── gcmap2.pgm │ ├── gcmap2.yaml │ ├── gcmap3.pgm │ ├── gcmap3.yaml │ ├── map.pgm │ ├── map.yaml │ ├── map5.pgm │ ├── map5.yaml │ ├── map_auto_1.pgm │ └── map_auto_1.yaml ├── package.xml ├── scripts │ ├── __pycache__ │ │ └── optimal_point.cpython-38.pyc │ ├── auto_fsm.py 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