├── .gitignore ├── LICENSE ├── README.md ├── autorally_ws └── src │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── README.md │ ├── autorally │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── autorally_control │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── PathIntegralParams.cfg │ │ └── gpsWaypoint_params.cfg │ ├── include │ │ └── autorally_control │ │ │ ├── ddp │ │ │ ├── boxqp.h │ │ │ ├── ddp.h │ │ │ ├── ddp_costs.h │ │ │ ├── ddp_dynamics.h │ │ │ ├── ddp_model_wrapper.h │ │ │ ├── ddp_tracking_costs.h │ │ │ ├── result.h │ │ │ └── util.h │ │ │ ├── path_integral │ │ │ ├── autorally_plant.h │ │ │ ├── car_bfs.cuh │ │ │ ├── car_kinematics.cuh │ │ │ ├── costs.cu │ │ │ ├── costs.cuh │ │ │ ├── debug_kernels.cuh │ │ │ ├── generalized_linear.cu │ │ │ ├── generalized_linear.cuh │ │ │ ├── gpu_err_chk.h │ │ │ ├── managed.cuh │ │ │ ├── meta_math.h │ │ │ ├── mppi.cu │ │ │ ├── mppi.cuh │ │ │ ├── mppi_controller.cu │ │ │ ├── mppi_controller.cuh │ │ │ ├── neural_net_model.cu │ │ │ ├── neural_net_model.cuh │ │ │ ├── param_getter.h │ │ │ ├── run_control_loop.cuh │ │ │ └── status_monitor.h │ │ │ └── placeholder.txt │ ├── launch │ │ ├── constantSpeedController.launch │ │ ├── gpsImuEstimator.launch │ │ ├── joystickController.launch │ │ ├── path_integral_bf.launch │ │ ├── path_integral_nn.launch │ │ ├── path_integral_nodelet.launch │ │ ├── recordWpts.launch │ │ ├── standalone_path_integral_bf.launch │ │ ├── waypointFollower.launch │ │ └── waypoints │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── ConstantSpeedController │ │ ├── CMakeLists.txt │ │ ├── ConstantSpeedController.cpp │ │ └── ConstantSpeedController.h │ │ ├── gpsWaypoint │ │ ├── CMakeLists.txt │ │ ├── GenerateWaypoints │ │ ├── gpsWaypoint.cpp │ │ └── gpsWaypoint.h │ │ ├── joystick │ │ ├── CMakeLists.txt │ │ ├── JoystickControl.cpp │ │ ├── JoystickControl.h │ │ └── joystickControlMain.cpp │ │ └── path_integral │ │ ├── CMakeLists.txt │ │ ├── autorally_plant.cpp │ │ ├── mppi_nodelet.cu │ │ ├── param_getter.cpp │ │ ├── params │ │ ├── maps │ │ │ ├── README.md │ │ │ ├── ccrf │ │ │ │ └── ccrf_track.npz │ │ │ ├── ccrf_costmap_09_29_2017.npz │ │ │ ├── gazebo │ │ │ │ ├── gazebo_map.npz │ │ │ │ ├── large_office_10_06.npz │ │ │ │ ├── map_office_small.npz │ │ │ │ ├── map_office_small_bounds.npz │ │ │ │ ├── my_office_env.npz │ │ │ │ └── small_office_26_05.npz │ │ │ ├── gazebo_costmap_05_22_2016.npz │ │ │ ├── marietta_costmap_07_25_2019.npz │ │ │ ├── marietta_costmap_09_08_2018.npz │ │ │ └── marietta_costmap_12_06_2015.npz │ │ └── models │ │ │ ├── README.md │ │ │ ├── autorally_nnet_09_12_2018.npz │ │ │ ├── basis_function_09_12_2018.npz │ │ │ └── gazebo_nnet_09_12_2018.npz │ │ ├── path_integral_main.cu │ │ ├── scripts │ │ ├── lap_stats.py │ │ ├── track_converter.py │ │ └── track_generator.py │ │ └── status_monitor.cpp │ ├── autorally_core │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── camera_auto_balance_params.cfg │ │ └── camera_trigger_params.cfg │ ├── include │ │ └── autorally_core │ │ │ ├── Diagnostics.h │ │ │ ├── PololuMaestro.h │ │ │ ├── RingBuffer.h │ │ │ ├── SafeSpeed.h │ │ │ ├── SerialCommon.h │ │ │ ├── SerialInterfaceThreaded.h │ │ │ └── SerialSensorInterface.h │ ├── launch │ │ ├── arduinoOnboard.launch │ │ ├── autorally.launch │ │ ├── autorally_chassis.launch │ │ ├── autorally_core_manager.launch │ │ ├── autorally_imu_3dm_gx4.launch │ │ ├── baseStation.launch │ │ ├── camera_auto_balance_flir.launch │ │ ├── camera_auto_balance_ptgrey.launch │ │ ├── camera_flir.launch │ │ ├── camera_ptgrey.launch │ │ ├── camera_trigger.launch │ │ ├── cameras.launch │ │ ├── chronyStatus.launch │ │ ├── flir_default_dynconfig.yaml │ │ ├── gpsBase.launch │ │ ├── gpsRover.launch │ │ ├── hardware.machine │ │ ├── ocs.launch │ │ ├── robot.urdf │ │ ├── runStop.launch │ │ ├── servoInterface.launch │ │ ├── stateEstimator.launch │ │ ├── systemStatus.launch │ │ ├── wheel_odometry.launch │ │ ├── xbeeCoordinator.launch │ │ └── xbeeNode.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── CameraAutoBalance │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraAdjuster.h │ │ │ ├── CameraAutoBalance.cpp │ │ │ ├── CameraAutoBalance.h │ │ │ ├── CameraAutoBalanceFLIR.cpp │ │ │ ├── CameraAutoBalancePtGrey.cpp │ │ │ ├── FlycaptureAdjuster.cpp │ │ │ ├── FlycaptureAdjuster.h │ │ │ ├── SpinnakerAdjuster.cpp │ │ │ └── SpinnakerAdjuster.h │ │ ├── Diagnostics │ │ │ ├── CMakeLists.txt │ │ │ └── Diagnostics.cpp │ │ ├── ImageRepublisher │ │ │ ├── CMakeLists.txt │ │ │ ├── ImageRepublisher.cpp │ │ │ └── ImageRepublisher.h │ │ ├── RingBuffer │ │ │ ├── CMakeLists.txt │ │ │ └── RingBuffer.cpp │ │ ├── RunStop │ │ │ ├── CMakeLists.txt │ │ │ ├── RunStop.cpp │ │ │ ├── RunStop.h │ │ │ ├── RunStop │ │ │ │ └── RunStop.ino │ │ │ └── RunStop_teensy │ │ │ │ └── RunStop_teensy.ino │ │ ├── SafeSpeed │ │ │ ├── CMakeLists.txt │ │ │ └── SafeSpeed.cpp │ │ ├── SerialSensorInterface │ │ │ ├── CMakeLists.txt │ │ │ ├── SerialCommon.cpp │ │ │ ├── SerialInterfaceThreaded.cpp │ │ │ └── SerialSensorInterface.cpp │ │ ├── StateEstimator │ │ │ ├── BlockingQueue.h │ │ │ ├── CMakeLists.txt │ │ │ ├── StateEstimator.cpp │ │ │ └── StateEstimator.h │ │ ├── WheelOdometry │ │ │ ├── CMakeLists.txt │ │ │ ├── wheel_odometry.cpp │ │ │ └── wheel_odometry.h │ │ ├── autorally_chassis │ │ │ ├── AutoRallyChassis.cpp │ │ │ ├── AutoRallyChassis.h │ │ │ ├── CMakeLists.txt │ │ │ └── autorally_chassis │ │ │ │ └── autorally_chassis.ino │ │ ├── camera_trigger │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraTrigger.cpp │ │ │ ├── CameraTrigger.h │ │ │ ├── camera_trigger │ │ │ │ └── camera_trigger.ino │ │ │ └── camera_trigger_teensy │ │ │ │ └── camera_trigger_teensy.ino │ │ ├── chronyStatus │ │ │ ├── __init__.py │ │ │ └── chronyStatus.py │ │ ├── gps │ │ │ ├── CMakeLists.txt │ │ │ ├── GPSHemisphere.cpp │ │ │ └── GPSHemisphere.h │ │ ├── ocs │ │ │ ├── CMakeLists.txt │ │ │ ├── DiagnosticsEntry.cpp │ │ │ ├── DiagnosticsEntry.hpp │ │ │ ├── ImageMaskEntry.cpp │ │ │ ├── ImageMaskEntry.hpp │ │ │ ├── main.cpp │ │ │ ├── main_window.cpp │ │ │ ├── main_window.hpp │ │ │ ├── main_window.ui │ │ │ ├── qnode.cpp │ │ │ ├── qnode.hpp │ │ │ └── resources │ │ │ │ ├── images.qrc │ │ │ │ ├── images.qrc.depends │ │ │ │ └── images │ │ │ │ ├── autorally.png │ │ │ │ └── camera.png │ │ ├── systemStatus │ │ │ ├── __init__.py │ │ │ └── systemStatus.py │ │ └── xbee │ │ │ ├── CMakeLists.txt │ │ │ ├── XbeeCoordinator.cpp │ │ │ ├── XbeeCoordinator.h │ │ │ ├── XbeeInterface.cpp │ │ │ ├── XbeeInterface.h │ │ │ ├── XbeeNode.cpp │ │ │ └── XbeeNode.h │ └── test │ │ ├── CMakeLists.txt │ │ ├── diagnosticsTest.cpp │ │ ├── pololuMicroMaestroTest.cpp │ │ └── serialSensorInterfaceTest.cpp │ ├── autorally_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── chassisCommand.msg │ │ ├── chassisState.msg │ │ ├── desirabilityGridMap.msg │ │ ├── imageMask.msg │ │ ├── lapStats.msg │ │ ├── line2D.msg │ │ ├── neuralNetLayer.msg │ │ ├── neuralNetModel.msg │ │ ├── pathIntegralParams.msg │ │ ├── pathIntegralStats.msg │ │ ├── pathIntegralStatus.msg │ │ ├── pathIntegralTiming.msg │ │ ├── point2D.msg │ │ ├── runstop.msg │ │ ├── stateEstimatorStatus.msg │ │ └── wheelSpeeds.msg │ └── package.xml │ ├── autorally_util │ ├── 99-autoRally.rules │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── chronyClient.conf │ ├── chronyServer.conf │ ├── config │ │ ├── arChassisConfig_CHASSIS_NAME.yaml │ │ ├── camera_calibration_GUID.yaml │ │ ├── chassisCommandPriorities.yaml │ │ └── throttlePositionCalibration.yaml │ ├── package.xml │ ├── roscoreAutostart.sh │ ├── setCameraPermissions.sh │ ├── setupEnvLocal.sh │ ├── setupEnvLocal.zsh │ ├── setupEnvRemote.sh │ ├── setupEnvRemote.zsh │ └── setupEnvVariables.sh │ ├── doc │ ├── autorally.png │ ├── autorally_repo.jpg │ └── chrony_screenshot.png │ └── mainpage.dox └── results ├── video1.gif └── video2.gif /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ShivamThukral/Wheelchair-Navigation/HEAD/.gitignore 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