├── README.md ├── elevation_mapping ├── CMakeLists.txt ├── config │ └── sensor_processors │ │ ├── aslam.yaml │ │ ├── fotonic_g45.yaml │ │ ├── hokuyo_utm-30lx.yaml │ │ ├── kinect_nguyen_et_al.yaml │ │ ├── perfect.yaml │ │ ├── primesense_carmine_109_short_range_datasheet.yaml │ │ ├── primesense_carmine_109_short_range_uncalibrated.yaml │ │ ├── realsense_ZR300.yaml │ │ ├── realsense_d435.yaml │ │ ├── realsense_d435i.yaml │ │ ├── realsense_d435i_no_pose.yaml │ │ ├── realsense_d435i_rtabmap_pose.yaml │ │ └── velodyne_HDL-32E.yaml ├── include │ └── elevation_mapping │ │ ├── ElevationMap.hpp │ │ ├── ElevationMapFunctors.hpp │ │ ├── ElevationMapping.hpp │ │ ├── PointXYZRGBConfidenceRatio.hpp │ │ ├── RobotMotionMapUpdater.hpp │ │ ├── ThreadSafeDataWrapper.hpp │ │ ├── WeightedEmpiricalCumulativeDistributionFunction.hpp │ │ ├── input_sources │ │ ├── Input.hpp │ │ └── InputSourceManager.hpp │ │ ├── postprocessing │ │ ├── PostprocessingPipelineFunctor.hpp │ │ ├── PostprocessingWorker.hpp │ │ └── PostprocessorPool.hpp │ │ └── sensor_processors │ │ ├── LaserSensorProcessor.hpp │ │ ├── PerfectSensorProcessor.hpp │ │ ├── SensorProcessorBase.hpp │ │ ├── StereoSensorProcessor.hpp │ │ └── StructuredLightSensorProcessor.hpp ├── launch │ ├── elevationMap_realsense_d435i.launch │ ├── launch_d435i.launch │ ├── move_base_ompl_traversability_simulation.launch │ ├── navigation_with_d435i.launch │ ├── traversability_mapping_sobhan.launch │ ├── waffle_init.launch │ └── waffle_nav.launch ├── package.xml ├── rviz │ ├── elevation_map_realsense_d435i.rviz │ └── elevation_map_realsense_d435i_no_pose.rviz ├── src │ ├── ElevationMap.cpp │ ├── ElevationMapping.cpp │ ├── PointXYZRGBConfidenceRatio.cpp │ ├── RobotMotionMapUpdater.cpp │ ├── elevation_mapping_node.cpp │ ├── input_sources │ │ ├── Input.cpp │ │ └── InputSourceManager.cpp │ ├── postprocessing │ │ ├── PostprocessingPipelineFunctor.cpp │ │ ├── PostprocessingWorker.cpp │ │ └── PostprocessorPool.cpp │ └── sensor_processors │ │ ├── LaserSensorProcessor.cpp │ │ ├── PerfectSensorProcessor.cpp │ │ ├── SensorProcessorBase.cpp │ │ ├── StereoSensorProcessor.cpp │ │ └── StructuredLightSensorProcessor.cpp ├── test │ ├── ElevationMapTest.cpp │ ├── ThreadSafeParameterWrapperTest.cpp │ ├── WeightedEmpiricalCumulativeDistributionFunctionTest.cpp │ ├── elevation_mapping.test │ ├── input_sources │ │ ├── InputSourcesTest.cpp │ │ ├── config │ │ │ ├── TestConfigurations.yaml │ │ │ └── rosconsole.config │ │ ├── input_sources.test │ │ └── test_input_sources.cpp │ ├── postprocessing │ │ ├── PostprocessorTest.cpp │ │ ├── main.cpp │ │ ├── postprocessor.test │ │ └── postprocessor_pipeline.yaml │ └── test_elevation_mapping.cpp └── urdf │ └── _d435.urdf.xacro ├── elevation_mapping_demos ├── CMakeLists.txt ├── config │ ├── elevation_maps │ │ ├── long_range.yaml │ │ ├── remove_object.yaml │ │ ├── simple_demo_map.yaml │ │ └── starleth_map.yaml │ ├── models │ │ ├── apollo15_landing_site_1000x1000 │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── AS16-110-18026HR-512x512.jpg │ │ │ │ │ └── NAC_DTM_APOLLO15_E261N0036_257x257+7472+2152.png │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── cinderblock2 │ │ │ ├── meshes │ │ │ │ └── cinder_block_wide.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── ramp2 │ │ │ ├── materials │ │ │ └── textures │ │ │ │ └── plywood256x256.png │ │ │ ├── meshes │ │ │ └── nist_simple_ramp_120.dae │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── postprocessing │ │ └── postprocessor_pipeline.yaml │ ├── robots │ │ ├── ground_truth_demo.yaml │ │ ├── remove_object.yaml │ │ ├── simple_demo_robot.yaml │ │ ├── starleth.yaml │ │ └── waffle_robot.yaml │ ├── rosconsole.conf │ ├── simple-ramp.world │ ├── smb_sobhan │ │ ├── base_local_planner.yaml │ │ ├── base_local_planner_exploration.yaml │ │ ├── base_local_planner_sim.yaml │ │ ├── move_base_costmaps │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── global_costmap_params_exploration.yaml │ │ │ ├── global_costmap_params_global_map.yaml │ │ │ ├── global_costmap_params_ompl_traversability.yaml │ │ │ ├── global_costmap_params_traversability.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── local_costmap_params_traversability.yaml │ │ ├── move_base_global_planner.yaml │ │ ├── ompl_global_planner.yaml │ │ ├── point_cloud_processing_no_icp │ │ │ ├── smb_lidar_filters.yaml │ │ │ └── stream_sources.yaml │ │ └── traversability_estimation │ │ │ ├── elevation_mapping_smb_lidar.yaml │ │ │ ├── elevation_mapping_smb_realsense.yaml │ │ │ ├── gridmap_converter.yaml │ │ │ ├── robot_filter_parameter.yaml │ │ │ └── traversability_estimation_smb.yaml │ └── visualization │ │ ├── fused.yaml │ │ └── raw.yaml ├── doc │ ├── Elevation_mapping.png │ └── Video_elevation_mapping.gif ├── launch │ ├── ground_truth_demo.launch │ ├── realsense_demo.launch │ ├── simple_demo.launch │ ├── simple_ramp.launch │ ├── starleth_kinect_demo.launch │ ├── turtlesim3_waffle_demo.launch │ └── visualization.launch ├── package.xml ├── rviz │ ├── elevation_map_visualization.rviz │ └── turtlebot3_waffle_demo.rviz ├── sample_data │ └── maze.ply ├── scripts │ ├── pose_translator.py │ └── tf_to_pose_publisher.py └── test │ └── empty_test.cpp └── traversability_estimation ├── traversability_estimation ├── CMakeLists.txt ├── config │ ├── d435i.yaml │ ├── d435i_filter_parameter.yaml │ ├── d435i_footprint_parameter.yaml │ ├── d435i_no_pose.yaml │ ├── robot.yaml │ ├── robot_filter_parameter.yaml │ ├── robot_footprint_parameter.yaml │ ├── rosconsole.conf │ └── visualization │ │ └── traversability.yaml ├── include │ └── traversability_estimation │ │ ├── TraversabilityEstimation.hpp │ │ ├── TraversabilityMap.hpp │ │ └── common.h ├── launch │ ├── custom_rosconsole.conf │ ├── traversability_d435i.launch │ ├── traversability_estimation.launch │ └── visualization.launch ├── maps │ ├── elevation_map.bag │ └── 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