├── Kristoffer Solberg Master's Thesis (2020).pdf ├── LICENSE ├── README.md ├── manta-auv ├── CMakeLists.txt ├── README.md ├── control │ ├── autopilot │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ ├── PID │ │ │ ├── PIDregulator.py │ │ │ ├── PIDregulator.pyc │ │ │ ├── __init__.py │ │ │ └── __init__.pyc │ │ │ ├── autopilot │ │ │ ├── __init__.py │ │ │ ├── autopilot.py │ │ │ └── autopilot.pyc │ │ │ └── backstepping │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── backstepping_control.py │ │ │ └── backstepping_control.pyc │ ├── dp_controller │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── Controller.cfg │ │ ├── include │ │ │ └── dp_controller │ │ │ │ ├── control_modes.h │ │ │ │ ├── controller_ros.h │ │ │ │ ├── quaternion_pd_controller.h │ │ │ │ ├── setpoints.h │ │ │ │ └── state.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── controller_node.cpp │ │ │ ├── controller_ros.cpp │ │ │ ├── quaternion_pd_controller.cpp │ │ │ ├── setpoints.cpp │ │ │ └── state.cpp │ │ └── test │ │ │ ├── controller_test.cpp │ │ │ └── controller_test.test │ ├── joystick_interface │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── joystick_interface.launch │ │ ├── package.xml │ │ └── scripts │ │ │ └── joystick_interface.py │ ├── mcu_interface │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── McuInterface.h │ │ │ └── crc.h │ │ ├── package.xml │ │ └── src │ │ │ ├── McuInterface.cpp │ │ │ ├── crc.c │ │ │ └── mcu_interface_node.cpp │ ├── sensor_interface │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── bno_test.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── bno055_interface.py │ │ │ ├── ms5837.py │ │ │ ├── ms5837.pyc │ │ │ └── ms5837_interface.py │ │ └── srv │ │ │ ├── LoadImuCalibration.srv │ │ │ └── SaveImuCalibration.srv │ ├── thruster_interface │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── thruster_T100.yaml │ │ │ └── thruster_terrapin.yaml │ │ ├── launch │ │ │ ├── manta_enu.launch │ │ │ ├── ordinary.launch │ │ │ └── pc-debug.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── thruster_interface_node.py │ │ └── srv │ │ │ └── ThrustersEnable.srv │ ├── vortex │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── environments │ │ │ │ ├── longbeach.yaml │ │ │ │ ├── trondheim_freshwater.yaml │ │ │ │ └── trondheim_saltwater.yaml │ │ │ └── robots │ │ │ │ ├── maelstrom.yaml │ │ │ │ ├── manta.yaml │ │ │ │ ├── manta_enu.yaml │ │ │ │ ├── manta_rov.yaml │ │ │ │ └── terrapin.yaml │ │ ├── include │ │ │ └── vortex │ │ │ │ ├── eigen_helper.h │ │ │ │ └── eigen_typedefs.h │ │ ├── launch │ │ │ ├── dp_control.launch │ │ │ ├── manta_enu.launch │ │ │ ├── manta_enu_simulator.launch │ │ │ ├── manta_rov.launch │ │ │ └── pc.launch │ │ └── package.xml │ ├── vortex_allocator │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── vortex_allocator │ │ │ │ ├── allocator_ros.h │ │ │ │ └── pseudoinverse_allocator.h │ │ ├── launch │ │ │ └── allocator.launch │ │ ├── package.xml │ │ ├── src │ │ │ ├── allocator_node.cpp │ │ │ ├── allocator_ros.cpp │ │ │ └── pseudoinverse_allocator.cpp │ │ └── test │ │ │ ├── allocator_test.cpp │ │ │ └── allocator_test.test │ └── vortex_controller │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ └── Controller.cfg │ │ ├── include │ │ └── vortex_controller │ │ │ ├── control_modes.h │ │ │ ├── controller_ros.h │ │ │ ├── quaternion_pd_controller.h │ │ │ ├── setpoints.h │ │ │ └── state.h │ │ ├── package.xml │ │ ├── src │ │ ├── controller_node.cpp │ │ ├── controller_ros.cpp │ │ ├── quaternion_pd_controller.cpp │ │ ├── setpoints.cpp │ │ └── state.cpp │ │ └── test │ │ ├── controller_test.cpp │ │ └── controller_test.test ├── docs │ ├── coordinate_frame.png │ ├── hardware.png │ ├── manta_underwater_robosub.png │ ├── manta_underwater_robosub_old.png │ └── manta_v1.png ├── guidance │ ├── README.md │ ├── los_guidance │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── Autopilot.cfg │ │ ├── launch │ │ │ ├── los_backstepping.launch │ │ │ └── los_backstepping_simulator.launch │ │ ├── package.xml │ │ └── scripts │ │ │ ├── los_guidance_backstepping.py │ │ │ └── old │ │ │ └── los_guidance_euler.py │ ├── reference_model │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── reference_model │ │ │ ├── __init__.py │ │ │ ├── discrete_tustin.py │ │ │ └── discrete_tustin.pyc │ ├── waypoint_action_client │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── load_waypoints_file.launch │ │ │ └── send_waypoints_file.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── .load_waypoints.py.swo │ │ │ ├── load_waypoints.py │ │ │ ├── load_waypoints.pyc │ │ │ ├── old │ │ │ │ ├── move_base_square.py │ │ │ │ └── static_waypoint_client.py │ │ │ └── waypoint_tracking_client.py │ │ └── waypoints │ │ │ ├── hexagon_waypoints.yaml │ │ │ ├── multiple_hexagon_waypoints.yaml │ │ │ ├── multiple_square_waypoints.yaml │ │ │ ├── robosub_waypoints.yaml │ │ │ ├── square_waypoints.yaml │ │ │ └── straight_waypoints.yaml │ └── waypoint_action_server │ │ ├── CMakeLists.txt │ │ └── package.xml ├── install-prereq.sh ├── localization │ ├── navigation_launch │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── navigation.launch │ │ └── package.xml │ ├── robot_localization │ │ ├── .gitignore │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── doc │ │ │ ├── .templates │ │ │ │ └── full_globaltoc.html │ │ │ ├── CHANGELOG.rst │ │ │ ├── Makefile │ │ │ ├── conf.py │ │ │ ├── configuring_robot_localization.rst │ │ │ ├── images │ │ │ │ ├── figure1.png │ │ │ │ └── rl_small.png │ │ │ ├── index.rst │ │ │ ├── integrating_gps.rst │ │ │ ├── manifest.yaml │ │ │ ├── migrating_from_robot_pose_ekf.rst │ │ │ ├── navsat_transform_node.rst │ │ │ ├── preparing_sensor_data.rst │ │ │ ├── robot_localization_ias13_revised.pdf │ │ │ └── state_estimation_nodes.rst │ │ ├── include │ │ │ └── robot_localization │ │ │ │ ├── ekf.h │ │ │ │ ├── filter_base.h │ │ │ │ ├── filter_common.h │ │ │ │ ├── filter_utilities.h │ │ │ │ ├── robot_localization_estimator.h │ │ │ │ ├── ros_filter.h │ │ │ │ ├── ros_filter_types.h │ │ │ │ ├── ros_filter_utilities.h │ │ │ │ ├── ros_robot_localization_listener.h │ │ │ │ └── ukf.h │ │ ├── launch │ │ │ ├── dual_ekf_navsat_example.launch │ │ │ ├── dvl_ekf_template.launch │ │ │ ├── ekf_IMU_DVL.launch │ │ │ ├── ekf_IMU_DVL_PRESSURE.launch │ │ │ ├── ekf_novembertest.launch │ │ │ ├── ekf_template.launch │ │ │ ├── navsat_transform_template.launch │ │ │ └── ukf_template.launch │ │ ├── package.xml │ │ ├── params │ │ │ ├── dual_ekf_navsat_example.yaml │ │ │ ├── dvl_ekf_template.yaml │ │ │ ├── ekf_template.yaml │ │ │ ├── navsat_transform_template.yaml │ │ │ ├── pooltestnovember.yaml │ │ │ ├── pooltestoctober.yaml │ │ │ └── ukf_template.yaml │ │ ├── rosdoc.yaml │ │ ├── src │ │ │ ├── ekf.cpp │ │ │ ├── ekf_localization_node.cpp │ │ │ ├── filter_base.cpp │ │ │ ├── filter_utilities.cpp │ │ │ ├── robot_localization_estimator.cpp │ │ │ ├── robot_localization_listener_node.cpp │ │ │ ├── ros_filter.cpp │ │ │ ├── ros_filter_utilities.cpp │ │ │ ├── ros_robot_localization_listener.cpp │ │ │ ├── ukf.cpp │ │ │ └── ukf_localization_node.cpp │ │ ├── srv │ │ │ ├── GetState.srv │ │ │ ├── SetDatum.srv │ │ │ ├── SetPose.srv │ │ │ └── ToggleFilterProcessing.srv │ │ └── test │ │ │ ├── record_all_stats.sh │ │ │ ├── stat_recorder.sh │ │ │ ├── test1.bag │ │ │ ├── test2.bag │ │ │ ├── test3.bag │ │ │ ├── test_ekf.cpp │ │ │ ├── test_ekf.test │ │ │ ├── test_ekf_localization_node_bag1.test │ │ │ ├── test_ekf_localization_node_bag2.test │ │ │ ├── test_ekf_localization_node_bag3.test │ │ │ ├── test_ekf_localization_node_interfaces.cpp │ │ │ ├── test_ekf_localization_node_interfaces.test │ │ │ ├── test_filter_base.cpp │ │ │ ├── test_filter_base_diagnostics_timestamps.cpp │ │ │ ├── test_filter_base_diagnostics_timestamps.test │ │ │ ├── test_localization_node_bag_pose_tester.cpp │ │ │ ├── test_robot_localization_estimator.cpp │ │ │ ├── test_robot_localization_estimator.test │ │ │ ├── test_ros_robot_localization_listener.cpp │ │ │ ├── test_ros_robot_localization_listener.test │ │ │ ├── test_ros_robot_localization_listener_publisher.cpp │ │ │ ├── test_ukf.cpp │ │ │ ├── test_ukf.test │ │ │ ├── test_ukf_localization_node_bag1.test │ │ │ ├── test_ukf_localization_node_bag2.test │ │ │ ├── test_ukf_localization_node_bag3.test │ │ │ ├── test_ukf_localization_node_interfaces.cpp │ │ │ └── test_ukf_localization_node_interfaces.test │ └── underwater_odom │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── underwater_odom_node.h │ │ ├── launch │ │ └── underwater_odom.launch │ │ ├── package.xml │ │ ├── param │ │ └── environment_config.yaml │ │ └── src │ │ └── underwater_odom_node.cpp ├── mission │ ├── README.md │ └── finite_state_machine │ │ ├── CMakeLists.txt │ │ ├── agents │ │ ├── hsm_with_battery_concurrence.py │ │ └── old │ │ │ ├── cybpool_hsm.py │ │ │ ├── dp_hsm.py │ │ │ ├── hierarchical_state_machine.py │ │ │ ├── los_hsm.py │ │ │ ├── los_state_machine.py │ │ │ ├── patrol_fsm.py │ │ │ └── pooltest_sm.py │ │ ├── launch │ │ ├── DP_and_LOS.launch │ │ ├── gazebo_DP.launch │ │ ├── gazebo_LOS.launch │ │ ├── gazebo_sm.launch │ │ ├── guidance_and_control.launch │ │ ├── los_pooltest.launch │ │ └── pooltest.launch │ │ ├── package.xml │ │ ├── scripts │ │ └── los_action_client.py │ │ ├── setup.py │ │ └── src │ │ └── finite_state_machine │ │ ├── __init__.py │ │ ├── los_client.py │ │ ├── los_client.pyc │ │ ├── mission_plan.py │ │ ├── mission_plan.pyc │ │ ├── service_client.py │ │ ├── service_client.pyc │ │ ├── waypoint_client.py │ │ └── waypoint_client.pyc ├── pathplanning │ └── README.md ├── perception │ ├── README.md │ ├── gate_detect │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── yellow_gate.cfg │ │ ├── include │ │ │ ├── CameraObjectInfo.h │ │ │ └── gate_detect_node.h │ │ ├── launch │ │ │ └── gate_detect.launch │ │ ├── package.xml │ │ └── src │ │ │ └── gate_detect_node.cpp │ └── pole_detect │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ ├── green_pole_tuning.cfg │ │ └── red_pole_tuning.cfg │ │ ├── include │ │ ├── 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