├── .gitignore ├── README.md ├── Universal_Robots_ROS2_Description ├── .pre-commit-config.yaml ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── ci_status.md ├── config │ ├── initial_positions.yaml │ ├── ur10 │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur10e │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur16e │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur20 │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur3 │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur3e │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ ├── ur5 │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml │ └── ur5e │ │ ├── default_kinematics.yaml │ │ ├── joint_limits.yaml │ │ ├── physical_parameters.yaml │ │ └── visual_parameters.yaml ├── doc │ ├── structure.drawio │ └── structure.svg ├── launch │ └── view_ur.launch.py ├── meshes │ ├── ur10 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur10e │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur16e │ │ ├── collision │ │ │ ├── forearm.stl │ │ │ └── upperarm.stl │ │ └── visual │ │ │ ├── forearm.dae │ │ │ └── upperarm.dae │ ├── ur20 │ │ ├── LICENSE.txt │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── UR20_DIFF_8bit_2K.png │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur3 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur3e │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── ur5e │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── model.pdf ├── package.xml ├── rviz │ └── view_robot.rviz ├── test │ ├── test_ur_urdf_xacro.py │ └── test_view_ur_launch.py └── urdf │ ├── inc │ ├── ur_common.xacro │ └── ur_transmissions.xacro │ ├── ur.ros2_control.xacro │ ├── ur.urdf.xacro │ └── ur_macro.xacro ├── Universal_Robots_ROS2_Driver ├── .clang-format ├── .dir-locals.el ├── .pre-commit-config.yaml ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── Universal_Robots_ROS2_Driver-not-released.humble.repos ├── Universal_Robots_ROS2_Driver.humble.repos ├── ur │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── test_goal_publishers_config.yaml │ │ ├── test_velocity_goal_publishers_config.yaml │ │ ├── ur10_update_rate.yaml │ │ ├── ur10e_update_rate.yaml │ │ ├── ur16e_update_rate.yaml │ │ ├── ur3_update_rate.yaml │ │ ├── ur3e_update_rate.yaml │ │ ├── ur5_update_rate.yaml │ │ ├── ur5e_update_rate.yaml │ │ └── ur_controllers.yaml │ ├── launch │ │ ├── test_forward_velocity_controller.launch.py │ │ ├── test_joint_trajectory_controller.launch.py │ │ ├── test_scaled_joint_trajectory_controller.launch.py │ │ ├── ur10.launch.py │ │ ├── ur10e.launch.py │ │ ├── ur16e.launch.py │ │ ├── ur3.launch.py │ │ ├── ur3e.launch.py │ │ ├── ur5.launch.py │ │ ├── ur5e.launch.py │ │ ├── ur_control.launch.py │ │ └── ur_dashboard_client.launch.py │ ├── package.xml │ └── scripts │ │ └── start_ursim.sh ├── ur_calibration │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── ur_calibration │ │ │ ├── calibration.hpp │ │ │ └── calibration_consumer.hpp │ ├── launch │ │ └── calibration_correction.launch.py │ ├── package.xml │ ├── src │ │ ├── calibration.cpp │ │ ├── calibration_consumer.cpp │ │ └── calibration_correction.cpp │ └── test │ │ └── calibration_test.cpp ├── ur_controllers │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── controller_plugins.xml │ ├── doc │ │ ├── traj_with_speed_scaling.png │ │ └── traj_without_speed_scaling.png │ ├── include │ │ └── ur_controllers │ │ │ ├── gpio_controller.hpp │ │ │ ├── scaled_joint_trajectory_controller.hpp │ │ │ └── speed_scaling_state_broadcaster.hpp │ ├── package.xml │ └── src │ │ ├── gpio_controller.cpp │ │ ├── gpio_controller_parameters.yaml │ │ ├── scaled_joint_trajectory_controller.cpp │ │ ├── scaled_joint_trajectory_controller_parameters.yaml │ │ ├── speed_scaling_state_broadcaster.cpp │ │ └── speed_scaling_state_broadcaster_parameters.yaml ├── ur_dashboard_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ │ └── SetMode.action │ ├── msg │ │ ├── ProgramState.msg │ │ ├── RobotMode.msg │ │ └── SafetyMode.msg │ ├── package.xml │ └── srv │ │ ├── AddToLog.srv │ │ ├── GetLoadedProgram.srv │ │ ├── GetProgramState.srv │ │ ├── GetRobotMode.srv │ │ ├── GetSafetyMode.srv │ │ ├── IsProgramRunning.srv │ │ ├── IsProgramSaved.srv │ │ ├── Load.srv │ │ ├── Popup.srv │ │ └── RawRequest.srv ├── ur_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur_servo.yaml │ ├── launch │ │ ├── rviz │ │ │ └── view_robot.rviz │ │ └── ur_moveit.launch.py │ ├── package.xml │ ├── rviz │ │ └── view_robot.rviz │ ├── srdf │ │ ├── mir_100.srdf │ │ ├── ur.srdf.xacro │ │ └── ur_macro.srdf.xacro │ └── ur_moveit_config │ │ ├── __init__.py │ │ └── launch_common.py └── ur_robot_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── test_goal_publishers_config.yaml │ ├── test_velocity_goal_publishers_config.yaml │ ├── ur10_update_rate.yaml │ ├── ur10e_update_rate.yaml │ ├── ur16e_update_rate.yaml │ ├── ur20_update_rate.yaml │ ├── ur3_update_rate.yaml │ ├── ur3e_update_rate.yaml │ ├── ur5_update_rate.yaml │ ├── ur5e_update_rate.yaml │ └── ur_controllers.yaml │ ├── doc │ ├── ROS_INTERFACE.md │ ├── architecture_coarse.svg │ ├── conf.py │ ├── features.rst │ ├── index.rst │ ├── installation │ │ ├── initial_setup_images │ │ │ ├── cb3_01_welcome.png │ │ │ ├── cb3_05_urcaps_installed.png │ │ │ ├── cb3_07_installation_excontrol.png │ │ │ ├── cb3_10_prog_structure_urcaps.png │ │ │ ├── cb3_11_program_view_excontrol.png │ │ │ ├── e-Series.jpg │ │ │ ├── es_01_welcome.png │ │ │ ├── es_05_urcaps_installed.png │ │ │ ├── es_07_installation_excontrol.png │ │ │ ├── es_10_prog_structure_urcaps.png │ │ │ └── es_11_program_view_excontrol.png │ │ ├── install_urcap_cb3.rst │ │ ├── install_urcap_e_series.rst │ │ ├── real_time.md │ │ ├── robot_setup.rst │ │ ├── toc.rst │ │ └── ursim_docker.rst │ ├── make.bat │ ├── overview.rst │ ├── resources │ │ ├── 2021-10_ROS_World_2021_Making_a_robot_ROS2_powered.pdf │ │ ├── README.md │ │ └── ros2_control_ur_driver.drawio │ ├── setup_tool_communication.rst │ └── usage.rst │ ├── hardware_interface_plugin.xml │ ├── include │ └── ur_robot_driver │ │ ├── controller_stopper.hpp │ │ ├── dashboard_client_ros.hpp │ │ ├── hardware_interface.hpp │ │ └── urcl_log_handler.hpp │ ├── launch │ ├── test_forward_velocity_controller.launch.py │ ├── test_joint_trajectory_controller.launch.py │ ├── test_scaled_joint_trajectory_controller.launch.py │ ├── ur10.launch.py │ ├── ur10e.launch.py │ ├── ur16e.launch.py │ ├── ur20.launch.py │ ├── ur3.launch.py │ ├── ur3e.launch.py │ ├── ur5.launch.py │ ├── ur5e.launch.py │ ├── ur_control.launch.py │ └── ur_dashboard_client.launch.py │ ├── package.xml │ ├── resources │ ├── externalcontrol-1.0.5.urcap │ ├── ros_control.urscript │ ├── rs485-1.0.urcap │ ├── rtde_input_recipe.txt │ └── rtde_output_recipe.txt │ ├── scripts │ ├── start_ursim.sh │ ├── tool_communication.py │ └── wait_dashboard_server.sh │ ├── src │ ├── controller_stopper.cpp │ ├── controller_stopper_node.cpp │ ├── dashboard_client_node.cpp │ ├── dashboard_client_ros.cpp │ ├── hardware_interface.cpp │ ├── ur_ros2_control_node.cpp │ ├── urcl_log_handler.cpp │ └── urscript_interface.cpp │ ├── test │ ├── dashboard_client.py │ ├── robot_driver.py │ └── urscript_interface.py │ └── ur_robot_driver │ └── __init__.py ├── gazebo_models ├── LICENSE ├── README.rst └── ar_tags │ ├── blend │ └── Marker0.png │ ├── images │ ├── Marker0.png │ ├── Marker1.png │ ├── Marker10.png │ ├── Marker11.png │ ├── Marker12.png │ ├── Marker13.png │ ├── Marker14.png │ ├── Marker15.png │ ├── Marker16.png │ ├── Marker17.png │ ├── Marker2.png │ ├── Marker3.png │ ├── Marker4.png │ ├── Marker5.png │ ├── Marker6.png │ ├── Marker7.png │ ├── Marker8.png │ └── Marker9.png │ ├── model │ └── marker0 │ │ ├── materials │ │ └── textures │ │ │ └── Marker0.png │ │ ├── meshes │ │ └── Marker0.dae │ │ ├── model-1_4.sdf │ │ ├── model-1_5.sdf │ │ ├── model.config │ │ └── model.sdf │ └── scripts │ └── generate_markers_model.py ├── mir_robot ├── .dockerfilelintrc ├── .gitlab-ci.yml ├── .mdl_style.rb ├── .mdlrc ├── .pre-commit-config.yaml ├── .travis.yml ├── Dockerfile-foxy ├── Dockerfile-noetic ├── LICENSE ├── README.md ├── doc │ ├── COLCON_IGNORE │ └── img │ │ ├── deseralize_map1.png │ │ ├── deseralize_map2.png │ │ ├── initial_pose1.png │ │ ├── initial_pose2.png │ │ ├── initial_pose3.png │ │ ├── mapping1.png │ │ ├── mapping2.png │ │ ├── nav_local1.png │ │ ├── nav_local2.png │ │ └── save_map.png ├── mir_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── diffdrive_controller.yaml │ │ ├── joint_state_controller.yaml │ │ └── ur_manipulator.yaml │ ├── launch │ │ ├── mir_display_launch.py │ │ └── mir_launch.py │ ├── meshes │ │ ├── collision │ │ │ ├── D435i_mounted.STL │ │ │ ├── caster_wheel_base.stl │ │ │ ├── mir_100_base.stl │ │ │ └── mir_250_base.stl │ │ └── visual │ │ │ ├── D435i_mounted.STL │ │ │ ├── caster_wheel_base.stl │ │ │ ├── mir_100_base.stl │ │ │ ├── mir_250_base.stl │ │ │ ├── sick_lms-100.stl │ │ │ └── wheel.stl │ ├── package.xml │ ├── rviz │ │ ├── mir_description.rviz │ │ ├── mir_visu_full.rviz │ │ └── mir_visualization.rviz │ └── urdf │ │ ├── include │ │ ├── caster.urdf.xacro │ │ ├── common_properties.urdf.xacro │ │ ├── imu.gazebo.urdf.xacro │ │ ├── mir_250_v1.urdf.xacro │ │ ├── sick_s300.urdf.xacro │ │ └── wheel.urdf.xacro │ │ └── mir.urdf.xacro ├── mir_driver │ ├── CHANGELOG.rst │ ├── launch │ │ ├── additions_launch.py │ │ ├── mir_headless_launch.py │ │ └── mir_launch.py │ ├── mir_driver │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── fake_mir_joint_publisher.cpython-310.pyc │ │ │ ├── mir_bridge.cpython-310.pyc │ │ │ └── rosbridge.cpython-310.pyc │ │ ├── fake_mir_joint_publisher.py │ │ ├── mir_bridge.py │ │ ├── rosbridge.py │ │ └── tf_remove_child_frames.py │ ├── package.xml │ ├── resource │ │ └── mir_driver │ ├── setup.cfg │ └── setup.py ├── mir_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── ekf.yaml │ ├── launch │ │ ├── include │ │ │ └── mir_gazebo_common.py │ │ ├── mir_gazebo_launch.py │ │ └── mobile_manipulator.launch.py │ ├── maps │ │ ├── maze.png │ │ ├── maze.yaml │ │ ├── maze_virtual_walls.png │ │ └── maze_virtual_walls.yaml │ ├── package.xml │ ├── rviz │ │ └── mir_visualization.rviz │ └── worlds │ │ ├── empty.world │ │ ├── include │ │ ├── ground_plane │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker0 │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker0.png │ │ │ ├── meshes │ │ │ │ └── Marker0.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker_0001 │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── marker_0001.png │ │ │ ├── meshes │ │ │ │ └── marker_0001.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── maze │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── sun │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── maze.world ├── mir_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── BMSData.msg │ │ ├── BatteryCurrents.msg │ │ ├── BrakeState.msg │ │ ├── ChargingState.msg │ │ ├── Device.msg │ │ ├── Devices.msg │ │ ├── Encoders.msg │ │ ├── Error.msg │ │ ├── Event.msg │ │ ├── Events.msg │ │ ├── ExternalRobot.msg │ │ ├── ExternalRobots.msg │ │ ├── Gpio.msg │ │ ├── GripperState.msg │ │ ├── HeightState.msg │ │ ├── HookExtendedStatus.msg │ │ ├── HookStatus.msg │ │ ├── IOs.msg │ │ ├── JoystickVel.msg │ │ ├── LocalMapStat.msg │ │ ├── MirExtra.msg │ │ ├── MirStatus.msg │ │ ├── MissionCtrlCommand.msg │ │ ├── MissionCtrlState.msg │ │ ├── PalletLifterStatus.msg │ │ ├── Path.msg │ │ ├── Pendant.msg │ │ ├── PlanSegment.msg │ │ ├── PlanSegments.msg │ │ ├── Pose2D.msg │ │ ├── PowerBoardMotorStatus.msg │ │ ├── Proximity.msg │ │ ├── ResourceState.msg │ │ ├── ResourcesState.msg │ │ ├── RobotMode.msg │ │ ├── RobotState.msg │ │ ├── RobotStatus.msg │ │ ├── SafetyStatus.msg │ │ ├── Serial.msg │ │ ├── StampedEncoders.msg │ │ ├── Trolley.msg │ │ ├── Twist2D.msg │ │ ├── UserPrompt.msg │ │ ├── WebPath.msg │ │ ├── WorldMap.msg │ │ └── WorldModel.msg │ ├── package.xml │ └── srv │ │ └── ExecMission.srv ├── mir_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── behavior_trees │ │ └── navigate_to_pose_w_replanning_and_recovery.xml │ ├── config │ │ ├── mir_mapping_async.yaml │ │ ├── mir_mapping_async_namespaced.yaml │ │ ├── mir_mapping_async_sim.yaml │ │ ├── mir_mapping_async_sim_namespaced.yaml │ │ ├── mir_nav_params.yaml │ │ └── mir_nav_params_namespaced.yaml │ ├── launch │ │ ├── include │ │ │ ├── amcl.py │ │ │ ├── mapping.py │ │ │ └── navigation.py │ │ ├── mir_mapping_launch.py │ │ └── mir_nav_launch.py │ ├── maps │ │ ├── maze.data │ │ ├── maze.pgm │ │ ├── maze.posegraph │ │ └── maze.yaml │ ├── nav2_test.py │ ├── package.xml │ └── rviz │ │ ├── mir_mapping.rviz │ │ ├── mir_mapping_nav.rviz │ │ ├── mir_nav.rviz │ │ └── mir_visu.rviz ├── mir_restapi │ ├── LICENSE │ ├── README.md │ ├── mir_restapi │ │ ├── __init__.py │ │ ├── mir_restapi_lib.py │ │ ├── mir_restapi_server.py │ │ └── mir_restapi_sync_time.py │ ├── package.xml │ ├── resource │ │ └── mir_restapi │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── mir_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── pyproject.toml └── ros2.repos ├── mobile_manipulator.png ├── moveit2.png ├── point_cloud_functions ├── package.xml ├── point_cloud_functions │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── point_cloud_reader.cpython-310.pyc │ └── point_cloud_reader.py ├── resource │ └── point_cloud_functions ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── realsense2_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── launch_utils.py │ └── view_model.launch.py ├── meshes │ ├── d405.stl │ ├── d415.stl │ ├── d435.dae │ ├── d455.stl │ ├── l515.dae │ ├── plug.stl │ └── plug_collision.stl ├── package.xml ├── rviz │ └── urdf.rviz └── urdf │ ├── _d405.urdf.xacro │ ├── _d415.urdf.xacro │ ├── _d435.urdf.xacro │ ├── _d435i.urdf.xacro │ ├── _d435i_gazebo.xacro │ ├── _d435i_imu_modules.urdf.xacro │ ├── _d455.urdf.xacro │ ├── _materials.urdf.xacro │ ├── _r410.urdf.xacro │ ├── _r430.urdf.xacro │ ├── _usb_plug.urdf.xacro │ ├── test_d405_camera.urdf.xacro │ ├── test_d415_camera.urdf.xacro │ ├── test_d435_camera.urdf.xacro │ ├── test_d435_multiple_cameras.urdf.xacro │ ├── test_d435i_camera.urdf.xacro │ ├── test_d455_camera.urdf.xacro │ ├── test_r410_camera.urdf.xacro │ └── test_r430_camera.urdf.xacro ├── realsense_gazebo_plugin ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── include │ └── realsense_gazebo_plugin │ │ ├── RealSensePlugin.hpp │ │ └── gazebo_ros_realsense.hpp ├── package.xml └── src │ ├── RealSensePlugin.cpp │ └── gazebo_ros_realsense.cpp ├── robotiq_description ├── CMakeLists.txt ├── meshes │ ├── collision │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_finger_tip_link.stl │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ └── robotiq_85_knuckle_link.stl │ ├── robotiq_85_coupler.stl │ └── visual │ │ ├── robotiq_85_base_link.dae │ │ ├── robotiq_85_finger_link.dae │ │ ├── robotiq_85_finger_tip_link.dae │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ └── robotiq_85_knuckle_link.dae ├── package.xml └── urdf │ ├── robotiq_85_gripper.transmission.xacro │ ├── robotiq_85_gripper.urdf.xacro │ ├── robotiq_85_gripper.xacro │ └── robotiq_85_gripper_sim_base.urdf.xacro ├── ros2_aruco ├── LICENSE ├── README.md ├── ros2_aruco │ ├── config │ │ └── aruco_parameters.yaml │ ├── launch │ │ └── aruco_recognition.launch.py │ ├── package.xml │ ├── resource │ │ └── ros2_aruco │ ├── ros2_aruco │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── aruco_generate_marker.cpython-310.pyc │ │ │ ├── aruco_node.cpython-310.pyc │ │ │ ├── aruco_pose_to_nav_goal.cpython-310.pyc │ │ │ └── aruco_transform_node.cpython-310.pyc │ │ ├── aruco_generate_marker.py │ │ ├── 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