├── .gitmodules ├── CMakeLists.txt ├── README.md ├── autogen_terrain ├── materials │ └── textures │ │ ├── grass-bak.jpg │ │ ├── grass.jpg │ │ ├── heightmap.png │ │ ├── sand.jpg │ │ └── water.jpg ├── model.config └── model.sdf ├── docs └── DEPEND.md ├── image ├── empty_world.png ├── mounatin_world.png ├── simulation.gif └── terrain.png ├── tools ├── dockerScript │ └── .devcontainer │ │ ├── Dockerfile │ │ ├── devcontainer.json │ │ └── open.sh └── q2se3 │ └── q2se3 ├── tracked_navigation ├── elevation_mapping │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── elevation_mapping │ │ ├── .gitignore │ │ ├── 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 │ │ │ │ └── velodyne_HDL-32E.yaml │ │ ├── include │ │ │ └── elevation_mapping │ │ │ │ ├── ElevationMap.hpp │ │ │ │ ├── ElevationMapFunctors.hpp │ │ │ │ ├── ElevationMapping.hpp │ │ │ │ ├── RobotMotionMapUpdater.hpp │ │ │ │ ├── WeightedEmpiricalCumulativeDistributionFunction.hpp │ │ │ │ ├── input_sources │ │ │ │ ├── Input.hpp │ │ │ │ └── InputSourceManager.hpp │ │ │ │ ├── postprocessing │ │ │ │ ├── PostprocessingPipelineFunctor.hpp │ │ │ │ └── PostprocessorPool.hpp │ │ │ │ └── sensor_processors │ │ │ │ ├── LaserSensorProcessor.hpp │ │ │ │ ├── PerfectSensorProcessor.hpp │ │ │ │ ├── SensorProcessorBase.hpp │ │ │ │ ├── StereoSensorProcessor.hpp │ │ │ │ └── StructuredLightSensorProcessor.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── ElevationMap.cpp │ │ │ ├── ElevationMapping.cpp │ │ │ ├── RobotMotionMapUpdater.cpp │ │ │ ├── elevation_mapping_node.cpp │ │ │ ├── input_sources │ │ │ │ ├── Input.cpp │ │ │ │ └── InputSourceManager.cpp │ │ │ ├── postprocessing │ │ │ │ ├── PostprocessingPipelineFunctor.cpp │ │ │ │ └── PostprocessorPool.cpp │ │ │ └── sensor_processors │ │ │ │ ├── LaserSensorProcessor.cpp │ │ │ │ ├── PerfectSensorProcessor.cpp │ │ │ │ ├── SensorProcessorBase.cpp │ │ │ │ ├── StereoSensorProcessor.cpp │ │ │ │ └── StructuredLightSensorProcessor.cpp │ │ └── test │ │ │ ├── ElevationMapTest.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 │ └── elevation_mapping_demos │ │ ├── .pydevproject │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── elevation_maps │ │ │ ├── long_range.yaml │ │ │ ├── remove_object.yaml │ │ │ ├── simple_demo_map.yaml │ │ │ └── starleth_map.yaml │ │ ├── postprocessing │ │ │ └── postprocessor_pipeline.yaml │ │ ├── robots │ │ │ ├── ground_truth_demo.yaml │ │ │ ├── remove_object.yaml │ │ │ ├── simple_demo_robot.yaml │ │ │ ├── starleth.yaml │ │ │ └── waffle_robot.yaml │ │ ├── rosconsole.conf │ │ └── visualization │ │ │ ├── fused.yaml │ │ │ └── raw.yaml │ │ ├── doc │ │ ├── anymal_forrest.jpg │ │ ├── anymal_locomotion_planner.jpg │ │ ├── anymal_outdoor_stairs.jpg │ │ ├── elevation_map.jpg │ │ └── starleth_kinect.jpg │ │ ├── launch │ │ ├── ground_truth_demo.launch │ │ ├── realsense_demo.launch │ │ ├── simple_demo.launch │ │ ├── starleth_kinect_demo.launch │ │ ├── turtlesim3_waffle_demo.launch │ │ └── visualization.launch │ │ ├── package.xml │ │ ├── rviz │ │ ├── elevation_map_visualization.rviz │ │ └── turtlebot3_waffle_demo.rviz │ │ ├── scripts │ │ └── tf_to_pose_publisher.py │ │ └── test │ │ └── empty_test.cpp ├── kindr_ros │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── kindr_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ └── VectorAtPosition.msg │ │ └── package.xml │ ├── kindr_ros │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── kindr_ros │ │ │ │ ├── RosGeometryMsgPhysicalQuantities.hpp │ │ │ │ ├── RosGeometryMsgPose.hpp │ │ │ │ ├── RosGeometryMsgRotation.hpp │ │ │ │ ├── RosGeometryMsgTwist.hpp │ │ │ │ ├── RosTfPose.hpp │ │ │ │ └── kindr_ros.hpp │ │ ├── package.xml │ │ └── test │ │ │ ├── RosGeometryMsgPhysicalQuantitiesTest.cpp │ │ │ ├── RosGeometryMsgPoseTest.cpp │ │ │ ├── RosGeometryMsgRotationTest.cpp │ │ │ ├── RosTfPoseTest.cpp │ │ │ ├── TfConventionTest.cpp │ │ │ └── test_main.cpp │ ├── kindr_rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── icons │ │ │ └── classes │ │ │ │ └── VectorAtPosition.png │ │ ├── include │ │ │ └── kindr_rviz_plugins │ │ │ │ ├── VectorAtPositionDisplay.hpp │ │ │ │ └── VectorAtPositionVisual.hpp │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ ├── src │ │ │ ├── VectorAtPositionDisplay.cpp │ │ │ └── VectorAtPositionVisual.cpp │ │ └── test │ │ │ └── EmptyTests.cpp │ └── multi_dof_joint_trajectory_rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── icons │ │ └── classes │ │ │ └── MultiDOFJointTrajectory.png │ │ ├── include │ │ └── multi_dof_joint_trajectory_rviz_plugins │ │ │ ├── MultiDOFJointTrajectoryDisplay.hpp │ │ │ ├── MultiDOFJointTrajectoryPointConnectionVisual.hpp │ │ │ └── MultiDOFJointTrajectoryPointVisual.hpp │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ ├── src │ │ ├── MultiDOFJointTrajectoryDisplay.cpp │ │ ├── MultiDOFJointTrajectoryPointConnectionVisual.cpp │ │ └── MultiDOFJointTrajectoryPointVisual.cpp │ │ └── test │ │ └── EmptyTests.cpp ├── octo2grid_core │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── octo2grid_core │ │ │ ├── GridMapOctomapConverter.hpp │ │ │ └── octo2grid_core.hpp │ ├── package.xml │ └── src │ │ └── GridMapOctomapConverter.cpp ├── octo2grid_node │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── octo2grid_config.yaml │ │ └── octomap_to_gridmap_demo.yaml │ ├── data │ │ ├── eth_logo.png │ │ ├── freiburg1_360.bt │ │ ├── grid_map.bag │ │ └── terrain.png │ ├── include │ │ └── octo2grid_node │ │ │ ├── Octo2Grid.hpp │ │ │ └── OctomapToGridmapDemo.hpp │ ├── launch │ │ ├── octo2grid.launch │ │ └── octomap_to_gridmap_demo.launch │ ├── package.xml │ ├── rviz │ │ ├── octo2grid.rviz │ │ └── octomap_to_gridmap_demo.rviz │ ├── scripts │ │ └── image_publisher.py │ └── src │ │ ├── Octo2Grid.cpp │ │ ├── OctomapToGridmapDemo.cpp │ │ ├── octo2grid_node.cpp │ │ └── octomap_to_gridmap_demo_node.cpp ├── octomap_rviz_plugins │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── octomap_rviz_plugins │ │ │ ├── occupancy_grid_display.h │ │ │ └── occupancy_map_display.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── occupancy_grid_display.cpp │ │ └── occupancy_map_display.cpp ├── tracked_mapping │ ├── CMakeLists.txt │ ├── config │ │ ├── grid_map_config │ │ │ ├── global_gridmap_filter.yaml │ │ │ ├── local_gridmap_filter.yaml │ │ │ └── local_gridmap_viz.yaml │ │ ├── heightmap_config │ │ │ ├── global_perfect.yaml │ │ │ ├── global_postprocessor_pipeline.yaml │ │ │ ├── global_robot.yaml │ │ │ ├── perfect.yaml │ │ │ ├── postprocessor_pipeline.yaml │ │ │ └── robot.yaml │ │ └── navi_config │ │ │ ├── base_local_planner_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ └── local_costmap_params.yaml │ ├── launch │ │ └── stereo.launch │ ├── package.xml │ └── rviz │ │ └── stereo_outdoor.rviz └── tracked_navigation │ ├── CMakeLists.txt │ └── package.xml └── tracked_simulator ├── teleop_twist_keyboard ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── package.xml └── teleop_twist_keyboard.py ├── tracked_description ├── CMakeLists.txt ├── config │ └── vins_config │ │ ├── cam0_pinhole.yaml │ │ ├── cam1_pinhole.yaml │ │ └── euroc_stereo_imu_config.yaml ├── include │ └── gazebo_plugins │ │ ├── TrackedVehiclePlugin.h │ │ ├── WheelTrackedVehiclePlugin.h │ │ ├── gazebo_ros_p3d.h │ │ └── gazebo_ros_tracked_drive.h ├── launch │ ├── description.launch │ ├── display.launch │ ├── empty_world.launch │ └── mountain_world.launch ├── package.xml ├── rviz │ ├── display.rviz │ └── ground_truth.rviz ├── src │ ├── gazebo_plugins │ │ ├── TrackedVehiclePlugin.cc │ │ ├── WheelTrackedVehiclePlugin.cc │ │ ├── gazebo_plugins │ │ │ ├── __init__.py │ │ │ └── gazebo_plugins_interface.py │ │ ├── gazebo_ros_p3d.cpp │ │ └── gazebo_ros_tracked_drive.cpp │ └── gt_publisher │ │ └── gt_publisher_node.cpp ├── urdf │ └── tracked_vehicle │ │ ├── imu.gazebo.xacro │ │ ├── track.urdf.xacro │ │ ├── tracked_vehicle.urdf.xacro │ │ ├── wheel.urdf.xacro │ │ ├── zed.gazebo.xacro │ │ ├── zed.urdf.xacro │ │ └── zed │ │ ├── zed.stl │ │ ├── zed2.stl │ │ └── zedm.stl └── worlds │ ├── empty.world │ └── mountain.world └── tracked_simulator ├── CMakeLists.txt └── package.xml /.gitmodules: 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