├── .github └── workflows │ └── lidarbot_ci_action.yml ├── .gitignore ├── LICENSE ├── README.md ├── docs ├── images │ ├── Motor_Driver_HAT.png │ ├── encoders.jpg │ ├── gazebo_mapping.gif │ ├── gazebo_navigation.gif │ ├── gazebo_test_drive.gif │ ├── generated_aruco_marker.png │ ├── hall_effect_sensors.png │ ├── hardwarecomp.png │ ├── joint_state_publisher_gui.gif │ ├── joy_tester.png │ ├── lidarbot_aruco_marker.png │ ├── lidarbot_aruco_test.gif │ ├── lidarbot_rviz.png │ ├── lidarbot_wiring.png │ ├── motor_connection_tests.gif │ ├── motor_control_hierarchy.jpg │ ├── motor_pins.jpg │ ├── motors.jpg │ ├── mpu6050.jpg │ ├── nav2_topics.png │ ├── nav_end.png │ ├── nav_start.png │ ├── raspi_config_1.png │ ├── raspi_config_2.png │ ├── raspi_config_3.png │ ├── raspi_config_4.png │ ├── real_mapping.gif │ ├── resman.png │ ├── ros2_control_arch.png │ ├── save_map.png │ ├── side_view.jpg │ ├── time_interval.jpg │ ├── top_view.jpg │ └── wireless_gamepad.jpg └── index.md ├── lidarbot ├── CMakeLists.txt └── package.xml ├── lidarbot_aruco ├── config │ ├── chessboard_calibration.yaml │ ├── params_1.yaml │ └── params_2.yaml ├── launch │ └── trajectory_visualizer_launch.py ├── lidarbot_aruco │ ├── __init__.py │ ├── aruco_trajectory_visualizer.py │ ├── detect_aruco_marker.py │ └── generate_aruco_marker.py ├── package.xml ├── resource │ └── lidarbot_aruco ├── setup.cfg ├── setup.py ├── tags │ ├── DICT_4X4_50_id1.png │ └── DICT_4X4_50_id24.png └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── lidarbot_base ├── CMakeLists.txt ├── include │ └── lidarbot_base │ │ ├── DEV_Config.h │ │ ├── Debug.h │ │ ├── MotorDriver.h │ │ ├── PCA9685.h │ │ ├── lidarbot_hardware.hpp │ │ ├── motor_encoder.h │ │ └── wheel.hpp ├── lidarbot_hardware.xml ├── package.xml └── src │ ├── DEV_Config.c │ ├── MotorDriver.c │ ├── PCA9685.c │ ├── lidarbot_hardware.cpp │ ├── motor_checks_client.cpp │ ├── motor_checks_server.cpp │ ├── motor_encoder.c │ └── wheel.cpp ├── lidarbot_bringup ├── CMakeLists.txt ├── LICENSE ├── config │ ├── controllers.yaml │ └── gazebo_ros2_ctl_use_sim.yaml ├── include │ └── lidarbot_bringup │ │ ├── mpu6050_hardware_interface.hpp │ │ └── mpu6050_lib.h ├── launch │ ├── camera_launch.py │ ├── lidarbot_bringup_launch.py │ └── rplidar_launch.py ├── mpu6050_hardware.xml ├── package.xml └── src │ ├── mpu6050_covariances.cpp │ ├── mpu6050_hardware_interface.cpp │ ├── mpu6050_lib.cpp │ └── mpu6050_offsets.cpp ├── lidarbot_description ├── CMakeLists.txt ├── launch │ ├── description_launch.py │ └── robot_state_publisher_launch.py ├── meshes │ ├── MPU6050.dae │ ├── caster_mount.dae │ ├── caster_wheel.dae │ ├── power_bank.dae │ ├── power_bank_stand.dae │ ├── right_wheel.dae │ ├── robot_chassis.dae │ ├── rpi_4.dae │ ├── rpi_camera.dae │ ├── rpi_camera_mount.dae │ ├── rpi_stand.dae │ ├── rplidar_base.dae │ ├── rplidar_stand.dae │ └── rplidar_top.dae ├── package.xml ├── rviz │ ├── description.rviz │ └── lidarbot_sim.rviz └── urdf │ ├── camera.xacro │ ├── gazebo_control.xacro │ ├── imu.xacro │ ├── inertial_macros.xacro │ ├── lidar.xacro │ ├── lidarbot.urdf.xacro │ ├── lidarbot_core.xacro │ └── ros2_control.xacro ├── lidarbot_gazebo ├── CMakeLists.txt ├── config │ └── gazebo_params.yaml ├── launch │ └── gazebo_launch.py ├── package.xml └── worlds │ └── obstacles.world ├── lidarbot_gz ├── CMakeLists.txt ├── config │ └── lidarbot_bridge.yaml ├── launch │ └── gz_launch.py ├── models │ ├── construction_barrel │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Construction_Barrel_Diffuse.png │ │ │ │ └── Construction_Barrel_Spec.png │ │ ├── meshes │ │ │ └── construction_barrel.dae │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── construction_cone │ │ ├── materials │ │ └── textures │ │ │ └── Construction_Cone_Diffuse.png │ │ ├── meshes │ │ └── construction_cone.dae │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── urdf │ ├── 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