├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENCE ├── README.md ├── allegro_hand_description ├── CMakeLists.txt ├── allegro_hand_config.rviz ├── allegro_hand_description_left.urdf ├── allegro_hand_description_left.xacro ├── allegro_hand_description_left_tra.urdf ├── allegro_hand_description_left_tra.xacro ├── allegro_hand_description_right.urdf ├── allegro_hand_description_right.xacro ├── allegro_hand_description_right1.xacro ├── allegro_hand_description_right_tra (另一个复件).urdf ├── allegro_hand_description_right_tra (复件).xacro ├── allegro_hand_description_right_tra.urdf ├── allegro_hand_description_right_tra.xacro ├── allegro_world.urdf ├── controller │ ├── .arm_controller_dual_ur5.yaml.swp │ ├── allegro_controller.yaml │ └── joint_state_controller.yaml ├── hand加入阻尼后.png ├── launch │ ├── allegro_bringup_moveit.launch │ ├── allegro_empty_world.launch │ ├── allegro_gazebo_states.launch │ ├── allegro_rviz.launch │ ├── allegro_trajectory_controller.launch │ └── description.launch ├── meshes │ ├── base_link.STL │ ├── base_link_left.STL │ ├── link_0.0.STL │ ├── link_1.0.STL │ ├── link_12.0_left.STL │ ├── link_12.0_right.STL │ ├── link_13.0.STL │ ├── link_14.0.STL │ ├── link_15.0.STL │ ├── link_15.0_tip.STL │ ├── link_2.0.STL │ ├── link_3.0.STL │ ├── link_3.0_tip.STL │ ├── link_4.0.STL │ └── test1.scene ├── package.xml ├── single_description_right.urdf ├── worlds │ └── allegro1.world └── 无标题文档 ├── betago_calibration ├── CMakeLists.txt ├── README.md ├── calibration_result │ ├── infra1_infra2_imu │ │ ├── camchain-imucam-imu_infra1_infra2.yaml │ │ ├── imu-imu_infra1_infra2.yaml │ │ ├── report-imucam-imu_infra1_infra2.pdf │ │ └── results-imucam-imu_infra1_infra2.txt │ ├── intricsic │ │ └── sim_kinect_calib_result │ │ │ ├── camchain-..BetaGoBetaGo_wssrcbetago_calibrationcalib_raw_dataimage_scan.yaml │ │ │ ├── report-cam-..BetaGoBetaGo_wssrcbetago_calibrationcalib_raw_dataimage_scan.pdf │ │ │ └── results-cam-..BetaGoBetaGo_wssrcbetago_calibrationcalib_raw_dataimage_scan.txt │ └── multi_camera │ │ ├── camchain-multi_camera1.yaml │ │ ├── report-cam-multi_camera1.pdf │ │ └── results-cam-multi_camera1.txt ├── calibration_target │ ├── aruco_a4_100x100 │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── mark.material │ │ │ └── textures │ │ │ │ └── aruco_a4_100x100.png │ │ ├── model.config │ │ └── model.sdf │ └── kalibr_tag │ │ ├── README.md │ │ ├── april_6x6_80x80cm.yaml │ │ ├── materials │ │ ├── scripts │ │ │ └── mark.material │ │ └── textures │ │ │ ├── april_6x6_80x80cm.png │ │ │ ├── ar0.png │ │ │ ├── mark.png │ │ │ └── sans.png │ │ ├── model.config │ │ └── model.sdf ├── doc │ ├── d435i_imu_calibration.launch │ ├── rs_d435i_calibration.md │ ├── rs_imu_calibration.launch │ ├── rs_imu_camera_kalibr.launch │ └── rs_kalibr_multi_camera.launch ├── include │ └── betago_calibration │ │ ├── Calibration.h │ │ └── utilities.h ├── launch │ ├── cam_laser_calib_world.launch │ ├── export.launch │ ├── hand_eye_rviz.launch │ ├── handeye_calib_world.launch │ ├── handeye_move.launch │ └── rviz.launch ├── package.xml ├── realsense_config │ └── off_auto_exposure_emitter.json ├── rviz │ ├── calib.rviz │ └── hand_eye.rviz └── src │ ├── Calibration.cpp │ ├── hand_eye_move.cpp │ ├── inverese.cpp │ ├── output_timestamp.cpp │ ├── run_cam_laser_calibration.cpp │ └── utilities.cpp ├── betago_control ├── CMakeLists.txt ├── README.md ├── config │ ├── allegro_hand │ │ └── allegro_controller.yaml │ ├── arm_controller.yaml │ ├── joint_state_controller.yaml │ ├── ridgeback │ │ └── control.yaml │ └── teleop_ps4.yaml ├── launch │ ├── allegro_hand │ │ └── allegro_trajectory_controller.launch │ ├── betago │ │ └── betago_states_gazebo.launch │ ├── ridgeback │ │ ├── control.launch │ │ └── teleop.launch │ └── ur5 │ │ └── arm_trajectory_controller.launch └── package.xml ├── betago_description ├── CMakeLists.txt ├── README.md ├── launch │ ├── betago │ │ └── view_betago_rviz.launch │ ├── ridgeback │ │ ├── .control.launch.swp │ │ ├── .description.launch.swp │ │ ├── .ridgeback_world.launch.swp │ │ └── description.launch │ └── ur5 │ │ ├── .arm_trajectory_controller.launch.swp │ │ ├── controller_utils.launch │ │ ├── ur5.launch │ │ └── ur5_upload.launch ├── meshes │ ├── connect2_Link.STL │ ├── connect_Link.STL │ ├── frame_link.STL │ └── sensors │ │ ├── 0_xtion_pro.jpg │ │ ├── astra.dae │ │ ├── astra.jpg │ │ ├── asus_xtion_pro_live.dae │ │ ├── asus_xtion_pro_live.png │ │ ├── kinect.dae │ │ ├── kinect.jpg │ │ ├── kinect.tga │ │ ├── r200.dae │ │ ├── r200.jpg │ │ ├── r200_bracket.stl │ │ ├── r200_bracket_end.stl │ │ ├── sensor_pole.dae │ │ ├── xtion_pro.jpg │ │ ├── xtion_pro_camera.dae │ │ ├── xtion_pro_camera.jpg │ │ └── xtion_pro_stack.dae ├── package.xml ├── rviz │ ├── empty.rviz │ ├── gmapping.rviz │ ├── navigation.rviz │ └── robot.rviz └── urdf │ ├── allegro_hand │ ├── allegro_hand_description_right.urdf │ └── dual_allegro_hand.xacro │ ├── betago │ ├── ridgeback_dual_ur5_description.urdf.xacro │ └── ridgeback_urdf_extras.xacro │ ├── configs │ ├── base │ ├── d435_rtabmap │ ├── kinect_rtabmap │ └── vins │ ├── ridgeback │ ├── empty.urdf │ ├── frame_link.urdf │ ├── ridgeback.gazebo │ └── ridgeback.urdf.xacro │ ├── sensors │ ├── kinect.urdf.xacro │ ├── kinect_gazebo.urdf.xacro │ ├── kinect_gazebo_prefix.urdf.xacro │ ├── kinect_prefix.urdf.xacro │ └── kinect_properties.urdf.xacro │ └── ur5 │ ├── common.gazebo.xacro │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ ├── ur5.urdf.xacro │ ├── ur5_joint_limited_robot.urdf.xacro │ └── ur5_robot.urdf.xacro ├── betago_gazebo ├── CMakeLists.txt ├── README.md ├── launch │ ├── betago │ │ ├── betago_world.launch │ │ └── rviz_control_gazebo.launch │ └── ridgeback │ │ └── ridgeback_world.launch ├── package.xml ├── src │ └── set_betago_pose.cpp └── worlds │ └── factory │ ├── factory.jpg │ ├── factory.world │ ├── factory_raw.world │ └── models │ ├── arm_part_ariac │ ├── materials │ │ ├── scripts │ │ │ └── arm_part.material │ │ └── textures │ │ │ └── parts.png │ ├── meshes │ │ └── arm.dae │ ├── model.config │ └── model.sdf │ ├── cabinet │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── closed_box_ariac │ ├── materials │ │ └── textures │ │ │ └── closed_box.png │ ├── meshes │ │ ├── closed_box.mtl │ │ └── closed_box.obj │ ├── model.config │ └── model.sdf │ ├── 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 │ ├── control_console │ ├── materials │ │ └── textures │ │ │ ├── console.png │ │ │ └── light.png │ ├── meshes │ │ └── console.dae │ ├── model.config │ └── model.sdf │ ├── conveyor_belt_ariac │ ├── model.config │ └── model.sdf │ ├── conveyor_belt_tall_ariac │ ├── model.config │ └── model.sdf │ ├── cordless_drill │ ├── materials │ │ └── textures │ │ │ └── cordless_drill.png │ ├── meshes │ │ ├── cordless_drill.dae │ │ └── cordless_drill.stl │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── deletion_wall │ ├── model.config │ └── model.sdf │ ├── disk_part_ariac │ ├── meshes │ │ └── disk.dae │ ├── model.config │ └── model.sdf │ ├── drone_ariac │ ├── materials │ │ └── textures │ │ │ └── Drone.png │ ├── meshes │ │ └── Drone.dae │ ├── model.config │ ├── model.config~HEAD │ └── model.sdf │ ├── drone_collection_zone_ariac │ ├── model.config │ └── model.sdf │ ├── drone_with_box_ariac │ ├── model.config │ └── model.sdf │ ├── dumpster │ ├── materials │ │ ├── scripts │ │ │ └── dumpster.material │ │ └── textures │ │ │ ├── Dumpster_Diffuse.png │ │ │ └── Dumpster_Spec.png │ ├── meshes │ │ └── dumpster.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── euro_pallet │ ├── meshes │ │ └── pallet.dae │ ├── model.config │ └── model.sdf │ ├── first_2015_trash_can │ ├── meshes │ │ └── trash_can.dae │ ├── model.config │ └── model.sdf │ ├── gasket_part_ariac │ ├── meshes │ │ └── gasket.dae │ ├── model.config │ └── model.sdf │ ├── gear_part_ariac │ ├── meshes │ │ └── gear.dae │ ├── model.config │ └── model.sdf │ ├── grey_wall │ ├── materials │ │ ├── scripts │ │ │ └── grey_wall.material │ │ └── textures │ │ │ └── grey_wall.png │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── ground_plane │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── hokuyo_ariac │ ├── meshes │ │ ├── hokuyo.dae │ │ └── hokuyo_convex.stl │ ├── model.config │ └── model.sdf │ ├── kit_tray_ariac │ ├── model.config │ └── model.sdf │ ├── ladder_75deg_0rails │ ├── model.config │ ├── model.rsdf │ └── model.sdf │ ├── logical_camera_ariac │ ├── materials │ │ └── textures │ │ │ └── camera.png │ ├── meshes │ │ └── camera.dae │ ├── model.config │ └── model.sdf │ ├── open_box_ariac │ ├── materials │ │ └── textures │ │ │ └── open_box.png │ ├── meshes │ │ ├── open_box.mtl │ │ └── open_box.obj │ ├── model.config │ └── model.sdf │ ├── part1_ariac │ ├── model.config │ └── model.sdf │ ├── part2_ariac │ ├── model.config │ └── model.sdf │ ├── part3_ariac │ ├── model.config │ └── model.sdf │ ├── part4_ariac │ ├── model.config │ └── model.sdf │ ├── piston_rod_part_ariac │ ├── meshes │ │ └── piston_rod.dae │ ├── model.config │ └── model.sdf │ ├── plastic_cup │ ├── meshes │ │ └── plastic_cup.dae │ ├── model.config │ ├── model.rsdf │ └── model.sdf │ ├── pulley_part_ariac │ ├── meshes │ │ └── pulley.dae │ ├── model.config │ └── model.sdf │ ├── shipping_container_ariac │ ├── materials │ │ └── textures │ │ │ └── ShippingContainer.png │ ├── meshes │ │ ├── ShippingContainer_Textured.mtl │ │ └── ShippingContainer_Textured.obj │ ├── model.config │ └── model.sdf │ ├── shipping_container_conveyor_ariac │ ├── materials │ │ └── textures │ │ │ └── ShippingContainer.png │ ├── meshes │ │ ├── ShippingContainer_Textured.mtl │ │ └── ShippingContainer_Textured.obj │ ├── model.config │ └── model.sdf │ ├── shipping_container_conveyor_tall_ariac │ ├── materials │ │ └── textures │ │ │ └── ShippingContainer.png │ ├── meshes │ │ ├── ShippingContainer_Textured.mtl │ │ └── ShippingContainer_Textured.obj │ ├── model.config │ └── model.sdf │ ├── shipping_container_short_ariac │ ├── materials │ │ └── textures │ │ │ └── ShippingContainer.png │ ├── meshes │ │ ├── ShippingContainer_Textured.mtl │ │ └── ShippingContainer_Textured.obj │ ├── model.config │ └── model.sdf │ ├── sun │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── swissranger_camera_ariac │ ├── meshes │ │ ├── SR4000.stl │ │ └── collada │ │ │ └── SR4000.dae │ ├── model.config │ └── model.sdf │ ├── table │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf │ ├── tube_2_25cm │ ├── meshes │ │ └── tube_2_25.dae │ ├── model.config │ ├── model.rsdf │ └── model.sdf │ ├── warehouse_robot_ariac │ ├── materials │ │ └── textures │ │ │ └── robot.png │ ├── meshes │ │ └── robot.dae │ ├── model.config │ └── model.sdf │ ├── wooden_case │ ├── model.config │ ├── model.rsdf │ └── model.sdf │ ├── workcell │ ├── materials │ │ └── textures │ │ │ ├── Bin.png │ │ │ ├── CardboardBoxes.png │ │ │ ├── ControlPanel.png │ │ │ ├── Conveyor.png │ │ │ ├── Door_Window.png │ │ │ ├── Floor.png │ │ │ ├── Mesh.png │ │ │ ├── Pallet.png │ │ │ ├── PalletWrap.png │ │ │ ├── Pillar.png │ │ │ ├── Plywood.png │ │ │ ├── RollupDoor.png │ │ │ ├── RubberMat.png │ │ │ ├── Shelves.png │ │ │ ├── Stairs.png │ │ │ ├── Wall_Concrete.png │ │ │ ├── Wall_Corrugated.png │ │ │ ├── WorkCell_Render.png │ │ │ └── Yellow.png │ ├── meshes │ │ └── mesh.dae │ ├── model.config │ └── model.sdf │ ├── workcell_bin │ ├── materials │ │ └── textures │ │ │ └── bin.png │ ├── meshes │ │ └── bin.dae │ ├── model.config │ └── model.sdf │ └── yellow_bin_ariac │ ├── materials │ └── textures │ │ └── yellow_bin.png │ ├── meshes │ ├── yellow_bin.mtl │ └── yellow_bin.obj │ ├── model.config │ └── model.sdf ├── betago_manipulation ├── README.md ├── betago_bringup │ ├── CMakeLists.txt │ ├── launch │ │ └── betago_bringup_moveit.launch │ ├── package.xml │ └── src │ │ └── to_default_pose.cpp └── betago_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ridgeback.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml │ ├── launch │ ├── betago_moveit_planning_execution.launch │ ├── betago_tutorial.rviz │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml │ └── package.xml ├── betago_navigation ├── CMakeLists.txt ├── README.md ├── config │ ├── gmapping.rviz │ ├── lidar.lua │ ├── rtabmap_navigation.rviz │ └── vins-fusioin │ │ ├── infra1.yaml │ │ ├── infra2.yaml │ │ ├── realsense_stereo_imu_config_me.yaml │ │ └── realsense_stereo_imu_config_ridgeback.yaml ├── launch │ ├── 3dsensor.launch │ ├── cartographer_demo.launch │ ├── hector.launch │ ├── hector_demo.launch │ ├── hokuyo_test.launch │ ├── include │ │ ├── 3dsensor │ │ │ ├── D435.launch.xml │ │ │ ├── astra.launch.xml │ │ │ ├── asus_xtion_pro.launch.xml │ │ │ ├── asus_xtion_pro_offset.launch.xml │ │ │ ├── kinect.launch.xml │ │ │ └── r200.launch.xml │ │ └── move_base.launch │ ├── navigation_world.launch │ ├── rs_vins_fusion.launch │ ├── rtabmap │ │ ├── demo_turtlebot_mapping.launch │ │ ├── rtabmap_rviz.launch │ │ ├── rtabmap_sim_kinect_odom.launch │ │ ├── rtabmap_sim_kinect_scan_odom.launch │ │ ├── rtabmap_sim_only_D435.launch │ │ ├── rtabmap_sim_only_kinect.launch │ │ ├── test_d435i_vio.launch │ │ ├── test_d435i_vio_bag.launch │ │ ├── test_d435i_vio_split_pc.launch │ │ └── test_d435i_vio_split_ridgeback.launch │ └── rviz_control_gazebo.launch ├── package.xml ├── params │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_planner_params.yaml │ ├── map_nav_params │ │ ├── global_costmap_params.yaml │ │ └── local_costmap_params.yaml │ ├── move_base_params.yaml │ └── navfn_global_planner_params.yaml ├── rviz │ └── robot.rviz └── src │ └── odometry_output_node.cpp ├── betago_tutorials ├── CMakeLists.txt ├── README.md ├── doc │ └── ridgeback_NCU_installation.md ├── launch │ ├── motion_planning_api_tutorial.launch │ ├── motion_planning_pipeline_tutorial.launch │ ├── move_group_interface_tutorial.launch │ ├── planning_scene_ros_api_tutorial.launch │ ├── planning_scene_tutorial.launch │ └── robot_model_and_robot_state_tutorial.launch ├── package.xml ├── rqt_tutorial │ └── README.md └── src │ ├── betago_tf_listener.cpp │ ├── motion_planning_api_tutorial.cpp │ ├── motion_planning_pipeline_tutorial.cpp │ ├── move_group_interface_tutorial.cpp │ ├── planning_scene_ros_api_tutorial.cpp │ ├── planning_scene_tutorial.cpp │ └── robot_model_and_robot_state_tutorial.cpp ├── hector_slam ├── README.txt ├── hector_compressed_map_transport │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── map_to_image_node.cpp ├── hector_geotiff │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_geotiff │ │ │ ├── geotiff_writer.h │ │ │ ├── map_writer_interface.h │ │ │ └── map_writer_plugin_interface.h │ ├── launch │ │ ├── geotiff_mapper.launch │ │ └── geotiff_mapper_only.launch │ ├── package.xml │ └── src │ │ ├── geotiff_node.cpp │ │ ├── geotiff_saver.cpp │ │ └── geotiff_writer │ │ └── geotiff_writer.cpp ├── hector_geotiff_plugins │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── hector_geotiff_plugins.xml │ ├── package.xml │ └── src │ │ └── trajectory_geotiff_plugin.cpp ├── hector_imu_attitude_to_tf │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── example.launch │ ├── package.xml │ └── src │ │ └── imu_attitude_to_tf_node.cpp ├── hector_imu_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── bertl_robot.launch │ │ └── jasmine_robot.launch │ ├── package.xml │ └── src │ │ └── pose_and_orientation_to_imu_node.cpp ├── hector_map_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── hector_map_server.cpp ├── hector_map_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_map_tools │ │ │ └── HectorMapTools.h │ └── package.xml ├── hector_mapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_slam_lib │ │ │ ├── map │ │ │ ├── GridMap.h │ │ │ ├── GridMapBase.h │ │ │ ├── GridMapCacheArray.h │ │ │ ├── GridMapLogOdds.h │ │ │ ├── GridMapReflectanceCount.h │ │ │ ├── GridMapSimpleCount.h │ │ │ ├── MapDimensionProperties.h │ │ │ ├── OccGridMapBase.h │ │ │ ├── OccGridMapUtil.h │ │ │ └── OccGridMapUtilConfig.h │ │ │ ├── matcher │ │ │ └── ScanMatcher.h │ │ │ ├── scan │ │ │ └── DataPointContainer.h │ │ │ ├── slam_main │ │ │ ├── HectorSlamProcessor.h │ │ │ ├── MapProcContainer.h │ │ │ ├── MapRepMultiMap.h │ │ │ ├── MapRepSingleMap.h │ │ │ └── MapRepresentationInterface.h │ │ │ └── util │ │ │ ├── DrawInterface.h │ │ │ ├── HectorDebugInfoInterface.h │ │ │ ├── MapLockerInterface.h │ │ │ └── UtilFunctions.h │ ├── launch │ │ └── mapping_default.launch │ ├── msg │ │ ├── HectorDebugInfo.msg │ │ └── HectorIterData.msg │ ├── package.xml │ └── src │ │ ├── HectorDebugInfoProvider.h │ │ ├── HectorDrawings.h │ │ ├── HectorMapMutex.h │ │ ├── HectorMappingRos.cpp │ │ ├── HectorMappingRos.h │ │ ├── PoseInfoContainer.cpp │ │ ├── PoseInfoContainer.h │ │ ├── main.cpp │ │ └── main_mapper.cpp ├── hector_marker_drawing │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_marker_drawing │ │ │ ├── DrawInterface.h │ │ │ └── HectorDrawings.h │ └── package.xml ├── hector_nav_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ ├── GetDistanceToObstacle.srv │ │ ├── GetNormal.srv │ │ ├── GetRecoveryInfo.srv │ │ ├── GetRobotTrajectory.srv │ │ └── GetSearchPosition.srv ├── hector_slam │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_slam_launch │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── cityflyer_logfile_processing.launch │ │ ├── hector_ugv.launch │ │ ├── height_mapping.launch │ │ ├── mapping_box.launch │ │ ├── mpo700_mapping.launch │ │ ├── postproc_data.launch │ │ ├── postproc_qut_logs.launch │ │ ├── pr2os.launch │ │ └── tutorial.launch │ ├── package.xml │ └── rviz_cfg │ │ └── mapping_demo.rviz └── hector_trajectory_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── hector_trajectory_server.cpp ├── media ├── BetaGo.gif ├── Gazebo_moveit_graph.png ├── arm_trajectory_controller.png ├── betago_bringup_moveit.png ├── betago_moveit_planning_execution.png ├── betago_rviz.png ├── betago_states_gazebo.png ├── controllers.png ├── demo_graph.png ├── dual_ur_arm_controller.png ├── joint_state_controller.png ├── left_right_controller.png ├── moveit+gazebo.gif ├── moveit_config_1.png ├── moveit_config_2.png ├── moveit_config_3.png ├── moveit_config_kinematics_1.png ├── 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