├── .gitignore ├── .tags ├── .tags1 ├── DockerInstruction.md ├── README.md ├── logs └── steven ├── submission_steps.md ├── todo ├── vrx_bringup ├── CMakeLists.txt ├── launch │ ├── barebones.launch │ ├── localisation.launch │ ├── rviz.launch │ └── sensored_boat.launch ├── package.xml └── rviz │ ├── launch.rviz │ └── witht0.rviz ├── vrx_control ├── CMakeLists.txt ├── README.md ├── config │ └── gazebo_wamv_course_controller.yaml ├── include │ └── vrx_control │ │ ├── CourseController.hpp │ │ ├── SimplePID.hpp │ │ ├── ThrustController.hpp │ │ └── ThrustSM.hpp ├── launch │ ├── control.launch │ └── course_controller.launch ├── package.xml └── src │ ├── CourseController.cpp │ ├── SimplePID.cpp │ ├── ThrustController.cpp │ ├── ThrustSM.cpp │ └── wamv_course_controller_node.cpp ├── vrx_deploy ├── deploy.sh └── installEverything.sh ├── vrx_description ├── CMakeLists.txt ├── configs │ ├── default_config.urdf │ ├── default_config.yaml │ ├── sensor_config.xacro │ ├── sensor_config.yaml │ ├── thruster_config.xacro │ ├── thruster_config.yaml │ └── usyd_wamv.urdf ├── launch │ ├── generate.launch │ └── generate_wamv.launch └── package.xml ├── vrx_msgs ├── CMakeLists.txt ├── README.md ├── action │ └── Dock.action ├── msg │ ├── Course.msg │ ├── Object.msg │ ├── ObjectArray.msg │ ├── Task.msg │ ├── VesselPath.msg │ ├── VesselWaypoint.msg │ ├── Waypoint.msg │ └── WaypointRoute.msg ├── package.xml └── srv │ ├── ClassifyBuoy.srv │ ├── ClassifyPlacard.srv │ └── ClassifyShape.srv ├── vrx_navigation ├── CMakeLists.txt ├── config │ ├── gazebo_wamv_docking.yaml │ └── gazebo_wamv_path_to_waypoints.yaml ├── launch │ ├── docking.launch │ ├── lidar_node.launch │ └── lidar_node0.launch ├── nodes │ ├── docking.py │ ├── odom_to_tf.py │ ├── position_hold.py │ ├── tmp_docking_client.py │ └── wamv_tf_expander.py ├── package.xml ├── scripts │ └── path_to_waypoints.py └── src │ └── mapping.cpp ├── vrx_tasks ├── CMakeLists.txt ├── README.md ├── launch │ ├── dock.launch │ ├── docking_task.launch │ ├── missioncontrol.launch │ ├── navigation_task.launch │ ├── perception.launch │ ├── runtask.launch │ ├── scan_and_dock.launch │ ├── scan_dock.launch │ ├── secondary_dock.launch │ ├── station_keeping.launch │ └── wayfinding.launch ├── package.xml ├── scripts │ ├── components │ │ ├── __init__.py │ │ ├── buoy_scanner.py │ │ ├── classifier.py │ │ ├── dockmaster.py │ │ ├── geoPathToPath.py │ │ ├── geoPoseToPose.py │ │ ├── goalToPath.py │ │ ├── mission_base.py │ │ ├── navigationAI.py │ │ ├── navigation_task.py │ │ ├── pathToRoute.py │ │ ├── placard_classifier.py │ │ ├── poseToRoute.py │ │ └── scan_and_dock_task.py │ ├── missionControl.py │ └── tests │ │ ├── backConvertTest.py │ │ ├── findNearestBuoy.py │ │ ├── perceptionConverter.py │ │ └── perception_publisher.py └── usyd_team │ ├── dockerhub_image.txt │ ├── sensor_config.yaml │ └── thruster_config.yaml ├── vrx_vision ├── CMakeLists.txt ├── config │ └── exclusion_list_perception.yaml ├── images │ ├── placards │ │ ├── blue_circle.png │ │ ├── blue_cross.png │ │ ├── blue_triangle.png │ │ ├── green_circle.png │ │ ├── green_cross.png │ │ ├── green_triangle.png │ │ ├── red_circle.png │ │ ├── red_cross.png │ │ └── red_triangle.png │ ├── red_buoy.png │ ├── seq_blue.png │ ├── seq_green.png │ ├── seq_none.png │ └── seq_red.png ├── launch │ ├── object_server.launch │ └── object_server0.launch ├── mesh │ ├── Hdock.dae │ └── buoy.dae ├── package.xml ├── scripts │ ├── buoy_scanner.py │ ├── buoy_thresholding.py │ ├── classifier.py │ ├── classify_placard_client.py │ ├── classify_placard_server.py │ ├── examples │ │ ├── image_service_client.py │ │ └── image_service_server.py │ ├── image_topic_shell.py │ ├── object_markers.py │ ├── placard_classifier.py │ ├── scan_buoy_client.py │ ├── scan_buoy_server.py │ └── sequence_server.py ├── src │ ├── object_server.py │ ├── object_server0.py │ └── objhelper │ │ ├── __init__.py │ │ ├── buoy_classifier.py │ │ ├── min_bounding_rect.py │ │ └── qhull_2d.py └── template_images │ ├── template_conical.png 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