├── README.md ├── draw_core ├── CMakeLists.txt ├── launch │ └── start_draw.launch ├── package.xml ├── readme.txt └── scripts │ ├── arm_controller.py │ ├── arm_controller.pyc │ ├── gcode_draw.py │ ├── gcode_excute.py │ ├── gcode_excute.pyc │ ├── img │ ├── 11.jpeg │ ├── 11.svg │ ├── 2.svg │ ├── 22.jpeg │ ├── 22.jpg │ ├── 22.png │ ├── 22.svg │ ├── NRXNe32G01.svg │ ├── cogs_result.svg │ ├── gcode.gcode │ ├── image2vector.svg │ ├── juxing.jpg │ ├── laser-machine.svg │ ├── marker582_5cm_margin_2cm.jpg │ ├── neu.jpg │ ├── neu.svg │ ├── plane_silhouet.svg │ ├── plane_silhouet.zip │ ├── unnamed.png │ ├── xiaokeai.svg │ └── yuan.svg │ ├── img_process.py │ ├── markerpub.py │ ├── py_svg2gcode │ ├── 22.svg │ ├── README.md │ ├── __init__.py │ ├── __init__.pyc │ ├── config.py │ ├── config.pyc │ ├── convert │ ├── gcode_output │ │ ├── 22.gcode │ │ └── neu.gcode │ ├── lib │ │ ├── bezmisc.py │ │ ├── bezmisc.pyc │ │ ├── cspsubdiv.py │ │ ├── cspsubdiv.pyc │ │ ├── cubicsuperpath.py │ │ ├── cubicsuperpath.pyc │ │ ├── ffgeom.py │ │ ├── ffgeom.pyc │ │ ├── shapes.py │ │ ├── shapes.pyc │ │ ├── simplepath.py │ │ ├── simplepath.pyc │ │ ├── simpletransform.py │ │ └── simpletransform.pyc │ ├── log │ │ ├── 22.log │ │ └── neu.log │ ├── neu.svg │ ├── svg2gcode.py │ ├── svg2gcode.pyc │ └── tests │ │ ├── 2circle.svg │ │ ├── 3curves1line.svg │ │ ├── circle.svg │ │ ├── ellipse.svg │ │ ├── inkscape_text.svg │ │ ├── inkscape_text_2.svg │ │ ├── inkscape_text_fails.svg │ │ ├── inkscape_text_fails_2.svg │ │ ├── laser-machine.svg │ │ ├── letters.svg │ │ ├── line.svg │ │ ├── rect.svg │ │ ├── star.svg │ │ └── test_all.sh │ └── svg_convert.py ├── gazebo2rviz ├── CMakeLists.txt ├── launch │ ├── gazebo2marker.launch │ ├── gazebo2moveit.launch │ ├── gazebo2rviz.launch │ ├── gazebo2tf.launch │ ├── sdf2moveit.launch │ └── sdf2rviz.launch ├── package.xml ├── scripts │ ├── gazebo2marker_node.py │ ├── gazebo2moveit_collision_node.py │ ├── gazebo2tf_node.py │ ├── sdf2extract_tfstatic_node.py │ ├── sdf2marker_node.py │ ├── sdf2moveit_collision_node.py │ ├── sdf2moveit_collision_node.pyc │ └── sdf2tfstatic_node.py ├── setup.py └── src │ └── gazebo2rviz │ ├── __init__.py │ ├── conversions.py │ └── conversions.pyc ├── grasp_control ├── CMakeLists.txt ├── launch │ ├── grasp_control.launch │ └── initial_pose.launch ├── package.xml └── scripts │ ├── cartesian.py │ ├── control.py │ ├── cube_pub.py │ ├── grasp.py │ ├── initial_pose.py │ ├── object_position_sub.py │ └── pick_and_place.py ├── multi_rrt_exploration ├── CMakeLists.txt ├── include │ ├── functions.h │ └── mtrand.h ├── launch │ ├── rrt_three_robots.launch │ ├── rrt_two_robots.launch │ ├── simple.launch │ ├── single.launch │ ├── three_robots.launch │ └── two_robots_real.launch ├── maps │ ├── r0_0.map.pgm │ ├── r0_0.map.yaml │ ├── r0_1.map.pgm │ ├── r0_1.map.yaml │ ├── r1_0.map.pgm │ ├── r1_0.map.yaml │ ├── r1_1.map.pgm │ ├── r1_1.map.yaml │ ├── rs_0.map.pgm │ ├── rs_0.map.yaml │ ├── rs_1.map.pgm │ └── rs_1.map.yaml ├── msg │ └── PointArray.msg ├── package.xml ├── scripts │ ├── assigner.py │ ├── assigner_real_two_robots.py │ ├── filter.py │ ├── filter_backup.py │ ├── filter_real_two_robots.py │ ├── frontier_opencv_detector.py │ ├── functions.py │ ├── functions.pyc │ ├── functions_real_two_robots.py │ ├── functions_real_two_robots.pyc │ ├── getfrontier.py │ ├── newassigner.py │ ├── recordDistance.py │ ├── recordDistance_two_robots.py │ └── recordDistance_two_robots_real.py └── src │ ├── functions.cpp │ ├── global_rrt_detector.cpp │ ├── global_rrt_detector_real_two_robots.cpp │ ├── local_rrt_detector.cpp │ ├── local_rrt_detector_real_two_robots.cpp │ └── mtrand.cpp ├── multi_turtlebot3_navigation ├── CMakeLists.txt ├── config │ ├── costmap_common.yaml │ ├── costmap_exploration.yaml │ ├── costmap_global_laser.yaml │ ├── costmap_global_static.yaml │ ├── costmap_local.yaml │ ├── f310.config.yaml │ ├── f310.config.yaml~ │ └── planner.yaml ├── launch │ ├── explore_namespace.launch │ ├── explore_three.launch │ ├── explore_three_robots.launch │ ├── gmapping.launch │ ├── gmapping_namespace.launch │ ├── gmapping_three.launch │ ├── move_base_namespace.launch │ ├── multi_turtlebot3_gazebo.launch │ ├── navigation_three.launch │ ├── three_robots.launch │ ├── three_robots_exploration │ │ ├── exploring_three.launch │ │ ├── initposes_three.launch │ │ ├── map_merge_three.launch │ │ └── move_base_three.launch │ ├── two_robots_exploration │ │ ├── exploring_two.launch │ │ ├── initposes_two.launch │ │ ├── map_merge_two.launch │ │ └── move_base_two.launch │ └── world.launch ├── maps │ ├── map_1.pgm │ ├── map_1.yaml │ ├── map_2.pgm │ ├── map_2.yaml │ ├── map_3.pgm │ ├── map_3.yaml │ ├── map_merge.pgm │ ├── map_merge.yaml │ ├── map_merge1.pgm │ ├── map_merge1.yaml │ └── map_save.sh ├── models │ └── watkinslab │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── param │ └── amcl_params.yaml ├── readme.md ├── rviz │ ├── three.rviz │ ├── three_tb3_one_map_exploration.rviz │ ├── three_tb3_one_map_threegoals.rviz │ ├── turtlebot3_navigation.rviz │ ├── two.rviz │ ├── two_tb3_one_map_twogoals.rviz │ └── urdf_test.rviz ├── scripts │ └── markerpub_path.py └── worlds │ ├── MTR.world │ ├── MTR_map.dae │ ├── house.world │ ├── largeMap.dae │ ├── largeMap.world │ ├── lobby_stairs.world │ ├── scene_1.world │ ├── scene_1 │ ├── model.config │ └── model.sdf │ ├── scene_2.world │ └── scene_2 │ ├── model.config │ └── model.sdf ├── opencv ├── CMakeLists.txt ├── launch │ └── image_converter.launch ├── models │ └── checkerboard_6_6_0_05 │ │ ├── checkerboard.sdf │ │ └── model.config ├── package.xml └── scripts │ ├── cv_brdge.py │ ├── generate_checkboard.py │ ├── get_rotateMatrix.py │ ├── image_converter.py │ ├── pixelcoord2worldcoord.py │ ├── pixelcoord2worldcoord_method2.py │ ├── pixelcoord2worldcoord_method3.py │ └── tf_listener.py ├── panda_simulation └── panda_moveit_config │ ├── CMakeLists.txt │ ├── config │ ├── chomp_planning.yaml │ ├── controllers_gazebo.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── panda.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml │ ├── launch │ ├── 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_planning_execution.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── panda_moveit_controller_manager.launch.xml │ ├── panda_moveit_sensor_manager.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.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 ├── pysdf ├── CMakeLists.txt ├── package.xml ├── scripts │ └── sdf2urdf.py ├── setup.py └── src │ └── pysdf │ ├── __init__.py │ ├── conversions.py │ ├── conversions.pyc │ ├── naming.py │ ├── naming.pyc │ ├── parse.py │ └── parse.pyc └── vision_opencv ├── README.rst ├── cv_bridge ├── CHANGELOG.rst ├── CMakeLists.txt ├── cmake │ └── cv_bridge-extras.cmake.in ├── doc │ ├── conf.py │ ├── index.rst │ └── mainpage.dox ├── include │ └── cv_bridge │ │ ├── cv_bridge.h │ │ └── rgb_colors.h ├── package.xml ├── python │ ├── CMakeLists.txt │ ├── __init__.py.plain.in │ └── cv_bridge │ │ ├── __init__.py │ │ └── core.py ├── rosdoc.yaml ├── setup.py ├── src │ ├── CMakeLists.txt │ ├── boost │ │ ├── README │ │ ├── core │ │ │ └── scoped_enum.hpp │ │ ├── endian │ │ │ ├── conversion.hpp │ │ │ └── detail │ │ │ │ └── intrinsic.hpp │ │ └── predef │ │ │ ├── detail │ │ │ ├── _cassert.h │ │ │ ├── endian_compat.h │ │ │ └── test.h │ │ │ ├── library │ │ │ └── c │ │ │ │ ├── _prefix.h │ │ │ │ └── gnu.h │ │ │ ├── make.h │ │ │ ├── os │ │ │ ├── android.h │ │ │ ├── bsd.h │ │ │ ├── bsd │ │ │ │ ├── bsdi.h │ │ │ │ ├── dragonfly.h │ │ │ │ ├── free.h │ │ │ │ ├── net.h │ │ │ │ └── open.h │ │ │ ├── ios.h │ │ │ └── macos.h │ │ │ ├── other │ │ │ └── endian.h │ │ │ └── version_number.h │ ├── cv_bridge.cpp │ ├── module.cpp │ ├── module.hpp │ ├── module_opencv2.cpp │ ├── module_opencv3.cpp │ ├── pycompat.hpp │ └── rgb_colors.cpp └── test │ ├── CMakeLists.txt │ ├── conversions.py │ ├── enumerants.py │ ├── python_bindings.py │ ├── test_compression.cpp │ ├── test_endian.cpp │ ├── test_rgb_colors.cpp │ ├── utest.cpp │ └── utest2.cpp ├── image_geometry ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── conf.py │ ├── index.rst │ └── mainpage.dox ├── include │ └── image_geometry │ │ ├── exports.h │ │ ├── pinhole_camera_model.h │ │ └── stereo_camera_model.h ├── package.xml ├── rosdoc.yaml ├── setup.py ├── src │ ├── image_geometry │ │ ├── __init__.py │ │ └── cameramodels.py │ ├── pinhole_camera_model.cpp │ └── stereo_camera_model.cpp └── test │ ├── CMakeLists.txt │ ├── directed.py │ 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