├── .gitignore ├── CMakeLists.txt ├── README.md ├── build ├── .cmake │ └── api │ │ └── v1 │ │ ├── query │ │ └── client-vscode │ │ │ └── query.json │ │ └── reply │ │ ├── cache-v2-318f692468e1c280218f.json │ │ ├── cmakeFiles-v1-bed8b0ad74e8365e258e.json │ │ ├── codemodel-v2-ec428cb92a1c6ba56569.json │ │ ├── directory-.-Release-2c28d9b3e5c0d68c55fe.json │ │ ├── directory-gtest-Release-40f9edd0af6c04d6f946.json │ │ ├── directory-gtest.googlemock-Release-8fd0af86403c015b5fbc.json │ │ ├── directory-gtest.googletest-Release-5804ba12edef54b53d36.json │ │ ├── index-2024-04-10T07-50-54-0421.json │ │ ├── target-actionlib_generate_messages_cpp-Release-27bf9ca9ea4bd56c3aca.json │ │ ├── target-actionlib_generate_messages_eus-Release-4697b04ccbcb8e64a59a.json │ │ ├── target-actionlib_generate_messages_lisp-Release-570aa35fdeac54da39cd.json │ │ ├── target-actionlib_generate_messages_nodejs-Release-6966929f834e81f4c1d5.json │ │ ├── target-actionlib_generate_messages_py-Release-d02934dcd10cc526ad42.json │ │ ├── target-actionlib_msgs_generate_messages_cpp-Release-49105bae1e1e6da1f72c.json │ │ ├── target-actionlib_msgs_generate_messages_eus-Release-067caac6142434391c20.json │ │ ├── target-actionlib_msgs_generate_messages_lisp-Release-b6a67f02aeab3b069dca.json │ │ ├── target-actionlib_msgs_generate_messages_nodejs-Release-29da2765114c64d26728.json │ │ ├── target-actionlib_msgs_generate_messages_py-Release-480881c45256c8449caa.json │ │ ├── target-bond_generate_messages_cpp-Release-1ceadf2a3592e8377c0e.json │ │ ├── target-bond_generate_messages_eus-Release-5edd85e7255cb4fd87d7.json │ │ ├── target-bond_generate_messages_lisp-Release-519107364be087adec60.json │ │ ├── target-bond_generate_messages_nodejs-Release-3d1d72864ddbfdc7a7f3.json │ │ ├── target-bond_generate_messages_py-Release-9bcf0c758a95956e7338.json │ │ ├── target-clean_test_results-Release-2147ef2d674d44733825.json │ │ ├── target-download_extra_data-Release-18ccffb302f9d5233cbb.json │ │ ├── target-doxygen-Release-31450ff5eecba72616cd.json │ │ ├── target-dynamic_reconfigure_gencfg-Release-62412cce7439c409e999.json │ │ ├── target-dynamic_reconfigure_generate_messages_cpp-Release-eccb00e4aa77a82a78c0.json │ │ ├── target-dynamic_reconfigure_generate_messages_eus-Release-7434ff9383e44237237e.json │ │ ├── target-dynamic_reconfigure_generate_messages_lisp-Release-cee0011b08bdbd2f6d4a.json │ │ ├── target-dynamic_reconfigure_generate_messages_nodejs-Release-3cb421f2a99b7be41483.json │ │ ├── target-dynamic_reconfigure_generate_messages_py-Release-cee56e911f4d3f6bff0a.json │ │ ├── target-geometry_msgs_generate_messages_cpp-Release-70afb912a1ebed45ff1e.json │ │ ├── target-geometry_msgs_generate_messages_eus-Release-28d66a85575fc76db2b9.json │ │ ├── target-geometry_msgs_generate_messages_lisp-Release-e88f546a30769d90315d.json │ │ ├── target-geometry_msgs_generate_messages_nodejs-Release-2356b444fe4c58520faf.json │ │ ├── target-geometry_msgs_generate_messages_py-Release-6e2db47c14bb04a32ace.json │ │ ├── target-gmock-Release-ab9cc91fc5ce7452ce01.json │ │ ├── target-gmock_main-Release-85c2a4e37cf02dff976a.json │ │ ├── target-gtest-Release-4ef5addfb7b9c70fa979.json │ │ ├── target-gtest_main-Release-0b39279acd7007b740d1.json │ │ ├── target-loosely_lio_node-Release-37e9a341aa845266f259.json │ │ ├── target-ndt_3d_odometry_node-Release-653143126b7b2914717c.json │ │ ├── target-nodelet_generate_messages_cpp-Release-a08362ee41f4091e904e.json │ │ ├── target-nodelet_generate_messages_eus-Release-b57171a74f55fe19c265.json │ │ ├── target-nodelet_generate_messages_lisp-Release-d2762550790f43a9badb.json │ │ ├── target-nodelet_generate_messages_nodejs-Release-f723756922391cf11848.json │ │ ├── target-nodelet_generate_messages_py-Release-375ce6097ee3ee3f191a.json │ │ ├── target-nodelet_topic_tools_gencfg-Release-3526766ecab14bfb0a90.json │ │ ├── target-pcl_msgs_generate_messages_cpp-Release-9bae864ac74d0caaaf7d.json │ │ ├── target-pcl_msgs_generate_messages_eus-Release-af2b1119379bd68e3675.json │ │ ├── target-pcl_msgs_generate_messages_lisp-Release-2e579306bd8be6541f47.json │ │ ├── target-pcl_msgs_generate_messages_nodejs-Release-d512c25bcf4d289eb889.json │ │ ├── target-pcl_msgs_generate_messages_py-Release-b12305e2e4abec7d902e.json │ │ ├── target-pcl_ros_gencfg-Release-f938df4bb4ee9bb218f9.json │ │ ├── target-roscpp_generate_messages_cpp-Release-4fe3b92d53455b659c22.json │ │ ├── target-roscpp_generate_messages_eus-Release-d104f1a8b514417848d4.json │ │ ├── target-roscpp_generate_messages_lisp-Release-28ffd21ea5bbcb59875c.json │ │ ├── target-roscpp_generate_messages_nodejs-Release-6ab85e9cefe643192479.json │ │ ├── target-roscpp_generate_messages_py-Release-a4864dfbd211ae1fadb0.json │ │ ├── target-rosgraph_msgs_generate_messages_cpp-Release-bdc3ce89e9e748a3dca2.json │ │ ├── target-rosgraph_msgs_generate_messages_eus-Release-c4d306a25b87b96fe4eb.json │ │ ├── target-rosgraph_msgs_generate_messages_lisp-Release-9128c3e4cbd12f29a1e1.json │ │ ├── target-rosgraph_msgs_generate_messages_nodejs-Release-bb7198466049be1a264e.json │ │ ├── target-rosgraph_msgs_generate_messages_py-Release-ce48c5d2ebbbe57d73fd.json │ │ ├── target-run_tests-Release-fd29b5bb1bbb47fa5aeb.json │ │ ├── target-sensor_msgs_generate_messages_cpp-Release-77370760df7a500aaaba.json │ │ ├── target-sensor_msgs_generate_messages_eus-Release-7ebbdef392e21cdaf4af.json │ │ ├── target-sensor_msgs_generate_messages_lisp-Release-f78e1660eb719ae6038d.json │ │ ├── target-sensor_msgs_generate_messages_nodejs-Release-ad76c182f5b8dc2e1041.json │ │ ├── target-sensor_msgs_generate_messages_py-Release-68c46392b3cc7a0bca1e.json │ │ ├── target-slam_box.ndt_lo-Release-282c3f2221b22788bbd0.json │ │ ├── target-slam_box.utils-Release-41ca463ced1d3c0e8ad9.json │ │ ├── target-std_msgs_generate_messages_cpp-Release-11c7ef1e0c22997bbbeb.json │ │ ├── target-std_msgs_generate_messages_eus-Release-9834a2c5794c9e24fb58.json │ │ ├── target-std_msgs_generate_messages_lisp-Release-c891cbc74c47b5927f4e.json │ │ ├── target-std_msgs_generate_messages_nodejs-Release-2306e6e70b9234ee9c27.json │ │ ├── target-std_msgs_generate_messages_py-Release-dbf67c258798e5e966ed.json │ │ ├── target-std_srvs_generate_messages_cpp-Release-874d3ed92d21a9895c1c.json │ │ ├── target-std_srvs_generate_messages_eus-Release-74bd16e65a1baa214ba5.json │ │ ├── target-std_srvs_generate_messages_lisp-Release-eb854d6064dede2459c8.json │ │ ├── target-std_srvs_generate_messages_nodejs-Release-0131b5e770b9572c5bef.json │ │ ├── target-std_srvs_generate_messages_py-Release-c8fdaf3d2b1483b50e3b.json │ │ ├── target-tests-Release-13b08341409d88ed113a.json │ │ ├── target-tf2_msgs_generate_messages_cpp-Release-43886d641e49b7d65ec6.json │ │ ├── target-tf2_msgs_generate_messages_eus-Release-2bb3950a4ed243c6213d.json │ │ ├── target-tf2_msgs_generate_messages_lisp-Release-d2844066ee7013f57ceb.json │ │ ├── target-tf2_msgs_generate_messages_nodejs-Release-36e66cff0a22b8cd8507.json │ │ ├── target-tf2_msgs_generate_messages_py-Release-a4da1617589248a48cc1.json │ │ ├── target-tf_generate_messages_cpp-Release-aa84a3e3a27245fe3556.json │ │ ├── target-tf_generate_messages_eus-Release-48e1c09fd4c2b2fa97c6.json │ │ ├── target-tf_generate_messages_lisp-Release-fa5a40393ec54fdf9f59.json │ │ ├── target-tf_generate_messages_nodejs-Release-406652a32d83176e6b62.json │ │ ├── target-tf_generate_messages_py-Release-2aa48884e44d5a16f535.json │ │ ├── target-topic_tools_generate_messages_cpp-Release-b0db8ef472fcb60ecf67.json │ │ ├── target-topic_tools_generate_messages_eus-Release-d31d5dbaed42cd8fb7c6.json │ │ ├── target-topic_tools_generate_messages_lisp-Release-3f7b2ad216c5e3d7eb9e.json │ │ ├── target-topic_tools_generate_messages_nodejs-Release-682a96f0b39f7ecb97e1.json │ │ ├── target-topic_tools_generate_messages_py-Release-4f3754f3cca0fa125ce9.json │ │ └── toolchains-v1-2781238ec0fa0b9996f9.json ├── CATKIN_IGNORE ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.21.4 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── CMakeRuleHashes.txt │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── actionlib_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── actionlib_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── bond_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── bond_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── bond_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── bond_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── bond_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── clean_test_results.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── cmake.check_cache │ ├── download_extra_data.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── doxygen.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── dynamic_reconfigure_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── geometry_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── geometry_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── geometry_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── geometry_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── loosely_lio_node.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── ndt_3d_odometry_node.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── nodelet_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── nodelet_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── nodelet_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── nodelet_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── nodelet_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── nodelet_topic_tools_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── pcl_ros_gencfg.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── progress.marks │ ├── roscpp_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── roscpp_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── roscpp_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── roscpp_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── roscpp_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── rosgraph_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── run_tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── sensor_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── sensor_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── sensor_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── sensor_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── sensor_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── slam_box.ndt_lo.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── slam_box.utils.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── std_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_msgs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_msgs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_msgs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_srvs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_srvs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_srvs_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_srvs_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── std_srvs_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── tf2_msgs_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── tf2_msgs_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ 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DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── tf_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── tf_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── topic_tools_generate_messages_cpp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── topic_tools_generate_messages_eus.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── topic_tools_generate_messages_lisp.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ ├── topic_tools_generate_messages_nodejs.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make │ └── topic_tools_generate_messages_py.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ └── progress.make ├── CTestConfiguration.ini ├── CTestCustom.cmake ├── CTestTestfile.cmake ├── Makefile ├── Testing │ ├── 20240410-0750 │ │ └── Test.xml │ ├── 20240412-0646 │ │ └── Test.xml │ ├── TAG │ └── Temporary │ │ ├── LastTest_20240410-0750.log │ │ └── LastTest_20240412-0646.log ├── atomic_configure │ ├── .rosinstall │ ├── _setup_util.py │ ├── env.sh │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ └── setup.zsh ├── catkin │ └── catkin_generated │ │ └── version │ │ └── package.cmake ├── catkin_generated │ ├── env_cached.sh │ ├── generate_cached_setup.py │ ├── installspace │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ ├── setup.zsh │ │ ├── slam_box.pc │ │ ├── slam_boxConfig-version.cmake │ │ └── slam_boxConfig.cmake │ ├── ordered_paths.cmake │ ├── package.cmake │ ├── pkg.develspace.context.pc.py │ ├── pkg.installspace.context.pc.py │ ├── setup_cached.sh │ └── stamps │ │ └── slam_box │ │ ├── _setup_util.py.stamp │ │ ├── interrogate_setup_dot_py.py.stamp │ │ ├── package.xml.stamp │ │ └── pkg.pc.em.stamp ├── cmake_install.cmake ├── compile_commands.json ├── devel │ ├── .catkin │ ├── .rosinstall │ ├── _setup_util.py │ ├── cmake.lock │ ├── env.sh │ ├── lib │ │ └── pkgconfig │ │ │ └── slam_box.pc │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ ├── setup.zsh │ └── share │ │ └── 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DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── gtest_main.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ └── cmake_install.cmake ├── cmake └── geographic.cmake ├── config └── velodyne_ulhk.yaml ├── data ├── dlo │ ├── little_drift.png │ └── ulhk.png ├── loose_lio │ └── ulhk │ │ ├── drift.png │ │ └── global_map.png ├── ndt_lo │ ├── 05 │ │ ├── ape_pose.png │ │ ├── ape_pose_res.png │ │ ├── map.png │ │ ├── ndt_lo_pose.txt │ │ ├── pose.png │ │ └── poses.txt │ └── ulhk │ │ ├── drift.png │ │ └── global_map.png └── ndt_lo_pose.txt ├── include ├── modules │ ├── ESKF │ │ ├── ESKF.hpp │ │ ├── loosely_lio.hpp │ │ ├── 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"$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /build/atomic_configure/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /build/atomic_configure/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /build/atomic_configure/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /build/catkin_generated/env_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /usr/local/setup.sh 3 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/usr/local} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/slam_box.pc: -------------------------------------------------------------------------------- 1 | prefix=/usr/local 2 | 3 | Name: slam_box 4 | Description: Description of slam_box 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L${prefix}/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/slam_boxConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /build/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/noetic/lib") -------------------------------------------------------------------------------- /build/catkin_generated/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "slam_box") 2 | set(slam_box_VERSION "0.0.0") 3 | set(slam_box_MAINTAINER "robot-nuc12 ") 4 | set(slam_box_PACKAGE_FORMAT "2") 5 | set(slam_box_BUILD_DEPENDS "roscpp" "std_msg") 6 | set(slam_box_BUILD_EXPORT_DEPENDS "roscpp" "std_msg") 7 | set(slam_box_BUILDTOOL_DEPENDS "catkin") 8 | set(slam_box_BUILDTOOL_EXPORT_DEPENDS ) 9 | set(slam_box_EXEC_DEPENDS "roscpp" "std_msg") 10 | set(slam_box_RUN_DEPENDS "roscpp" "std_msg") 11 | set(slam_box_TEST_DEPENDS ) 12 | set(slam_box_DOC_DEPENDS ) 13 | set(slam_box_URL_WEBSITE "") 14 | set(slam_box_URL_BUGTRACKER "") 15 | set(slam_box_URL_REPOSITORY "") 16 | set(slam_box_DEPRECATED "") -------------------------------------------------------------------------------- /build/catkin_generated/pkg.develspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "slam_box" 7 | PROJECT_SPACE_DIR = "/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/build/devel" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /build/catkin_generated/pkg.installspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "slam_box" 7 | PROJECT_SPACE_DIR = "/usr/local" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /build/catkin_generated/stamps/slam_box/pkg.pc.em.stamp: -------------------------------------------------------------------------------- 1 | prefix=@PROJECT_SPACE_DIR 2 | 3 | Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) 4 | Description: Description of @PROJECT_NAME 5 | Version: @PROJECT_VERSION 6 | Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) 7 | Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) 8 | Requires: @(PROJECT_CATKIN_DEPENDS) 9 | -------------------------------------------------------------------------------- /build/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/robot-nuc12/catkin_ws/src/slam/SLAM_Box -------------------------------------------------------------------------------- /build/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/build/devel/setup.sh 3 | -------------------------------------------------------------------------------- /build/devel/cmake.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/build/devel/cmake.lock -------------------------------------------------------------------------------- /build/devel/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /build/devel/lib/pkgconfig/slam_box.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/build/devel 2 | 3 | Name: slam_box 4 | Description: Description of slam_box 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L${prefix}/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /build/devel/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /build/devel/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/build/devel} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /build/devel/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /build/devel/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /build/devel/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /build/devel/share/slam_box/cmake/slam_boxConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake: -------------------------------------------------------------------------------- 1 | # CMAKE generated file: DO NOT EDIT! 2 | # Generated by "Unix Makefiles" Generator, CMake Version 3.21 3 | 4 | # Relative path conversion top directories. 5 | set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/googletest") 6 | set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/build") 7 | 8 | # Force unix paths in dependencies. 9 | set(CMAKE_FORCE_UNIX_PATHS 1) 10 | 11 | 12 | # The C and CXX include file regular expressions for this directory. 13 | set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") 14 | 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-------------------------------------------------------------------------------- 1 | preprocess: 2 | lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 3 | scan_line: 32 4 | time_scale: 1e3 # 兼容不同数据集的时间单位 5 | 6 | mapping: 7 | extrinsic_T: [ 0, 0, -0.28 ] 8 | extrinsic_R: [ 2.67949e-08,-1, 0, 9 | 1,2.67949e-08, 0, 10 | 0, 0, 1, ] 11 | 12 | point_filter_num: 10 13 | max_iteration: 3 14 | imu_has_gravity: false 15 | with_ui: false -------------------------------------------------------------------------------- /data/dlo/little_drift.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/data/dlo/little_drift.png -------------------------------------------------------------------------------- /data/dlo/ulhk.png: -------------------------------------------------------------------------------- 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0.0323435 -0.0136968 -0.0264372 2 | -------------------------------------------------------------------------------- /include/modules/icp/data/aquarius_source.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/aquarius_source.pcd -------------------------------------------------------------------------------- /include/modules/icp/data/aquarius_target.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/aquarius_target.pcd -------------------------------------------------------------------------------- /include/modules/icp/data/icp_p2p.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/icp_p2p.png -------------------------------------------------------------------------------- /include/modules/icp/data/kneeling_lady_pose.txt: -------------------------------------------------------------------------------- 1 | -0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372 2 | -------------------------------------------------------------------------------- /include/modules/icp/data/kneeling_lady_source.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/kneeling_lady_source.pcd -------------------------------------------------------------------------------- /include/modules/icp/data/kneeling_lady_target.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/kneeling_lady_target.pcd -------------------------------------------------------------------------------- /include/modules/icp/data/original.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YZH-bot/SLAM_Box/a4ff3f1ff1eed679919bd8514fceed65692aa3d0/include/modules/icp/data/original.png -------------------------------------------------------------------------------- /include/utils/cloud_publisher.hpp: -------------------------------------------------------------------------------- 1 | #ifndef LIDAR_LOCALIZATION_PUBLISHER_CLOUD_PUBLISHER_HPP_ 2 | #define LIDAR_LOCALIZATION_PUBLISHER_CLOUD_PUBLISHER_HPP_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "utils/cloud_data.hpp" 10 | 11 | namespace Odometry { 12 | class CloudPublisher { 13 | public: 14 | CloudPublisher(ros::NodeHandle& nh, 15 | std::string topic_name, 16 | size_t buff_size, 17 | std::string frame_id); 18 | CloudPublisher() = default; 19 | void Publish(CloudPtr cloud_ptr_input); 20 | 21 | private: 22 | ros::NodeHandle nh_; 23 | ros::Publisher publisher_; 24 | std::string frame_id_; 25 | }; 26 | } 27 | #endif -------------------------------------------------------------------------------- /include/utils/cloud_subscriber.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include "utils/cloud_data.hpp" 11 | 12 | namespace Odometry { 13 | class CloudSubscriber { 14 | public: 15 | CloudSubscriber(ros::NodeHandle& nh, std::string topic_name, size_t buff_size); 16 | CloudSubscriber() = default; 17 | void ParseData(std::deque& deque_cloud_data); 18 | 19 | private: 20 | void msg_callback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg_ptr); 21 | 22 | private: 23 | ros::NodeHandle nh_; 24 | ros::Subscriber subscriber_; 25 | 26 | std::deque new_cloud_data_; 27 | }; 28 | } -------------------------------------------------------------------------------- /include/utils/imu_data.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "utils/common_type.hpp" 4 | 5 | namespace Odometry { 6 | struct IMU{ 7 | IMU() = default; 8 | IMU(const double t, const Vec3d& gyro, const Vec3d& acce): timestamp_(t), gyro_(gyro), acce_(acce){}; 9 | 10 | double timestamp_ = 0.0; 11 | Vec3d gyro_ = Vec3d::Zero(); 12 | Vec3d acce_ = Vec3d::Zero(); 13 | }; 14 | } 15 | 16 | using IMUPtr = std::shared_ptr; 17 | -------------------------------------------------------------------------------- /include/utils/imu_subscriber.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include "sensor_msgs/Imu.h" 6 | #include "utils/imu_data.hpp" 7 | 8 | namespace Odometry { 9 | class IMUSubscriber { 10 | public: 11 | IMUSubscriber(ros::NodeHandle& nh, std::string topic_name, size_t buff_size); 12 | IMUSubscriber() = default; 13 | void ParseData(std::deque& deque_imu_data); 14 | 15 | private: 16 | void msg_callback(const sensor_msgs::ImuConstPtr& imu_msg_ptr); 17 | 18 | private: 19 | ros::NodeHandle nh_; 20 | ros::Subscriber subscriber_; 21 | 22 | std::deque new_imu_data_; 23 | }; 24 | } 25 | -------------------------------------------------------------------------------- /launch/ndt_odometry.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | "/velodyne_points_0" 7 | true 8 | "/home/robot-nuc12/catkin_ws/src/slam/simple_icp/icp_odometry/data/ndt_lo/ulhk/map.pcd" 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/utils/gnss_data.cpp: -------------------------------------------------------------------------------- 1 | #include "utils/gnss_data.hpp" 2 | 3 | #include "glog/logging.h" 4 | 5 | //静态成员变量必须在类外初始化 6 | bool Odometry::GNSSData::origin_position_inited = false; 7 | GeographicLib::LocalCartesian Odometry::GNSSData::geo_converter; 8 | 9 | namespace Odometry { 10 | 11 | void GNSSData::InitOriginPosition() { 12 | geo_converter.Reset(latitude, longitude, altitude); 13 | origin_position_inited = true; 14 | } 15 | 16 | void GNSSData::UpdateXYZ() { 17 | if (!origin_position_inited) { 18 | LOG(WARNING) << "GeoConverter has not set origin position"; 19 | } 20 | geo_converter.Forward(latitude, longitude, altitude, local_E, local_N, local_U); 21 | } 22 | } --------------------------------------------------------------------------------