├── LICENSE ├── README.md ├── ae640_ws ├── .catkin_workspace └── src │ ├── CMakeLists.txt │ ├── cc_rrt │ ├── CMakeLists.txt │ ├── launch │ │ ├── initialization.launch │ │ ├── mapping.launch │ │ └── planning.launch │ ├── package.xml │ ├── rviz │ │ └── cc_rrt.rviz │ └── src │ │ └── cc_rrt_node.cpp │ ├── costmap_2d │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── Costmap2D.cfg │ │ ├── GenericPlugin.cfg │ │ ├── InflationPlugin.cfg │ │ ├── ObstaclePlugin.cfg │ │ └── VoxelPlugin.cfg │ ├── costmap_plugins.xml │ ├── include │ │ └── costmap_2d │ │ │ ├── array_parser.h │ │ │ ├── cost_values.h │ │ │ ├── costmap_2d.h │ │ │ ├── costmap_2d_publisher.h │ │ │ ├── costmap_2d_ros.h │ │ │ ├── costmap_layer.h │ │ │ ├── costmap_math.h │ │ │ ├── footprint.h │ │ │ ├── inflation_layer.h │ │ │ ├── layer.h │ │ │ ├── layered_costmap.h │ │ │ ├── observation.h │ │ │ ├── observation_buffer.h │ │ │ ├── obstacle_layer.h │ │ │ ├── static_layer.h │ │ │ ├── testing_helper.h │ │ │ └── voxel_layer.h │ ├── launch │ │ ├── cc_rrt_params.yaml │ │ ├── example.launch │ │ └── example_params.yaml │ ├── msg │ │ └── VoxelGrid.msg │ ├── package.xml │ ├── plugins │ │ ├── inflation_layer.cpp │ │ ├── obstacle_layer.cpp │ │ ├── static_layer.cpp │ │ └── voxel_layer.cpp │ ├── src │ │ ├── array_parser.cpp │ │ ├── costmap_2d.cpp │ │ ├── costmap_2d_cloud.cpp │ │ ├── costmap_2d_markers.cpp │ │ ├── costmap_2d_node.cpp │ │ ├── costmap_2d_publisher.cpp │ │ ├── costmap_2d_ros.cpp │ │ ├── costmap_layer.cpp │ │ ├── costmap_math.cpp │ │ ├── footprint.cpp │ │ ├── layer.cpp │ │ ├── layered_costmap.cpp │ │ └── observation_buffer.cpp │ └── test │ │ ├── TenByTen.pgm │ │ ├── TenByTen.yaml │ │ ├── array_parser_test.cpp │ │ ├── costmap_params.yaml │ │ ├── costmap_tester.cpp │ │ ├── footprint_tests.cpp │ │ ├── footprint_tests.launch │ │ ├── inflation_tests.cpp │ │ ├── inflation_tests.launch │ │ ├── module_tests.cpp │ │ ├── obstacle_tests.cpp │ │ ├── obstacle_tests.launch │ │ ├── simple_driving_test.xml │ │ ├── static_tests.cpp │ │ └── static_tests.launch │ ├── lidar_mapping │ ├── CMakeLists.txt │ ├── launch │ │ └── lidar_mapping.launch │ ├── package.xml │ ├── rviz │ │ └── lidar_mapping.rviz │ └── src │ │ └── lidar_mapping.cpp │ ├── robot_localization │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── doc │ │ ├── .templates │ │ │ └── full_globaltoc.html │ │ ├── CHANGELOG.rst │ │ ├── Makefile │ │ ├── conf.py │ │ ├── configuring_robot_localization.rst │ │ ├── images │ │ │ ├── figure1.png │ │ │ └── rl_small.png │ │ ├── index.rst │ │ ├── integrating_gps.rst │ │ ├── manifest.yaml │ │ ├── migrating_from_robot_pose_ekf.rst │ │ ├── navsat_transform_node.rst │ │ ├── preparing_sensor_data.rst │ │ ├── robot_localization_ias13_revised.pdf │ │ └── state_estimation_nodes.rst │ ├── include │ │ └── robot_localization │ │ │ ├── ekf.h │ │ │ ├── filter_base.h │ │ │ ├── filter_common.h │ │ │ ├── filter_utilities.h │ │ │ ├── navsat_conversions.h │ │ │ ├── navsat_transform.h │ │ │ ├── robot_localization_estimator.h │ │ │ ├── ros_filter.h │ │ │ ├── ros_filter_types.h │ │ │ ├── ros_filter_utilities.h │ │ │ ├── ros_robot_localization_listener.h │ │ │ └── ukf.h │ ├── launch │ │ ├── dual_ekf_navsat_example.launch │ │ ├── ekf_template.launch │ │ ├── navsat_transform_template.launch │ │ ├── sensor_fusion.launch │ │ ├── sensor_fusion_0.launch │ │ ├── sensor_fusion_1.launch │ │ ├── sensor_fusion_2.launch │ │ └── ukf_template.launch │ ├── package.xml │ ├── params │ │ ├── dual_ekf_navsat_example.yaml │ │ ├── ekf_template.yaml │ │ ├── firebird_delta_navsat_transform.yaml │ │ ├── firebird_delta_ukf.yaml │ │ ├── firebird_delta_ukf_gps.yaml │ │ ├── navsat_transform_template.yaml │ │ └── ukf_template.yaml │ ├── rosdoc.yaml │ ├── rviz │ │ ├── robot_view.rviz │ │ ├── sensor_fusion.rviz │ │ └── top_view.rviz │ ├── scripts │ │ └── sensor_fusion.sh │ ├── src │ │ ├── ekf.cpp │ │ ├── ekf_localization_node.cpp │ │ ├── filter_base.cpp │ │ ├── filter_utilities.cpp │ │ ├── navsat_transform.cpp │ │ ├── navsat_transform_node.cpp │ │ ├── robot_localization_estimator.cpp │ │ ├── robot_localization_listener_node.cpp │ │ ├── ros_filter.cpp │ │ ├── ros_filter_utilities.cpp │ │ ├── ros_robot_localization_listener.cpp │ │ ├── ukf.cpp │ │ └── ukf_localization_node.cpp │ ├── srv │ │ ├── GetState.srv │ │ ├── SetDatum.srv │ │ └── SetPose.srv │ └── test │ │ ├── record_all_stats.sh │ │ ├── stat_recorder.sh │ │ ├── test1.bag │ │ ├── test2.bag │ │ ├── test3.bag │ │ ├── test_ekf.cpp │ │ ├── test_ekf.test │ │ ├── test_ekf_localization_node_bag1.test │ │ ├── test_ekf_localization_node_bag2.test │ │ ├── test_ekf_localization_node_bag3.test │ │ ├── test_ekf_localization_node_interfaces.cpp │ │ ├── test_ekf_localization_node_interfaces.test │ │ ├── test_filter_base.cpp │ │ ├── test_filter_base_diagnostics_timestamps.cpp │ │ ├── test_filter_base_diagnostics_timestamps.test │ │ ├── test_localization_node_bag_pose_tester.cpp │ │ ├── test_robot_localization_estimator.cpp │ │ ├── test_robot_localization_estimator.test │ │ ├── test_ros_robot_localization_listener.cpp │ │ ├── test_ros_robot_localization_listener.test │ │ ├── test_ros_robot_localization_listener_publisher.cpp │ │ ├── test_ukf.cpp │ │ ├── test_ukf.test │ │ ├── test_ukf_localization_node_bag1.test │ │ ├── test_ukf_localization_node_bag2.test │ │ ├── test_ukf_localization_node_bag3.test │ │ ├── test_ukf_localization_node_interfaces.cpp │ │ └── test_ukf_localization_node_interfaces.test │ ├── ros0xrobot │ ├── CMakeLists.txt │ ├── docs │ │ └── ROS0xRobot Manual.pdf │ ├── launch │ │ ├── ros0xrobot_IRRangeSensor.launch │ │ ├── ros0xrobot_all.launch │ │ ├── ros0xrobot_gps.launch │ │ ├── ros0xrobot_hokuyo.launch │ │ ├── ros0xrobot_imu.launch │ │ ├── ros0xrobot_imu_nex.launch │ │ ├── ros0xrobot_imu_razor.launch │ │ ├── ros0xrobot_lms1xx.launch │ │ ├── ros0xrobot_minimal.launch │ │ ├── ros0xrobot_navigation.launch │ │ ├── ros0xrobot_sonar.launch │ │ └── ros0xrobot_teleop.launch │ ├── lib │ │ └── lib0xRobotCPPLibrary.so │ ├── msg │ │ └── gpOutStatus.msg │ ├── package.xml │ └── src │ │ ├── 0xRobotcpplib.h │ │ └── ros0xRobotNode.cpp │ ├── rplidar_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── launch │ │ ├── configurable_rplidar.launch │ │ ├── firebird_delta_rplidar.launch │ │ ├── rplidar.launch │ │ ├── test_rplidar.launch │ │ └── view_rplidar.launch │ ├── package.xml │ ├── rplidar_A1.png │ ├── rplidar_A2.png │ ├── rviz │ │ └── rplidar.rviz │ ├── scripts │ │ ├── create_udev_rules.sh │ │ ├── delete_udev_rules.sh │ │ └── rplidar.rules │ ├── sdk │ │ ├── README.txt │ │ ├── include │ │ │ ├── rplidar.h │ │ │ ├── rplidar_cmd.h │ │ │ ├── rplidar_driver.h │ │ │ ├── rplidar_protocol.h │ │ │ └── rptypes.h │ │ └── src │ │ │ ├── arch │ │ │ ├── linux │ │ │ │ ├── arch_linux.h │ │ │ │ ├── net_serial.cpp │ │ │ │ ├── net_serial.h │ │ │ │ ├── thread.hpp │ │ │ │ ├── timer.cpp │ │ │ │ └── timer.h │ │ │ ├── macOS │ │ │ │ ├── arch_macOS.h │ │ │ │ ├── net_serial.cpp │ │ 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