├── .gitignore ├── README.md ├── adhoc_communication ├── CHANGELOG.rst ├── CHANGELOG.txt ├── CMakeLists.txt ├── build.sh ├── doxygen_config ├── launch │ ├── adhoc.launch │ ├── adhoc_communication.launch │ ├── network_6nodes.launch │ ├── node_demonstration.launch │ ├── simulation_2.launch │ └── simulation_5.launch ├── logging_files.txt ├── msg │ ├── CMgrDimensions.msg │ ├── CMgrRobotUpdate.msg │ ├── ExpAuction.msg │ ├── ExpAuctionElement.msg │ ├── ExpCluster.msg │ ├── ExpClusterElement.msg │ ├── ExpFrontier.msg │ ├── ExpFrontierElement.msg │ ├── MmControl.msg │ ├── MmListOfPoints.msg │ ├── MmMapUpdate.msg │ ├── MmPoint.msg │ ├── MmRobotPosition.msg │ └── RecvString.msg ├── package.xml ├── scripts │ ├── post_install.sh │ ├── simple_simulator.py │ └── test_route_repair.py ├── src │ ├── AckLinkFrame.cpp │ ├── AckLinkFrame.h │ ├── AckRoutedFrame.cpp │ ├── AckRoutedFrame.h │ ├── Beacon.cpp │ ├── Beacon.h │ ├── DebugFunctions.h │ ├── EthernetFrame.cpp │ ├── EthernetFrame.h │ ├── Logging.cpp │ ├── Logging.h │ ├── McAckFrame.cpp │ ├── McAckFrame.h │ ├── McDisconnectFrame.cpp │ ├── McDisconnectFrame.h │ ├── McHandler.cpp │ ├── McHandler.h │ ├── McNackFrame.cpp │ ├── McNackFrame.h │ ├── McPosAckObj.cpp │ ├── McPosAckObj.h │ ├── McRouteActivationFrame.cpp │ ├── McRouteActivationFrame.h │ ├── McTree.cpp │ ├── McTree.h │ ├── MultiHopBroadcastFrame.cpp │ ├── MultiHopBroadcastFrame.h │ ├── Packet.cpp │ ├── Packet.h │ ├── PositionSubscriber.cpp │ ├── PositionSubscriber.h │ ├── RouteRequest.cpp │ ├── RouteRequest.h │ ├── RouteResponse.cpp │ ├── RouteResponse.h │ ├── RoutedFrame.cpp │ ├── RoutedFrame.h │ ├── adhoc_communication.cpp │ ├── defines.h │ ├── functions.h │ ├── header.h │ └── structs.h ├── srv │ ├── BroadcastCMgrRobotUpdate.srv │ ├── BroadcastString.srv │ ├── ChangeMCMembership.srv │ ├── GetGroupState.srv │ ├── GetNeighbors.srv │ ├── SendCMgrRobotUpdate.srv │ ├── SendExpAuction.srv │ ├── SendExpCluster.srv │ ├── SendExpFrontier.srv │ ├── SendMmControl.srv │ ├── SendMmMapUpdate.srv │ ├── SendMmPoint.srv │ ├── SendMmRobotPosition.srv │ ├── SendOccupancyGrid.srv │ ├── SendQuaternion.srv │ ├── SendString.srv │ ├── SendTwist.srv │ └── ShutDown.srv └── world │ ├── sim_world.world │ └── willow-full.pgm ├── explorer ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ ├── ExplorationPlanner.h │ ├── boost_matrix.h │ ├── hungarian.h │ ├── matrix.h │ └── munkres.h ├── launch │ ├── exploration.launch │ ├── simple_navigation.launch │ ├── simple_navigation_pioneer.launch │ ├── simple_navigation_pioneer3at.launch │ ├── simple_navigation_pioneer3dx.launch │ ├── simple_navigation_prerequisites.launch │ ├── simple_navigation_prerequisites_hydro_pioneer.launch │ ├── simple_navigation_prerequisites_hydro_pioneer3at.launch │ ├── simple_navigation_prerequisites_hydro_pioneer3dx.launch │ ├── simple_navigation_prerequisites_hydro_turtlebot.launch │ └── simple_navigation_turtlebot.launch ├── msg │ └── Frontier.msg ├── package.xml ├── param │ ├── base_local_planner_params.yaml │ ├── pioneer3at_costmap_common_params.yaml │ ├── pioneer3at_global_costmap_params.yaml │ ├── pioneer3at_local_costmap_params.yaml │ ├── pioneer3dx_costmap_common_params.yaml │ ├── pioneer3dx_global_costmap_params.yaml │ ├── pioneer3dx_local_costmap_params.yaml │ ├── simulation_costmap_common_params.yaml │ ├── simulation_global_costmap_params.yaml │ ├── simulation_local_costmap_params.yaml │ ├── turtlebot_costmap_common_params.yaml │ ├── turtlebot_global_costmap_params.yaml │ └── turtlebot_local_costmap_params.yaml ├── rviz │ ├── explorer_robot_0.rviz │ ├── explorer_robot_1.rviz │ ├── explorer_rviz.rviz │ ├── explorer_rviz_robot_0.rviz │ ├── explorer_rviz_robot_1.rviz │ └── single_robot.rviz ├── scripts │ ├── explore.py │ ├── get_interfaces.py │ └── start_rosbag.sh └── src │ ├── ExplorationPlanner.cpp │ ├── explorer.cpp │ ├── hungarian.cpp │ ├── src │ ├── Makefile │ ├── adapters │ │ ├── boost_matrix.cpp │ │ ├── boost_matrix.h │ │ ├── raw_2d_array.cpp │ │ 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