├── .vscode ├── c_cpp_properties.json └── settings.json ├── README.md ├── mecanum_drive_controller ├── CMakeLists.txt ├── LICENSE ├── include │ └── mecanum_drive_controller │ │ ├── mecanum_drive_controller.hpp │ │ ├── odometry.hpp │ │ ├── speed_limiter.hpp │ │ └── visibility_control.h ├── mecanum_drive_plugin.xml ├── package.xml ├── src │ ├── mecanum_drive_controller.cpp │ ├── mecanum_drive_controller_parameter.yaml │ ├── odometry.cpp │ └── speed_limiter.cpp └── test │ ├── config │ └── test_mecanum_drive_controller.yaml │ └── test_load_mecanum_drive_controller.cpp ├── yahboom_rosmaster ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── placeholder.txt └── package.xml ├── yahboom_rosmaster_bringup ├── CMakeLists.txt ├── LICENSE ├── launch │ ├── load_ros2_controllers.launch.py │ └── rosmaster_x3_navigation.launch.py ├── package.xml └── scripts │ ├── rosmaster_x3_gazebo.sh │ └── rosmaster_x3_navigation.sh ├── yahboom_rosmaster_description ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ └── rosmaster_x3 │ │ ├── ros2_controllers.yaml │ │ └── ros2_controllers_template.yaml ├── doc │ └── mecanum-wheel-robot-yahboom-rviz.jpg ├── launch │ └── robot_state_publisher.launch.py ├── meshes │ ├── intel_realsense │ │ └── visual │ │ │ └── d435.stl │ ├── rosmaster_x3 │ │ └── visual │ │ │ ├── back_left_wheel_X3.STL │ │ │ ├── back_right_wheel_X3.STL │ │ │ ├── base_link_X3.STL │ │ │ ├── camera_link.STL │ │ │ ├── front_left_wheel_X3.STL │ │ │ ├── front_right_wheel_X3.STL │ │ │ └── laser_link.STL │ └── rplidar │ │ └── rplidar_s2.stl ├── package.xml ├── rviz │ └── yahboom_rosmaster_description.rviz └── urdf │ ├── control │ ├── gazebo_sim_ros2_control.urdf.xacro │ ├── rosmaster_x3_ros2_control.urdf.xacro │ └── velocity_control_plugin.urdf.xacro │ ├── mech │ ├── mecanum_wheel.urdf.xacro │ └── rosmaster_x3_base.urdf.xacro │ ├── robots │ └── rosmaster_x3.urdf.xacro │ └── sensors │ ├── imu.urdf.xacro │ ├── lidar.urdf.xacro │ └── rgbd_camera.urdf.xacro ├── yahboom_rosmaster_docking ├── CMakeLists.txt ├── LICENSE ├── config │ ├── apriltags_36h11.yaml │ └── dock_database.yaml ├── include │ └── placeholder.txt ├── launch │ └── apriltag_dock_pose_publisher.launch.py ├── package.xml └── src │ └── detected_dock_pose_publisher.cpp ├── yahboom_rosmaster_gazebo ├── CMakeLists.txt ├── LICENSE ├── config │ └── ros_gz_bridge.yaml ├── launch │ └── yahboom_rosmaster.gazebo.launch.py ├── models │ ├── Apriltag36_11_00000 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── tag36_11_00000.png │ │ ├── meshes │ │ │ └── tag36_11_00000.dae │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_AirconditionerA_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_AirconditionerA_01.png │ │ ├── meshes │ │ │ ├── aws_AirconditionerA_01_collision.DAE │ │ │ └── aws_AirconditionerA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_AirconditionerB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_AirconditionerB_01.png │ │ ├── meshes │ │ │ ├── aws_AirconditionerB_01_collision.DAE │ │ │ └── aws_AirconditionerB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_BalconyTable_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_BalconyTable_01.png │ │ ├── meshes │ │ │ ├── aws_BalconyTable_01_collision.DAE │ │ │ └── aws_BalconyTable_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Ball_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Ball_01.png │ │ ├── meshes │ │ │ ├── aws_Ball_01_collision.DAE │ │ │ └── aws_Ball_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Bed_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_BedA_01.png │ │ │ │ ├── aws_BedB_01.png │ │ │ │ ├── aws_BedC_01.png │ │ │ │ └── aws_Bed_01.png │ │ ├── meshes │ │ │ ├── aws_Bed_01_collision.DAE │ │ │ └── aws_Bed_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Board_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Board_01.png │ │ ├── meshes │ │ │ ├── aws_Board_01_collision.DAE │ │ │ └── aws_Board_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Carpet_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Carpet_01.png │ │ ├── meshes │ │ │ ├── aws_Carpet_01_collision.DAE │ │ │ └── aws_Carpet_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_ChairA_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_ChairA_01.png │ │ ├── meshes │ │ │ ├── aws_ChairA_01_collision.DAE │ │ │ └── aws_ChairA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_ChairD_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_ChairD_01.png │ │ ├── meshes │ │ │ ├── aws_ChairD_01_collision.DAE │ │ │ └── aws_ChairD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Chandelier_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Chandelier_01.png │ │ ├── meshes │ │ │ ├── aws_Chandelier_01.DAE │ │ │ ├── aws_Chandelier_01_collision.DAE │ │ │ └── aws_Chandelier_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_CoffeeTable_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_CoffeeTable_01.png │ │ ├── meshes │ │ │ ├── aws_CoffeeTable_01_collision.DAE │ │ │ └── aws_CoffeeTable_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_CookingBench_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_CookingBench_01.png │ │ ├── meshes │ │ │ ├── aws_CookingBench_01.DAE │ │ │ ├── aws_CookingBench_01_collision.DAE │ │ │ └── aws_CookingBench_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Curtain_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Curtain_01.png │ │ ├── meshes │ │ │ ├── aws_Curtain_01_collision.DAE │ │ │ └── aws_Curtain_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitA_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitA_01.jpg │ │ │ │ ├── aws_DeskPortraitA_01.png │ │ │ │ └── aws_DeskPortraitA_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitA_01_collision.DAE │ │ │ └── aws_DeskPortraitA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitA_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitA_02.jpg │ │ │ │ ├── aws_DeskPortraitA_01.png │ │ │ │ └── aws_DeskPortraitA_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitA_01_collision.DAE │ │ │ └── aws_DeskPortraitA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitB_01.jpg │ │ │ │ ├── aws_DeskPortraitB_01.png │ │ │ │ └── aws_DeskPortraitB_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitB_01_collision.DAE │ │ │ └── aws_DeskPortraitB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitB_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitB_02.jpg │ │ │ │ ├── aws_DeskPortraitB_01.png │ │ │ │ └── aws_DeskPortraitB_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitB_01_collision.DAE │ │ │ └── aws_DeskPortraitB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitC_01.jpg │ │ │ │ ├── aws_DeskPortraitC_01.png │ │ │ │ └── aws_DeskPortraitC_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitC_01_collision.DAE │ │ │ └── aws_DeskPortraitC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitC_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitC_02.jpg │ │ │ │ ├── aws_DeskPortraitC_01.png │ │ │ │ └── aws_DeskPortraitC_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitC_01_collision.DAE │ │ │ └── aws_DeskPortraitC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitD_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitD_01.jpg │ │ │ │ ├── aws_DeskPortraitD_01.png │ │ │ │ └── aws_DeskPortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitD_01_collision.DAE │ │ │ └── aws_DeskPortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitD_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitD_02.jpg │ │ │ │ ├── aws_DeskPortraitD_01.png │ │ │ │ └── aws_DeskPortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitD_01_collision.DAE │ │ │ └── aws_DeskPortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitD_03 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitD_03.jpg │ │ │ │ ├── aws_DeskPortraitD_01.png │ │ │ │ └── aws_DeskPortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitD_01_collision.DAE │ │ │ └── aws_DeskPortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_DeskPortraitD_04 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── DeskPortraitD_04.jpg │ │ │ │ ├── aws_DeskPortraitD_01.png │ │ │ │ └── aws_DeskPortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_DeskPortraitD_01_collision.DAE │ │ │ └── aws_DeskPortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Door_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Door_01.png │ │ ├── meshes │ │ │ ├── aws_Door_01_collision.DAE │ │ │ └── aws_Door_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Dumbbell_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Dumbbell_01.png │ │ ├── meshes │ │ │ ├── aws_Dumbbell_01_collision.DAE │ │ │ └── aws_Dumbbell_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_FitnessEquipment_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_FitnessEquipment_01.png │ │ ├── meshes │ │ │ ├── aws_FitnessEquipment_01_collision.DAE │ │ │ └── aws_FitnessEquipment_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_FloorB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_FloorB_01.png │ │ ├── meshes │ │ │ ├── aws_FloorB_01_collision.DAE │ │ │ └── aws_FloorB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_FoldingDoor_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_FoldingDoor_01.png │ │ ├── meshes │ │ │ ├── aws_FoldingDoor_01_collision.DAE │ │ │ └── aws_FoldingDoor_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_FoldingDoor_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_FoldingDoor_02.png │ │ ├── meshes │ │ │ ├── aws_FoldingDoor_02_collision.DAE │ │ │ └── aws_FoldingDoor_02_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Handle_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Handle_01.png │ │ ├── meshes │ │ │ ├── aws_Handle_01_collision.DAE │ │ │ └── aws_Handle_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_HouseWallB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_HouseWallB_01.png │ │ ├── meshes │ │ │ ├── aws_HouseWallB_01_collision.DAE │ │ │ └── aws_HouseWallB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_KitchenCabinet_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_KitchenCabinet_01.png │ │ ├── meshes │ │ │ ├── aws_KitchenCabinet_01_collision.DAE │ │ │ └── aws_KitchenCabinet_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_KitchenTable_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_KitchenTable_01.png │ │ ├── meshes │ │ │ ├── aws_KitchenTable_01_collision.DAE │ │ │ └── aws_KitchenTable_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_KitchenUtensils_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_KitchenUtensils_01.png │ │ ├── meshes │ │ │ ├── aws_KitchenUtensils_01_collision.DAE │ │ │ └── aws_KitchenUtensils_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_LightC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_LightC_01.png │ │ ├── meshes │ │ │ ├── aws_LightC_01_collision.DAE │ │ │ └── aws_LightC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_NightStand_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_NightStand_01.png │ │ ├── meshes │ │ │ ├── aws_NightStand_01_collision.DAE │ │ │ └── aws_NightStand_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Pillow_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Pillow_01.png │ │ ├── meshes │ │ │ ├── aws_Pillow_01_collision.DAE │ │ │ └── aws_Pillow_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitA_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitA_01.jpg │ │ │ │ ├── aws_PortraitA_01.png │ │ │ │ └── aws_PortraitA_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitA_01_collision.DAE │ │ │ └── aws_PortraitA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitA_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitA_02.jpg │ │ │ │ ├── aws_PortraitA_01.png │ │ │ │ └── aws_PortraitA_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitA_01_collision.DAE │ │ │ └── aws_PortraitA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitB_01.jpg │ │ │ │ ├── aws_PortraitB_01.png │ │ │ │ └── aws_PortraitB_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitB_01_collision.DAE │ │ │ └── aws_PortraitB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitB_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitB_02.jpg │ │ │ │ ├── aws_PortraitB_01.png │ │ │ │ └── aws_PortraitB_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitB_01_collision.DAE │ │ │ └── aws_PortraitB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitB_03 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitB_03.jpg │ │ │ │ ├── aws_PortraitB_01.png │ │ │ │ └── aws_PortraitB_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitB_01_collision.DAE │ │ │ └── aws_PortraitB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitC_01.jpg │ │ │ │ ├── aws_PortraitC_01.png │ │ │ │ └── aws_PortraitC_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitC_01_collision.DAE │ │ │ └── aws_PortraitC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitD_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitD_01.jpg │ │ │ │ ├── aws_PortraitD_01.png │ │ │ │ └── aws_PortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitD_01_collision.DAE │ │ │ └── aws_PortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitD_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitD_02.jpg │ │ │ │ ├── aws_PortraitD_01.png │ │ │ │ └── aws_PortraitD_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitD_01_collision.DAE │ │ │ └── aws_PortraitD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitE_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitE_01.jpg │ │ │ │ ├── aws_PortraitE_01.png │ │ │ │ └── aws_PortraitE_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitE_01_collision.DAE │ │ │ └── aws_PortraitE_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_PortraitE_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── PortraitE_02.jpg │ │ │ │ ├── aws_PortraitE_01.png │ │ │ │ └── aws_PortraitE_02.png │ │ ├── meshes │ │ │ ├── aws_PortraitE_01_collision.DAE │ │ │ └── aws_PortraitE_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Quilt_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Quilt_01.png │ │ ├── meshes │ │ │ ├── aws_Quilt_01_collision.DAE │ │ │ └── aws_Quilt_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Rangehood_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Rangehood_01.png │ │ ├── meshes │ │ │ ├── aws_Rangehood_01_collision.DAE │ │ │ └── aws_Rangehood_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_ReadingDesk_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_ReadingDesk_01.png │ │ ├── meshes │ │ │ ├── aws_ReadingDesk_01_collision.DAE │ │ │ └── aws_ReadingDesk_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Refrigerator_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_Refrigerator_01.png │ │ │ │ └── aws_Refrigerator_02.png │ │ ├── meshes │ │ │ ├── aws_Refrigerator_01.DAE │ │ │ ├── aws_Refrigerator_01_collision.DAE │ │ │ └── aws_Refrigerator_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_RoomCeiling_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_RoomCeiling_01.png │ │ ├── meshes │ │ │ ├── aws_RoomCeiling_01_collision.DAE │ │ │ └── aws_RoomCeiling_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_RoomWall_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_RoomWall_01.png │ │ ├── meshes │ │ │ ├── aws_RoomWall_01_collision.DAE │ │ │ └── aws_RoomWall_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_RoomWindow_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_RoomWindow_01.png │ │ ├── meshes │ │ │ ├── aws_RoomWindow_01_collision.DAE │ │ │ └── aws_RoomWindow_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_SeasoningBox_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_SeasoningBox_01.png │ │ ├── meshes │ │ │ ├── aws_SeasoningBox_01_collision.DAE │ │ │ └── aws_SeasoningBox_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_SecurityCamera_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_SecurityCamera_01.png │ │ ├── meshes │ │ │ ├── aws_SecurityCamera_01_collision.DAE │ │ │ └── aws_SecurityCamera_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_ShoeRack_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_ShoeRack_01.png │ │ ├── meshes │ │ │ ├── aws_ShoeRack_01_collision.DAE │ │ │ └── aws_ShoeRack_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_SofaB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_SofaB_01.png │ │ ├── meshes │ │ │ ├── aws_SofaB_01_collision.DAE │ │ │ └── aws_SofaB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_SofaC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_SofaC_01.png │ │ ├── meshes │ │ │ ├── aws_SofaC_01_collision.DAE │ │ │ └── aws_SofaC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Sofa_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Sofa_01.png │ │ ├── meshes │ │ │ ├── aws_Sofa_01.DAE │ │ │ ├── aws_Sofa_01_collision.DAE │ │ │ └── aws_Sofa_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_TVCabinet_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_TVCabinet_01.png │ │ ├── meshes │ │ │ ├── aws_TVCabinet_01_collision.DAE │ │ │ └── aws_TVCabinet_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_TV_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_TV_01.png │ │ ├── meshes │ │ │ ├── aws_TV_01_collision.DAE │ │ │ └── aws_TV_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_TV_02 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_TV_01.png │ │ ├── meshes │ │ │ ├── aws_TV_01_collision.DAE │ │ │ └── aws_TV_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Tablet_01 │ │ ├── .DS_Store │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ └── aws_Tablet_01_nologo.png │ │ ├── meshes │ │ │ ├── aws_Tablet_01_collision.DAE │ │ │ └── aws_Tablet_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Tableware_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Tableware_01.png │ │ ├── meshes │ │ │ ├── aws_Tableware_01_collision.DAE │ │ │ └── aws_Tableware_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Trash_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Trash_01.png │ │ ├── meshes │ │ │ ├── aws_Trash_01_collision.DAE │ │ │ └── aws_Trash_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Vase_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Vase_01.png │ │ ├── meshes │ │ │ ├── aws_Vase_01_collision.DAE │ │ │ └── aws_Vase_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_residential_Wardrobe_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_Wardrobe_01.png │ │ ├── meshes │ │ │ ├── aws_Wardrobe_01_collision.DAE │ │ │ └── aws_Wardrobe_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_Bucket_01 │ │ ├── .DS_Store │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ └── aws_robomaker_warehouse_Bucket_01.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_Bucket_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_Bucket_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ClutteringA_01 │ │ ├── .DS_Store │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ ├── .DS_Store │ │ │ │ ├── aws_robomaker_warehouse_ClutteringA_01.png │ │ │ │ ├── aws_robomaker_warehouse_ClutteringA_02.png │ │ │ │ └── aws_robomaker_warehouse_ClutteringA_03.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ClutteringA_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ClutteringA_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ClutteringC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_ClutteringC_01.png │ │ │ │ └── aws_robomaker_warehouse_ClutteringC_02.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ClutteringC_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ClutteringC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ClutteringD_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_ClutteringD_01.png │ │ │ │ └── aws_robomaker_warehouse_ClutteringD_02.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ClutteringD_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ClutteringD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_DeskC_01 │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_DeskC_01.png │ │ │ │ ├── aws_robomaker_warehouse_DeskC_02.png │ │ │ │ ├── aws_robomaker_warehouse_DeskC_03.png │ │ │ │ ├── aws_robomaker_warehouse_DeskC_03.psd │ │ │ │ └── aws_robomaker_warehouse_DeskC_04.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_DeskC_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_DeskC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_GroundB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_GroundB_01.png │ │ │ │ └── aws_robomaker_warehouse_GroundB_02.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_GroundB_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_GroundB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_Lamp_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_robomaker_warehouse_Lamp_01.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_Lamp_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_Lamp_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_PalletJackB_01 │ │ ├── .DS_Store │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_PalletJackB_01.png │ │ │ │ └── aws_robomaker_warehouse_PalletJackB_02.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_PalletJackB_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_PalletJackB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_RoofB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_robomaker_warehouse_RoofB_01.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_RoofB_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_RoofB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ShelfD_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_ShelfD_01.png │ │ │ │ ├── aws_robomaker_warehouse_ShelfD_02.png │ │ │ │ ├── aws_robomaker_warehouse_ShelfD_03.png │ │ │ │ └── aws_robomaker_warehouse_ShelfD_04.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ShelfD_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ShelfD_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ShelfE_01 │ │ ├── .DS_Store │ │ ├── materials │ │ │ ├── .DS_Store │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_ShelfE_01.png │ │ │ │ ├── aws_robomaker_warehouse_ShelfE_02.png │ │ │ │ ├── aws_robomaker_warehouse_ShelfE_03.png │ │ │ │ └── aws_robomaker_warehouse_ShelfE_04.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ShelfE_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ShelfE_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_ShelfF_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── aws_robomaker_warehouse_ShelfF_01.png │ │ │ │ ├── aws_robomaker_warehouse_ShelfF_02.png │ │ │ │ └── aws_robomaker_warehouse_ShelfF_03.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_ShelfF_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_ShelfF_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_TrashCanC_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_robomaker_warehouse_TrashCanC_01.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_TrashCanC_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_TrashCanC_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── aws_robomaker_warehouse_WallB_01 │ │ ├── materials │ │ │ └── textures │ │ │ │ └── aws_robomaker_warehouse_WallB_01.png │ │ ├── meshes │ │ │ ├── aws_robomaker_warehouse_WallB_01_collision.DAE │ │ │ └── aws_robomaker_warehouse_WallB_01_visual.DAE │ │ ├── model.config │ │ └── model.sdf │ ├── brown_table │ │ ├── model.config │ │ └── model.sdf │ ├── cafe │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── __auto_10.jpg │ │ │ │ ├── __auto_2.jpg │ │ │ │ ├── __auto_21.jpg │ │ │ │ ├── __auto_22.jpg │ │ │ │ ├── __auto_23.jpg │ │ │ │ ├── __auto_24.jpg │ │ │ │ ├── __auto_25.jpg │ │ │ │ ├── __auto_26.jpg │ │ │ │ ├── __auto_28.jpg │ │ │ │ ├── __auto_29.jpg │ │ │ │ ├── __auto_30.jpg │ │ │ │ ├── __auto_31.jpg │ │ │ │ ├── __auto_34.jpg │ │ │ │ ├── __auto_35.jpg │ │ │ │ └── __auto_37.jpg │ │ ├── meshes │ │ │ └── cafe.dae │ │ ├── model.config │ │ └── model.sdf │ ├── cafe_counter │ │ ├── materials │ │ │ └── textures │ │ │ │ └── cafe_counter.png │ │ ├── meshes │ │ │ ├── cafe_counter.mtl │ │ │ ├── cafe_counter.obj │ │ │ ├── counter_no_sink.obj │ │ │ └── counter_sink.obj │ │ ├── model.config │ │ └── model.sdf │ ├── cafe_table │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Maple.jpg │ │ │ │ └── Wood_Floor_Dark.jpg │ │ ├── meshes │ │ │ └── cafe_table.dae │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── cardboard_box │ │ ├── materials │ │ │ └── textures │ │ │ │ └── cardboard_box.png │ │ ├── meshes │ │ │ ├── cardboard_box.dae │ │ │ └── cardboard_box.png │ │ ├── model.config │ │ └── model.sdf │ ├── cheezit_big_original │ │ ├── meshes │ │ │ ├── cheez_tex_0.jpg │ │ │ └── cheezit_big_original.dae │ │ ├── model.config │ │ └── model.sdf │ ├── coke_can │ │ ├── materials │ │ │ └── textures │ │ │ │ └── coke_can.png │ │ ├── meshes │ │ │ └── coke_can.dae │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── ground_plane │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── mustard │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── mustard.material │ │ │ └── textures │ │ │ │ └── optimized_tsdf_texture_mapped_mesh.png │ │ ├── meshes │ │ │ ├── mustard.dae │ │ │ └── texture_map.png │ │ ├── model.config │ │ └── model.sdf │ ├── red_cylinder │ │ ├── model.config │ │ └── model.sdf │ └── sun │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rviz │ └── yahboom_rosmaster_gazebo_sim.rviz └── worlds │ ├── cafe.world │ ├── empty.world │ ├── house.world │ └── pick_and_place_demo.world ├── yahboom_rosmaster_localization ├── CMakeLists.txt ├── LICENSE ├── config │ └── ekf.yaml ├── launch │ └── ekf_gazebo.launch.py └── package.xml ├── yahboom_rosmaster_msgs ├── CMakeLists.txt ├── LICENSE ├── action │ └── TimedRotation.action ├── package.xml └── srv │ └── SetCleaningState.srv ├── yahboom_rosmaster_navigation ├── CMakeLists.txt ├── LICENSE ├── config │ ├── rosmaster_x3_nav2_default_params.yaml │ └── rosmaster_x3_nav2_regulated_pure_pursuit_controller.yaml ├── maps │ ├── cafe_world_map.pgm │ ├── cafe_world_map.yaml │ ├── house_world_map.pgm │ └── house_world_map.yaml ├── package.xml ├── rviz │ └── nav2_default_view.rviz ├── scripts │ ├── assisted_teleoperation.py │ ├── nav_to_pose.py │ └── test_nav_to_pose.py ├── src │ └── cmd_vel_relay_node.cpp └── yahboom_rosmaster_navigation │ ├── __init__.py │ └── posestamped_msg_generator.py └── yahboom_rosmaster_system_tests ├── CMakeLists.txt ├── LICENSE ├── config └── mecanum_parameters.yaml ├── launch └── mecanum_parameters.launch.py 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