├── .dockerignore ├── .github ├── dependabot.yml └── workflows │ └── build_test.yml ├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── docker ├── Dockerfile ├── README.md ├── build.sh └── run.sh ├── images ├── gazebo.png └── rviz2.png ├── orca_base ├── CMakeLists.txt ├── README.md ├── include │ └── orca_base │ │ ├── base_context.hpp │ │ └── underwater_motion.hpp ├── package.xml ├── scripts │ └── test_base.py └── src │ ├── base_controller.cpp │ ├── camera_info_publisher.cpp │ ├── manager.cpp │ ├── odom_to_path_node.cpp │ ├── pose_to_path_node.cpp │ └── underwater_motion.cpp ├── orca_bringup ├── CMakeLists.txt ├── README.md ├── behavior_trees │ └── orca4_bt.xml ├── cfg │ ├── sim_launch.rviz │ ├── sim_left.ini │ ├── sim_right.ini │ └── sub.parm ├── launch │ ├── bringup.py │ ├── navigation_launch.py │ └── sim_launch.py ├── missions │ └── missions.txt ├── package.xml ├── params │ ├── nav2_params.yaml │ ├── rosbag2_record_qos.yaml │ ├── sim_mavros_params.yaml │ └── sim_orca_params.yaml └── scripts │ ├── auv.sh │ ├── disarm.sh │ ├── dump_rosout.py │ ├── mission_runner.py │ └── rov.sh ├── orca_description ├── CMakeLists.txt ├── README.md ├── hooks │ └── setup.dsv ├── models │ └── orca4 │ │ ├── meshes │ │ ├── bluerov2.dae │ │ ├── t200-ccw-prop.dae │ │ └── t200-cw-prop.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.in ├── package.xml ├── scripts │ └── generate_model.py └── worlds │ └── sand.world ├── orca_msgs ├── CMakeLists.txt ├── README.md ├── action │ └── TargetMode.action ├── msg │ ├── Effort.msg │ └── Motion.msg └── package.xml ├── orca_nav2 ├── CMakeLists.txt ├── README.md ├── goal_checker_3d_plugin.xml ├── include │ └── orca_nav2 │ │ └── param_macro.hpp ├── package.xml ├── progress_checker_3d_plugin.xml ├── pure_pursuit_controller_3d_plugin.xml ├── src │ ├── goal_checker_3d.cpp │ ├── progress_checker_3d.cpp │ ├── pure_pursuit_controller_3d.cpp │ └── straight_line_planner_3d.cpp └── straight_line_planner_3d_plugin.xml ├── orca_shared ├── CMakeLists.txt ├── README.md ├── include │ └── orca_shared │ │ ├── model.hpp │ │ ├── pwm.hpp │ │ └── util.hpp ├── package.xml └── src │ ├── model.cpp │ ├── pwm.cpp │ └── util.cpp ├── setup.bash └── workspace.repos /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clydemcqueen/orca4/HEAD/.dockerignore -------------------------------------------------------------------------------- /.github/dependabot.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clydemcqueen/orca4/HEAD/.github/dependabot.yml -------------------------------------------------------------------------------- /.github/workflows/build_test.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clydemcqueen/orca4/HEAD/.github/workflows/build_test.yml 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