├── .gitignore ├── README.md └── src ├── dynamixelsdk ├── .travis.yml ├── CONTRIBUTING.md ├── Doxyfile ├── LICENSE ├── README.md └── dynamixel_sdk │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── dynamixel_sdk │ │ ├── dynamixel_sdk.h │ │ ├── group_bulk_read.h │ │ ├── group_bulk_write.h │ │ ├── group_sync_read.h │ │ ├── group_sync_write.h │ │ ├── packet_handler.h │ │ ├── port_handler.h │ │ ├── port_handler_arduino.h │ │ ├── port_handler_linux.h │ │ ├── port_handler_mac.h │ │ ├── port_handler_windows.h │ │ ├── protocol1_packet_handler.h │ │ └── protocol2_packet_handler.h │ ├── package.xml │ └── src │ ├── DynamixelSDK.h │ └── dynamixel_sdk │ ├── group_bulk_read.cpp │ ├── group_bulk_write.cpp │ ├── group_sync_read.cpp │ ├── group_sync_write.cpp │ ├── packet_handler.cpp │ ├── port_handler.cpp │ ├── port_handler_arduino.cpp │ ├── port_handler_linux.cpp │ ├── port_handler_mac.cpp │ ├── port_handler_windows.cpp │ ├── protocol1_packet_handler.cpp │ └── protocol2_packet_handler.cpp ├── imu_tools ├── .travis.yml ├── Dockerfile-eloquent ├── README.md ├── imu_complementary_filter │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── COLCON_IGNORE │ ├── include │ │ └── imu_complementary_filter │ │ │ ├── complementary_filter.h │ │ │ └── complementary_filter_ros.h │ ├── launch │ │ └── complementary_filter.launch │ ├── package.xml │ └── src │ │ ├── complementary_filter.cpp │ │ ├── complementary_filter_node.cpp │ │ └── complementary_filter_ros.cpp ├── imu_filter_madgwick │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── COPYING │ ├── config │ │ └── imu_filter.yaml │ ├── include │ │ └── imu_filter_madgwick │ │ │ ├── base_node.hpp │ │ │ ├── imu_filter.h │ │ │ ├── imu_filter_ros.h │ │ │ ├── stateless_orientation.h │ │ │ └── world_frame.h │ ├── launch │ │ ├── imu_filter.launch.py │ │ └── imu_filter_component.launch.py │ ├── package.xml │ ├── sample │ │ ├── ardrone_imu.bag │ │ ├── phidgets_imu_upside_down.bag │ │ └── sparkfun_razor.bag │ ├── src │ │ ├── imu_filter.cpp │ │ ├── imu_filter_node.cpp │ │ ├── imu_filter_ros.cpp │ │ └── stateless_orientation.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── madgwick_test.cpp │ │ ├── stateless_orientation_test.cpp │ │ └── test_helpers.h ├── imu_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── rviz_imu_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin_description.xml │ ├── rosdoc.yaml │ ├── rviz_imu_plugin.png │ └── src │ ├── imu_acc_visual.cpp │ ├── imu_acc_visual.h │ ├── imu_axes_visual.cpp │ ├── imu_axes_visual.h │ ├── imu_display.cpp │ ├── imu_display.h │ ├── imu_orientation_visual.cpp │ ├── imu_orientation_visual.h │ ├── mag_display.cpp │ ├── mag_display.h │ ├── mag_visual.cpp │ └── mag_visual.h ├── robot_localization ├── .travis.yml ├── 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.hpp │ │ ├── filter_base.hpp │ │ ├── filter_common.hpp │ │ ├── filter_state.hpp │ │ ├── filter_utilities.hpp │ │ ├── measurement.hpp │ │ ├── navsat_conversions.hpp │ │ ├── navsat_transform.hpp │ │ ├── robot_localization_estimator.hpp │ │ ├── ros_filter.hpp │ │ ├── ros_filter_types.hpp │ │ ├── ros_filter_utilities.hpp │ │ ├── ros_robot_localization_listener.hpp │ │ └── ukf.hpp ├── launch │ ├── dual_ekf_navsat_example_simulation.launch.py │ ├── ekf.launch.py │ ├── ekf_global.launch.py │ ├── navsat_transform.launch.py │ └── ukf.launch.py ├── package.xml ├── params │ ├── dual_ekf_navsat_example.yaml │ ├── ekf.yaml │ ├── navsat_transform.yaml │ └── ukf.yaml ├── rosdoc.yaml ├── src │ ├── ekf.cpp │ ├── ekf_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_node.cpp ├── srv │ ├── FromLL.srv │ ├── GetState.srv │ ├── SetDatum.srv │ ├── SetPose.srv │ ├── ToLL.srv │ └── ToggleFilterProcessing.srv └── test │ ├── test1.bag │ ├── test2.bag │ ├── test3.bag │ ├── test_ekf.cpp │ ├── test_ekf_localization_node_bag1.launch.py │ ├── test_ekf_localization_node_bag1.sh │ ├── test_ekf_localization_node_bag1.yaml │ ├── test_ekf_localization_node_bag2.launch.py │ ├── test_ekf_localization_node_bag2.sh │ ├── test_ekf_localization_node_bag2.yaml │ ├── test_ekf_localization_node_bag3.launch.py │ ├── test_ekf_localization_node_bag3.sh │ ├── test_ekf_localization_node_bag3.yaml │ ├── test_ekf_localization_node_interfaces.cpp │ ├── test_ekf_localization_node_interfaces.launch.py │ ├── test_ekf_localization_node_interfaces.yaml │ ├── test_filter_base.cpp │ ├── test_filter_base_diagnostics_timestamps.cpp │ ├── test_filter_base_diagnostics_timestamps.launch.py │ ├── test_filter_base_diagnostics_timestamps.yaml │ ├── test_localization_node_bag_pose_tester.cpp │ ├── test_robot_localization_estimator.cpp │ ├── test_robot_localization_estimator.launch.py │ ├── test_ros_robot_localization_listener.cpp │ ├── test_ros_robot_localization_listener.launch.py │ ├── test_ros_robot_localization_listener.yaml │ ├── test_ros_robot_localization_listener_publisher.cpp │ ├── test_ukf.cpp │ ├── test_ukf_localization_node_bag1.launch.py │ ├── test_ukf_localization_node_bag1.sh │ ├── test_ukf_localization_node_bag1.yaml │ ├── test_ukf_localization_node_bag2.launch.py │ ├── test_ukf_localization_node_bag2.sh │ ├── test_ukf_localization_node_bag2.yaml │ ├── test_ukf_localization_node_bag3.launch.py │ ├── test_ukf_localization_node_bag3.sh │ ├── test_ukf_localization_node_bag3.yaml │ ├── test_ukf_localization_node_interfaces.cpp │ ├── test_ukf_localization_node_interfaces.launch.py │ └── test_ukf_localization_node_interfaces.yaml ├── turtlebot3 ├── .travis.yml ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE.md ├── LICENSE ├── README.md ├── turtlebot3.repos ├── turtlebot3 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot3_bringup │ ├── 99-turtlebot3-cdc.rules │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── robot.launch.py │ │ ├── rviz2.launch.py │ │ └── turtlebot3_state_publisher.launch.py │ ├── package.xml │ └── param │ │ ├── burger.yaml │ │ ├── waffle.yaml │ │ └── waffle_pi.yaml ├── turtlebot3_cartographer │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── turtlebot3_lds_2d.lua │ ├── launch │ │ ├── cartographer.launch.py │ │ └── occupancy_grid.launch.py │ ├── package.xml │ └── rviz │ │ └── tb3_cartographer.rviz ├── turtlebot3_ci.repos ├── turtlebot3_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── meshes │ │ ├── bases │ │ │ ├── burger_base.stl │ │ │ ├── waffle_base.stl │ │ │ └── waffle_pi_base.stl │ │ ├── sensors │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── lds.stl │ │ │ ├── r200.dae │ │ │ └── r200.jpg │ │ └── wheels │ │ │ ├── left_tire.stl │ │ │ └── right_tire.stl │ ├── package.xml │ ├── rviz │ │ └── model.rviz │ └── urdf │ │ ├── common_properties.urdf │ │ ├── turtlebot3_burger.urdf │ │ ├── turtlebot3_waffle.urdf │ │ └── turtlebot3_waffle_pi.urdf ├── turtlebot3_example │ ├── CHANGELOG.rst │ ├── package.xml │ ├── resource │ │ └── turtlebot3_example │ ├── setup.cfg │ ├── setup.py │ └── turtlebot3_example │ │ ├── __init__.py │ │ ├── turtlebot3_obstacle_detection │ │ ├── __init__.py │ │ ├── main.py │ │ └── turtlebot3_obstacle_detection.py │ │ ├── turtlebot3_patrol_client │ │ ├── __init__.py │ │ ├── main.py │ │ └── turtlebot3_patrol_client.py │ │ ├── turtlebot3_patrol_server │ │ ├── __init__.py │ │ ├── main.py │ │ ├── turtlebot3_path.py │ │ └── turtlebot3_patrol_server.py │ │ └── turtlebot3_position_control │ │ ├── __init__.py │ │ ├── main.py │ │ ├── turtlebot3_path.py │ │ └── turtlebot3_position_control.py ├── turtlebot3_navigation2 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── navigation2.launch.py │ ├── map │ │ ├── turtlebot3_world.pgm │ │ └── turtlebot3_world.yaml │ ├── package.xml │ ├── param │ │ ├── burger.yaml │ │ ├── waffle.yaml │ │ └── waffle_pi.yaml │ └── rviz │ │ └── tb3_navigation2.rviz ├── turtlebot3_node │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── turtlebot3_node │ │ │ ├── control_table.hpp │ │ │ ├── devices │ │ │ ├── devices.hpp │ │ │ ├── motor_power.hpp │ │ │ ├── reset.hpp │ │ │ └── sound.hpp │ │ │ ├── diff_drive_controller.hpp │ │ │ ├── dynamixel_sdk_wrapper.hpp │ │ │ ├── odometry.hpp │ │ │ ├── sensors │ │ │ ├── battery_state.hpp │ │ │ ├── imu.hpp │ │ │ ├── joint_state.hpp │ │ │ ├── sensor_state.hpp │ │ │ └── sensors.hpp │ │ │ └── turtlebot3.hpp │ ├── package.xml │ ├── param │ │ ├── burger.yaml │ │ ├── waffle.yaml │ │ └── waffle_pi.yaml │ └── src │ │ ├── devices │ │ ├── motor_power.cpp │ │ ├── reset.cpp │ │ └── sound.cpp │ │ ├── diff_drive_controller.cpp │ │ ├── dynamixel_sdk_wrapper.cpp │ │ ├── node_main.cpp │ │ ├── odometry.cpp │ │ ├── sensors │ │ ├── battery_state.cpp │ │ ├── imu.cpp │ │ ├── joint_state.cpp │ │ └── sensor_state.cpp │ │ └── turtlebot3.cpp └── turtlebot3_teleop │ ├── CHANGELOG.rst │ ├── package.xml │ ├── resource │ └── turtlebot3_teleop │ ├── setup.cfg │ ├── setup.py │ └── turtlebot3_teleop │ ├── __init__.py │ ├── __pycache__ │ └── __init__.cpython-38.pyc │ └── script │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ └── teleop_keyboard.cpython-38.pyc │ └── teleop_keyboard.py ├── turtlebot3_msgs ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── action │ └── Patrol.action ├── msg │ ├── SensorState.msg │ ├── Sound.msg │ └── VersionInfo.msg ├── package.xml └── srv │ ├── Dqn.srv │ └── Sound.srv └── turtlebot3_simulations ├── .travis.yml ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── turtlebot3_fake_node ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── turtlebot3_fake_node │ │ └── turtlebot3_fake_node.hpp ├── launch │ ├── rviz2.launch.py │ └── turtlebot3_fake_node.launch.py ├── package.xml ├── param │ ├── burger.yaml │ ├── waffle.yaml │ └── waffle_pi.yaml ├── rviz │ └── model.rviz └── src │ └── turtlebot3_fake_node.cpp ├── turtlebot3_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── turtlebot3_gazebo │ │ └── turtlebot3_drive.hpp ├── launch │ ├── empty_world.launch.py │ ├── robot_state_publisher.launch.py │ ├── turtlebot3_autorace.launch.py │ ├── turtlebot3_dqn_stage1.launch.py │ ├── turtlebot3_dqn_stage2.launch.py │ ├── turtlebot3_dqn_stage3.launch.py │ ├── turtlebot3_dqn_stage4.launch.py │ ├── turtlebot3_house.launch.py │ └── turtlebot3_world.launch.py ├── models │ ├── turtlebot3_autorace │ │ ├── course │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── course.material │ │ │ │ └── textures │ │ │ │ │ └── course.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── ground │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── lights │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── model.config │ │ ├── traffic_bar_down │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_bar_up │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_green │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_red │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_yellow │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_parking │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_parking.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_parking.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_stop │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_stop.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_stop.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_tunnel │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── tunnel.material │ │ │ │ └── textures │ │ │ │ │ └── tunnel.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── tunnel_obstacles │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── tunnel_wall │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── turtlebot3_burger │ │ ├── meshes │ │ │ ├── burger_base.dae │ │ │ ├── lds.dae │ │ │ └── tire.dae │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_dqn_world │ │ ├── goal_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── inner_walls │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── model.config │ │ ├── model.sdf │ │ ├── obstacle1 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── obstacle2 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── obstacle_plugin │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── libobstacle1.so │ │ │ │ ├── libobstacle2.so │ │ │ │ └── libobstacles.so │ │ │ ├── obstacle1.cc │ │ │ ├── obstacle2.cc │ │ │ └── obstacles.cc │ │ └── obstacles │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── turtlebot3_house │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_waffle │ │ ├── meshes │ │ │ ├── lds.dae │ │ │ ├── r200.dae │ │ │ ├── tire.dae │ │ │ └── waffle_base.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── model_old.sdf │ ├── turtlebot3_waffle_pi │ │ ├── meshes │ │ │ ├── lds.dae │ │ │ ├── tire.dae │ │ │ └── waffle_pi_base.dae │ │ ├── model-1_4_.sdf │ │ ├── model.config │ │ └── model.sdf │ └── turtlebot3_world │ │ ├── meshes │ │ ├── hexagon.dae │ │ └── wall.dae │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rviz │ ├── tb3_gazebo.rviz │ └── tb3_gazebo_robot_localization.rviz ├── src │ └── turtlebot3_drive.cpp └── worlds │ ├── empty_worlds │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_autoraces │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_dqn_stage1 │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_dqn_stage2 │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_dqn_stage3 │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_dqn_stage4 │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ ├── turtlebot3_houses │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model │ └── turtlebot3_worlds │ ├── burger.model │ ├── waffle.model │ └── waffle_pi.model ├── turtlebot3_simulations ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml └── turtlebot3_simulations_ci.repos /.gitignore: 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