├── .gitignore ├── LICENSE ├── README.md ├── area_division ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── area__division_8cpp.html │ │ ├── area__division_8cpp__incl.map │ │ ├── area__division_8cpp__incl.md5 │ │ ├── area__division_8cpp__incl.png │ │ ├── area__division_8cpp_source.html │ │ ├── area__division_8h.html │ │ ├── area__division_8h__incl.map │ │ ├── area__division_8h__incl.md5 │ │ ├── area__division_8h__incl.png │ │ ├── area__division_8h_source.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classarea__division-members.html │ │ ├── classarea__division.html │ │ ├── classconnected__components-members.html │ │ ├── classconnected__components.html │ │ ├── classes.html │ │ ├── closed.png │ │ ├── connected__components_8cpp.html │ │ ├── connected__components_8cpp__incl.map │ │ ├── connected__components_8cpp__incl.md5 │ │ ├── connected__components_8cpp__incl.png │ │ ├── connected__components_8cpp_source.html │ │ ├── connected__components_8h.html │ │ ├── connected__components_8h__dep__incl.map │ │ ├── connected__components_8h__dep__incl.md5 │ │ ├── connected__components_8h__dep__incl.png │ │ ├── connected__components_8h__incl.map │ │ ├── connected__components_8h__incl.md5 │ │ ├── connected__components_8h__incl.png │ │ ├── connected__components_8h_source.html │ │ ├── dir_000001_000002.html │ │ ├── dir_000001_000003.html │ │ ├── dir_000002_000003.html │ │ ├── dir_000003_000004.html │ │ ├── dir_0866e356fb67003393dc3a61797199b0.html │ │ ├── dir_4cd467f570805a921dd5b8bf28b60e36.html │ │ ├── dir_4cd467f570805a921dd5b8bf28b60e36_dep.map │ │ ├── dir_4cd467f570805a921dd5b8bf28b60e36_dep.md5 │ │ ├── dir_4cd467f570805a921dd5b8bf28b60e36_dep.png │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ │ ├── dir_a61f22007e0f347cded0d82030ee545d.html │ │ ├── dir_a774b9f9e10c19b9eaa66c340a779c10.html │ │ ├── dir_a774b9f9e10c19b9eaa66c340a779c10_dep.map │ │ ├── dir_a774b9f9e10c19b9eaa66c340a779c10_dep.md5 │ │ ├── dir_a774b9f9e10c19b9eaa66c340a779c10_dep.png │ │ ├── dir_bde7ba3e4bb515100ccbddac4fe58208.html │ │ ├── dir_bde7ba3e4bb515100ccbddac4fe58208_dep.map │ │ ├── dir_bde7ba3e4bb515100ccbddac4fe58208_dep.md5 │ │ ├── dir_bde7ba3e4bb515100ccbddac4fe58208_dep.png │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.map │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.md5 │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.png │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.map │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.md5 │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.png │ │ ├── dir_d766324bf60c5f36127d157513a18b4b.html │ │ ├── dir_d766324bf60c5f36127d157513a18b4b_dep.map │ │ ├── dir_d766324bf60c5f36127d157513a18b4b_dep.md5 │ │ ├── dir_d766324bf60c5f36127d157513a18b4b_dep.png │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_enum.html │ │ ├── globals_eval.html │ │ ├── globals_func.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── lib_2area__division_8cpp.html │ │ ├── lib_2area__division_8cpp__incl.map │ │ ├── lib_2area__division_8cpp__incl.md5 │ │ ├── lib_2area__division_8cpp__incl.png │ │ ├── lib_2area__division_8cpp_source.html │ │ ├── lib_2area__division_8h.html │ │ ├── lib_2area__division_8h__dep__incl.map │ │ ├── lib_2area__division_8h__dep__incl.md5 │ │ ├── lib_2area__division_8h__dep__incl.png │ │ ├── lib_2area__division_8h__incl.map │ │ ├── lib_2area__division_8h__incl.md5 │ │ ├── lib_2area__division_8h__incl.png │ │ ├── lib_2area__division_8h_source.html │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── splitbar.png │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ └── manifest.yaml ├── include │ ├── area_division.h │ └── lib │ │ ├── area_division.h │ │ └── connected_components.h ├── launch │ └── area_division.launch ├── package.xml ├── param │ └── area_division.yaml └── src │ ├── area_division.cpp │ └── lib │ ├── area_division.cpp │ └── connected_components.cpp ├── battery_exchanger ├── CMakeLists.txt ├── include │ └── battery_exchanger.h ├── launch │ └── battery_exchanger.launch ├── package.xml ├── param │ └── battery_exchanger.yaml └── src │ └── battery_exchanger.cpp ├── collision_avoidance ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classedge-members.html │ │ ├── classedge.html │ │ ├── classes.html │ │ ├── classmst__path-members.html │ │ ├── classmst__path.html │ │ ├── classrepulsion-members.html │ │ ├── classrepulsion.html │ │ ├── classspanning__tree-members.html │ │ ├── classspanning__tree.html │ │ ├── closed.png │ │ ├── collision__avoidance_8cpp.html │ │ ├── collision__avoidance_8cpp__incl.map │ │ ├── collision__avoidance_8cpp__incl.md5 │ │ ├── collision__avoidance_8cpp__incl.png │ │ ├── collision__avoidance_8cpp_source.html │ │ ├── collision__avoidance_8h.html │ │ ├── collision__avoidance_8h__dep__incl.map │ │ ├── collision__avoidance_8h__dep__incl.md5 │ │ ├── collision__avoidance_8h__dep__incl.png │ │ ├── collision__avoidance_8h__incl.map │ │ ├── collision__avoidance_8h__incl.md5 │ │ ├── collision__avoidance_8h__incl.png │ │ ├── collision__avoidance_8h_source.html │ │ ├── coverage__path_8cpp.html │ │ ├── coverage__path_8cpp__incl.map │ │ ├── coverage__path_8cpp__incl.md5 │ │ ├── coverage__path_8cpp__incl.png │ │ ├── coverage__path_8cpp_source.html │ │ ├── coverage__path_8h.html │ │ ├── coverage__path_8h__dep__incl.map │ │ ├── coverage__path_8h__dep__incl.md5 │ │ ├── coverage__path_8h__dep__incl.png │ │ ├── coverage__path_8h__incl.map │ │ ├── coverage__path_8h__incl.md5 │ │ ├── coverage__path_8h__incl.png │ │ ├── coverage__path_8h_source.html │ │ ├── dir_000001_000002.html │ │ ├── dir_000001_000003.html │ │ ├── dir_000002_000001.html │ │ ├── dir_000002_000004.html │ │ ├── dir_000003_000002.html │ │ ├── dir_000004_000001.html │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7.html │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.map │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.md5 │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.png │ │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.map │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.md5 │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.png │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8.html │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.map │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.md5 │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.png │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b.html │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.map │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.md5 │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.png │ │ ├── dir_409ef4259767819e3520a0c44644c03f.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ │ ├── dir_a61f22007e0f347cded0d82030ee545d.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.map │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.md5 │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.png │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.map │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.md5 │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.png │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf.html │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.map │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.md5 │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.png │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── edge_8cpp.html │ │ ├── edge_8cpp__incl.map │ │ ├── edge_8cpp__incl.md5 │ │ ├── edge_8cpp__incl.png │ │ ├── edge_8cpp_source.html │ │ ├── edge_8h.html │ │ ├── edge_8h__dep__incl.map │ │ ├── edge_8h__dep__incl.md5 │ │ ├── edge_8h__dep__incl.png │ │ ├── edge_8h_source.html │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_enum.html │ │ ├── globals_eval.html │ │ ├── globals_func.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── mst__path_8cpp.html │ │ ├── mst__path_8cpp__incl.map │ │ ├── mst__path_8cpp__incl.md5 │ │ ├── mst__path_8cpp__incl.png │ │ ├── mst__path_8cpp_source.html │ │ ├── mst__path_8h.html │ │ ├── mst__path_8h__dep__incl.map │ │ ├── mst__path_8h__dep__incl.md5 │ │ ├── mst__path_8h__dep__incl.png │ │ ├── mst__path_8h__incl.map │ │ ├── mst__path_8h__incl.md5 │ │ ├── mst__path_8h__incl.png │ │ ├── mst__path_8h_source.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── repulsion_8cpp.html │ │ ├── repulsion_8cpp__incl.map │ │ ├── repulsion_8cpp__incl.md5 │ │ ├── repulsion_8cpp__incl.png │ │ ├── repulsion_8cpp_source.html │ │ ├── repulsion_8h.html │ │ ├── repulsion_8h__dep__incl.map │ │ ├── repulsion_8h__dep__incl.md5 │ │ ├── repulsion_8h__dep__incl.png │ │ ├── repulsion_8h__incl.map │ │ ├── repulsion_8h__incl.md5 │ │ ├── repulsion_8h__incl.png │ │ ├── repulsion_8h_source.html │ │ ├── spanning__tree_8cpp.html │ │ ├── spanning__tree_8cpp__incl.map │ │ ├── spanning__tree_8cpp__incl.md5 │ │ ├── spanning__tree_8cpp__incl.png │ │ ├── spanning__tree_8cpp_source.html │ │ ├── spanning__tree_8h.html │ │ ├── spanning__tree_8h__dep__incl.map │ │ ├── spanning__tree_8h__dep__incl.md5 │ │ ├── spanning__tree_8h__dep__incl.png │ │ ├── spanning__tree_8h__incl.map │ │ ├── spanning__tree_8h__incl.md5 │ │ ├── spanning__tree_8h__incl.png │ │ ├── spanning__tree_8h_source.html │ │ ├── splitbar.png │ │ ├── structcompare__edge-members.html │ │ ├── structcompare__edge.html │ │ ├── structhash__edge-members.html │ │ ├── structhash__edge.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ ├── tabs.css │ │ ├── test__collision__avoidance_8cpp.html │ │ ├── test__collision__avoidance_8cpp__incl.map │ │ ├── test__collision__avoidance_8cpp__incl.md5 │ │ ├── test__collision__avoidance_8cpp__incl.png │ │ ├── test__collision__avoidance_8cpp_source.html │ │ ├── test__repulsion_8cpp.html │ │ ├── test__repulsion_8cpp__incl.map │ │ ├── test__repulsion_8cpp__incl.md5 │ │ ├── test__repulsion_8cpp__incl.png │ │ └── test__repulsion_8cpp_source.html │ └── manifest.yaml ├── functions.ods ├── include │ ├── collision_avoidance.h │ └── lib │ │ └── repulsion.h ├── launch │ └── collision_avoidance.launch ├── package.xml ├── param │ └── collision_avoidance.yaml ├── src │ ├── collision_avoidance.cpp │ └── lib │ │ └── repulsion.cpp └── test │ ├── collision_avoidance.yaml │ ├── rosconsole.config │ ├── test_collision_avoidance.cpp │ ├── test_collision_avoidance.test │ └── test_repulsion.cpp ├── coverage_path ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classedge-members.html │ │ ├── classedge.html │ │ ├── classes.html │ │ ├── classmst__path-members.html │ │ ├── classmst__path.html │ │ ├── classspanning__tree-members.html │ │ ├── classspanning__tree.html │ │ ├── closed.png │ │ ├── coverage__path_8cpp.html │ │ ├── coverage__path_8cpp__incl.map │ │ ├── coverage__path_8cpp__incl.md5 │ │ ├── coverage__path_8cpp__incl.png │ │ ├── coverage__path_8cpp_source.html │ │ ├── coverage__path_8h.html │ │ ├── coverage__path_8h__dep__incl.map │ │ ├── coverage__path_8h__dep__incl.md5 │ │ ├── coverage__path_8h__dep__incl.png │ │ ├── coverage__path_8h__incl.map │ │ ├── coverage__path_8h__incl.md5 │ │ ├── coverage__path_8h__incl.png │ │ ├── coverage__path_8h_source.html │ │ ├── dir_000001_000002.html │ │ ├── dir_000001_000003.html │ │ ├── dir_000002_000001.html │ │ ├── dir_000002_000004.html │ │ ├── dir_000003_000002.html │ │ ├── dir_000004_000001.html │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7.html │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.map │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.md5 │ │ ├── dir_115c921dc055f805ce7f7211a063b6d7_dep.png │ │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.map │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.md5 │ │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.png │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8.html │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.map │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.md5 │ │ ├── dir_3bdef5ab35625bd084133b1c731fa4b8_dep.png │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b.html │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.map │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.md5 │ │ ├── dir_3ebdb57ff8bba63229910f993a9c488b_dep.png │ │ ├── dir_409ef4259767819e3520a0c44644c03f.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ │ ├── dir_a61f22007e0f347cded0d82030ee545d.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.map │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.md5 │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.png │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.map │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.md5 │ │ ├── dir_d44c64559bbebec7f509842c48db8b23_dep.png │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf.html │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.map │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.md5 │ │ ├── dir_efa8aaeb4c933c92ef094a3d2b4d6eaf_dep.png │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── edge_8cpp.html │ │ ├── edge_8cpp__incl.map │ │ ├── edge_8cpp__incl.md5 │ │ ├── edge_8cpp__incl.png │ │ ├── edge_8cpp_source.html │ │ ├── edge_8h.html │ │ ├── edge_8h__dep__incl.map │ │ ├── edge_8h__dep__incl.md5 │ │ ├── edge_8h__dep__incl.png │ │ ├── edge_8h_source.html │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── mst__path_8cpp.html │ │ ├── mst__path_8cpp__incl.map │ │ ├── mst__path_8cpp__incl.md5 │ │ ├── mst__path_8cpp__incl.png │ │ ├── mst__path_8cpp_source.html │ │ ├── mst__path_8h.html │ │ ├── mst__path_8h__dep__incl.map │ │ ├── mst__path_8h__dep__incl.md5 │ │ ├── mst__path_8h__dep__incl.png │ │ ├── mst__path_8h__incl.map │ │ ├── mst__path_8h__incl.md5 │ │ ├── mst__path_8h__incl.png │ │ ├── mst__path_8h_source.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── spanning__tree_8cpp.html │ │ ├── spanning__tree_8cpp__incl.map │ │ ├── spanning__tree_8cpp__incl.md5 │ │ ├── spanning__tree_8cpp__incl.png │ │ ├── spanning__tree_8cpp_source.html │ │ ├── spanning__tree_8h.html │ │ ├── spanning__tree_8h__dep__incl.map │ │ ├── spanning__tree_8h__dep__incl.md5 │ │ ├── spanning__tree_8h__dep__incl.png │ │ ├── spanning__tree_8h__incl.map │ │ ├── spanning__tree_8h__incl.md5 │ │ ├── spanning__tree_8h__incl.png │ │ ├── spanning__tree_8h_source.html │ │ ├── splitbar.png │ │ ├── structcompare__edge-members.html │ │ ├── structcompare__edge.html │ │ ├── structhash__edge-members.html │ │ ├── structhash__edge.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ ├── tabs.css │ │ ├── test__coverage__path_8cpp.html │ │ ├── test__coverage__path_8cpp__incl.map │ │ ├── test__coverage__path_8cpp__incl.md5 │ │ ├── test__coverage__path_8cpp__incl.png │ │ ├── test__coverage__path_8cpp_source.html │ │ ├── test__edge_8cpp.html │ │ ├── test__edge_8cpp__incl.map │ │ ├── test__edge_8cpp__incl.md5 │ │ ├── test__edge_8cpp__incl.png │ │ ├── test__edge_8cpp_source.html │ │ ├── test__mst__path_8cpp.html │ │ ├── test__mst__path_8cpp__incl.map │ │ ├── test__mst__path_8cpp__incl.md5 │ │ ├── test__mst__path_8cpp__incl.png │ │ ├── test__mst__path_8cpp_source.html │ │ ├── test__spanning__tree_8cpp.html │ │ ├── test__spanning__tree_8cpp__incl.map │ │ ├── test__spanning__tree_8cpp__incl.md5 │ │ ├── test__spanning__tree_8cpp__incl.png │ │ └── test__spanning__tree_8cpp_source.html │ └── manifest.yaml ├── include │ ├── coverage_path.h │ └── lib │ │ ├── edge.h │ │ ├── mst_path.h │ │ └── spanning_tree.h ├── launch │ └── coverage_path.launch ├── package.xml ├── param │ └── coverage_path.yaml ├── src │ ├── coverage_path.cpp │ └── lib │ │ ├── edge.cpp │ │ ├── mst_path.cpp │ │ └── spanning_tree.cpp └── test │ ├── coverage_path.yaml │ ├── ma.yaml │ ├── rosconsole.config │ ├── test_coverage_path.cpp │ ├── test_coverage_path.test │ ├── test_edge.cpp │ ├── test_mst_path.cpp │ └── test_spanning_tree.cpp ├── kinematics_exchanger ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classes.html │ │ ├── closed.png │ │ ├── dir_000000_000001.html │ │ ├── dir_000001_000002.html │ │ ├── dir_2ea8df725199cc9c8717cfccf95f5846.html │ │ ├── dir_2ea8df725199cc9c8717cfccf95f5846_dep.map │ │ ├── dir_2ea8df725199cc9c8717cfccf95f5846_dep.md5 │ │ ├── dir_2ea8df725199cc9c8717cfccf95f5846_dep.png │ │ ├── dir_56fd0d4ca77a237ea5727f4a8c589889.html │ │ ├── dir_56fd0d4ca77a237ea5727f4a8c589889_dep.map │ │ ├── dir_56fd0d4ca77a237ea5727f4a8c589889_dep.md5 │ │ ├── dir_56fd0d4ca77a237ea5727f4a8c589889_dep.png │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ │ ├── dir_b4e88e9f01325fb4eb643e8ebb2df17d.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── kinematics__exchanger_8cpp.html │ │ ├── kinematics__exchanger_8cpp__incl.map │ │ ├── kinematics__exchanger_8cpp__incl.md5 │ │ ├── kinematics__exchanger_8cpp__incl.png │ │ ├── kinematics__exchanger_8cpp_source.html │ │ ├── kinematics__exchanger_8h.html │ │ ├── kinematics__exchanger_8h__dep__incl.map │ │ ├── kinematics__exchanger_8h__dep__incl.md5 │ │ ├── kinematics__exchanger_8h__dep__incl.png │ │ ├── kinematics__exchanger_8h__incl.map │ │ ├── kinematics__exchanger_8h__incl.md5 │ │ ├── kinematics__exchanger_8h__incl.png │ │ ├── kinematics__exchanger_8h_source.html │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── splitbar.png │ │ ├── structcartesian__vector__t-members.html │ │ ├── structcartesian__vector__t.html │ │ ├── structpolar__vector__t-members.html │ │ ├── structpolar__vector__t.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ └── manifest.yaml ├── include │ └── kinematics_exchanger.h ├── launch │ └── kinematics_exchanger.launch ├── package.xml ├── param │ └── kinematics_exchanger.yaml └── src │ └── kinematics_exchanger.cpp ├── library_structure.png ├── roi_assignment ├── CMakeLists.txt ├── README.md ├── include │ ├── lib │ │ ├── auction.h │ │ ├── auction_roi.h │ │ ├── auction_rois.h │ │ └── auctioning.h │ └── roi_assignment.h ├── launch │ └── roi_assignment.launch ├── package.xml ├── param │ └── roi_assignment.yaml ├── src │ ├── lib │ │ ├── auction_roi.cpp │ │ ├── auction_rois.cpp │ │ └── auctioning.cpp │ └── roi_assignment.cpp └── test │ ├── roi_0.plan │ ├── roi_1.plan │ ├── roi_2.plan │ ├── roi_assignment.yaml │ ├── roi_services.yaml │ ├── rosconsole.config │ ├── test_auction.cpp │ ├── test_auction_roi.cpp │ ├── test_auction_rois.cpp │ ├── test_auctioning.cpp │ ├── test_roi_assignment.cpp │ └── test_roi_assignment.test ├── state_exchanger ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classes.html │ │ ├── closed.png │ │ ├── dir_000001_000002.html │ │ ├── dir_22a58809190b00863ed50c3c5b679a93.html │ │ ├── dir_22a58809190b00863ed50c3c5b679a93_dep.map │ │ ├── dir_22a58809190b00863ed50c3c5b679a93_dep.md5 │ │ ├── dir_22a58809190b00863ed50c3c5b679a93_dep.png │ │ ├── dir_8c33e517cc32c10f88b5b05b1e1d7895.html │ │ ├── dir_8c33e517cc32c10f88b5b05b1e1d7895_dep.map │ │ ├── dir_8c33e517cc32c10f88b5b05b1e1d7895_dep.md5 │ │ ├── dir_8c33e517cc32c10f88b5b05b1e1d7895_dep.png │ │ ├── dir_ac49d17c81bef294f9a049ca7fe5c085.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── splitbar.png │ │ ├── state__exchanger_8cpp.html │ │ ├── state__exchanger_8cpp__incl.map │ │ ├── state__exchanger_8cpp__incl.md5 │ │ ├── state__exchanger_8cpp__incl.png │ │ ├── state__exchanger_8cpp_source.html │ │ ├── state__exchanger_8h.html │ │ ├── state__exchanger_8h__dep__incl.map │ │ ├── state__exchanger_8h__dep__incl.md5 │ │ ├── state__exchanger_8h__dep__incl.png │ │ ├── state__exchanger_8h__incl.map │ │ ├── state__exchanger_8h__incl.md5 │ │ ├── state__exchanger_8h__incl.png │ │ ├── state__exchanger_8h_source.html │ │ ├── structstate__t-members.html │ │ ├── structstate__t.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ └── manifest.yaml ├── include │ └── state_exchanger.h ├── launch │ └── state_exchanger.launch ├── package.xml ├── param │ └── state_exchanger.yaml └── src │ └── state_exchanger.cpp ├── swarm_functions ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── target_monitor ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classes.html │ │ ├── classtarget-members.html │ │ ├── classtarget.html │ │ ├── classtargets-members.html │ │ ├── classtargets.html │ │ ├── closed.png │ │ ├── dir_000001_000002.html │ │ ├── dir_000001_000003.html │ │ ├── dir_000002_000003.html │ │ ├── dir_12fda07e25a9d684c976ceff3e3a361d.html │ │ ├── dir_12fda07e25a9d684c976ceff3e3a361d_dep.map │ │ ├── dir_12fda07e25a9d684c976ceff3e3a361d_dep.md5 │ │ ├── dir_12fda07e25a9d684c976ceff3e3a361d_dep.png │ │ ├── dir_2f9f0ea2427dabacdf9736b71508656c.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ │ ├── dir_7926ddbdbc7f71f8d6a355ff6e93f794.html │ │ ├── dir_7926ddbdbc7f71f8d6a355ff6e93f794_dep.map │ │ ├── dir_7926ddbdbc7f71f8d6a355ff6e93f794_dep.md5 │ │ ├── dir_7926ddbdbc7f71f8d6a355ff6e93f794_dep.png │ │ ├── dir_9b6afdcc129ad4c5be36dc80127f048b.html │ │ ├── dir_9b6afdcc129ad4c5be36dc80127f048b_dep.map │ │ ├── dir_9b6afdcc129ad4c5be36dc80127f048b_dep.md5 │ │ ├── dir_9b6afdcc129ad4c5be36dc80127f048b_dep.png │ │ ├── dir_a61f22007e0f347cded0d82030ee545d.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25.html │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.map │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.md5 │ │ ├── dir_c85d3e3c5052e9ad9ce18c6863244a25_dep.png │ │ ├── dir_cb2c26e0d8cabf8e74a5b1f0eb96a509.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_enum.html │ │ ├── globals_eval.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── splitbar.png │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ ├── tabs.css │ │ ├── target_8cpp.html │ │ ├── target_8cpp__incl.map │ │ ├── target_8cpp__incl.md5 │ │ ├── target_8cpp__incl.png │ │ ├── target_8cpp_source.html │ │ ├── target_8h.html │ │ ├── target_8h__dep__incl.map │ │ ├── target_8h__dep__incl.md5 │ │ ├── target_8h__dep__incl.png │ │ ├── target_8h__incl.map │ │ ├── target_8h__incl.md5 │ │ ├── target_8h__incl.png │ │ ├── target_8h_source.html │ │ ├── target__monitor_8cpp.html │ │ ├── target__monitor_8cpp__incl.map │ │ ├── target__monitor_8cpp__incl.md5 │ │ ├── target__monitor_8cpp__incl.png │ │ ├── target__monitor_8cpp_source.html │ │ ├── targets_8cpp.html │ │ ├── targets_8cpp__incl.map │ │ ├── targets_8cpp__incl.md5 │ │ ├── targets_8cpp__incl.png │ │ ├── targets_8cpp_source.html │ │ ├── targets_8h.html │ │ ├── targets_8h__dep__incl.map │ │ ├── targets_8h__dep__incl.md5 │ │ ├── targets_8h__dep__incl.png │ │ ├── targets_8h__incl.map │ │ ├── targets_8h__incl.md5 │ │ ├── targets_8h__incl.png │ │ └── targets_8h_source.html │ └── manifest.yaml ├── include │ └── lib │ │ ├── target.h │ │ └── targets.h ├── launch │ └── target_monitor.launch ├── package.xml ├── param │ ├── target_monitor.yaml │ └── targets.yaml ├── src │ ├── lib │ │ ├── target.cpp │ │ └── targets.cpp │ └── target_monitor.cpp ├── target_fsm.drawio └── target_fsm.png ├── task_allocation ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── docs │ ├── html │ │ ├── auction__action_8cpp.html │ │ ├── auction__action_8cpp__incl.map │ │ ├── auction__action_8cpp__incl.md5 │ │ ├── auction__action_8cpp__incl.png │ │ ├── auction__action_8cpp_source.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── bid__action_8cpp.html │ │ ├── bid__action_8cpp__incl.map │ │ ├── bid__action_8cpp__incl.md5 │ │ ├── bid__action_8cpp__incl.png │ │ ├── bid__action_8cpp_source.html │ │ ├── closed.png │ │ ├── dir_58c42b5de5085ef71ff6e7dc6def0e6a.html │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ ├── dir_6be1dde5480c98899fc497d428567d3b.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── globals.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── index-msg.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── msg-styles.css │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── splitbar.png │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ └── manifest.yaml ├── launch │ └── task_allocation.launch ├── package.xml ├── param │ └── task_allocation.yaml └── src │ ├── auction_action.cpp │ └── bid_action.cpp └── tracks.yaml /.gitignore: -------------------------------------------------------------------------------- 1 | devel/ 2 | logs/ 3 | build/ 4 | bin/ 5 | msg_gen/ 6 | srv_gen/ 7 | msg/*Action.msg 8 | msg/*ActionFeedback.msg 9 | msg/*ActionGoal.msg 10 | msg/*ActionResult.msg 11 | msg/*Feedback.msg 12 | msg/*Goal.msg 13 | msg/*Result.msg 14 | msg/_*.py 15 | build_isolated/ 16 | devel_isolated/ 17 | 18 | # Generated by dynamic reconfigure 19 | *.cfgc 20 | /cfg/cpp/ 21 | /cfg/*.py 22 | 23 | # Ignore generated docs 24 | *.dox 25 | *.wikidoc 26 | 27 | # eclipse stuff 28 | .project 29 | .cproject 30 | 31 | # qcreator stuff 32 | CMakeLists.txt.user 33 | 34 | srv/_*.py 35 | *.pcd 36 | *.pyc 37 | qtcreator-* 38 | *.user 39 | 40 | /planning/cfg 41 | /planning/docs 42 | /planning/src 43 | 44 | *~ 45 | 46 | # Emacs 47 | .#* 48 | 49 | # Catkin custom files 50 | CATKIN_IGNORE 51 | 52 | # Visual Studio Code 53 | .vscode 54 | -------------------------------------------------------------------------------- /area_division/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package area_division 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.0 (2019-10-31) 6 | ------------------ 7 | * Initial release of area_division 8 | * Contributors: Micha Sende 9 | -------------------------------------------------------------------------------- /area_division/docs/html/area__division_8cpp__incl.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /area_division/docs/html/area__division_8cpp__incl.md5: -------------------------------------------------------------------------------- 1 | a5a97d334ae4a23daa2fe4f24cda1c57 -------------------------------------------------------------------------------- /area_division/docs/html/area__division_8cpp__incl.png: -------------------------------------------------------------------------------- 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19 |   24 |
25 | 26 |
27 |
28 | area_division
29 | Author(s): Micha Sende
30 | autogenerated on Wed Mar 4 2020 15:16:03 31 |
32 | 33 | 34 | -------------------------------------------------------------------------------- /area_division/docs/html/graph_legend.md5: -------------------------------------------------------------------------------- 1 | 387ff8eb65306fa251338d3c9bd7bfff -------------------------------------------------------------------------------- /area_division/docs/html/graph_legend.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/area_division/docs/html/graph_legend.png -------------------------------------------------------------------------------- /area_division/docs/html/index-msg.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | area_division Msg/Srv Documentation 4 | 5 | 6 | 7 | 8 |
9 | 10 |

area_division Msg/Srv Documentation

11 | 12 |
13 | See also: 14 | 15 | 20 | 21 |
22 | 23 | 24 | 25 | 26 | 27 | 28 |

autogenerated on Wed, 04 Mar 2020 15:16:03

29 | 30 |
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area_division Documentation
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26 |
27 | area_division
28 | Author(s): Micha Sende
29 | autogenerated on Wed Mar 4 2020 15:16:02 30 |
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actions: [] 2 | authors: Micha Sende 3 | brief: '' 4 | bugtracker: '' 5 | depends: 6 | - nav_msgs 7 | - catkin 8 | - roscpp 9 | - cpswarm_msgs 10 | - swarmros 11 | - geometry_msgs 12 | description: A package that divides the available environment area among multiple 13 | cyber physical systems (CPSs) in a swarm. 14 | license: Apache License 2.0 15 | maintainers: Micha Sende 16 | msgs: [] 17 | package_type: package 18 | repo_url: '' 19 | srvs: [] 20 | url: https://wiki.ros.org/area_division 21 | -------------------------------------------------------------------------------- /area_division/launch/area_division.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /area_division/param/area_division.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 1.5 # The frequency in Hz at which to run the control loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | resolution: 1.0 # The grid map underlying the area division will be downsampled to this resolution in meter / cell. 4 | swarm_timeout: 5.0 # The time in seconds communication in the swarm can be delayed at most. Used to wait after an area division event before starting the area division or time after which it is assumed that a swarm member has left the swarm if no position update has been received. 5 | visualize: true # Whether to publish the area division on a topic for visualization. 6 | states: # Only CPSs in these states divide the area among each other. 7 | - Coverage 8 | - Tracking 9 | - SelectRover 10 | - LocalCoverage 11 | optimizer: 12 | iterations: 100 # Maximum number of iterations of the optimization algorithm. 13 | variate_weight: 0.01 # Maximum variate weight of connected components. 14 | discrepancy: 30 # Maximum difference between number of assigned grid cells to each CPS. 15 | -------------------------------------------------------------------------------- /battery_exchanger/include/battery_exchanger.h: -------------------------------------------------------------------------------- 1 | #ifndef BATTERY_EXCHANGER_H 2 | #define BATTERY_EXCHANGER_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | using namespace std; 11 | using namespace ros; 12 | 13 | /** 14 | * @brief A battery state type containing UUID and battery state of the corresponding CPS together with last updated time stamp. 15 | */ 16 | typedef struct battery_t { 17 | string uuid; 18 | cpswarm_msgs::BatteryState state; 19 | Time stamp; 20 | } battery_t; 21 | 22 | /** 23 | * @brief Current battery state of the CPS. 24 | */ 25 | cpswarm_msgs::BatteryState battery; 26 | 27 | /** 28 | * @brief Whether a valid battery state has been received. 29 | */ 30 | bool battery_valid; 31 | 32 | /** 33 | * @brief The battery state of all known swarm members. 34 | */ 35 | map swarm_battery; 36 | 37 | #endif // BATTERY_EXCHANGER_H 38 | -------------------------------------------------------------------------------- /battery_exchanger/launch/battery_exchanger.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /battery_exchanger/param/battery_exchanger.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 1.5 # The frequency in Hz at which to run the control loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | timeout: 20.0 # The time in seconds after which another CPS is considered to have left the swarm. 4 | -------------------------------------------------------------------------------- /collision_avoidance/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package collision_avoidance 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.0.0 (2021-01-31) 6 | ------------------ 7 | * Initial release of collision_avoidance 8 | * Contributors: Micha Sende 9 | 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20 |   25 |
26 | 27 |
28 |
29 | collision_avoidance
30 | Author(s): Micha Sende
31 | autogenerated on Thu Apr 14 2022 11:00:01 32 |
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9 | 10 |

collision_avoidance Msg/Srv Documentation

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13 | See also: 14 | 15 | 20 | 21 |
22 | 23 | 24 | 25 | 26 | 27 | 28 |

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collision_avoidance Documentation
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28 | collision_avoidance
29 | Author(s): Micha Sende
30 | autogenerated on Thu Apr 14 2022 11:00:01 31 |
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package that enables cyber physical systems (CPSs) in a swarm to avoid 14 | collisions with each other. 15 | license: Apache License 2.0 16 | maintainers: Micha Sende 17 | msgs: [] 18 | package_type: package 19 | repo_url: '' 20 | srvs: [] 21 | url: https://wiki.ros.org/collision_avoidance 22 | -------------------------------------------------------------------------------- /collision_avoidance/functions.ods: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/collision_avoidance/functions.ods -------------------------------------------------------------------------------- /collision_avoidance/include/collision_avoidance.h: -------------------------------------------------------------------------------- 1 | #ifndef COLLISION_AVOIDANCE_H 2 | #define COLLISION_AVOIDANCE_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include "lib/repulsion.h" 11 | 12 | using namespace std; 13 | using namespace ros; 14 | 15 | /** 16 | * @brief The object encapsulating the collision avoidance routines. 17 | */ 18 | repulsion ca; 19 | 20 | /** 21 | * @brief No collision avoidance in these states. 22 | */ 23 | vector excluded; 24 | 25 | /** 26 | * @brief Whether to perform collision avoidance. 27 | */ 28 | bool active; 29 | 30 | #endif // COLLISION_AVOIDANCE_H 31 | -------------------------------------------------------------------------------- /collision_avoidance/launch/collision_avoidance.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /collision_avoidance/test/collision_avoidance.yaml: -------------------------------------------------------------------------------- 1 | dist_critical: 3.0 # Distance between CPSs in meter below which the collision avoidance will work maximally, i.e., maximum repulsion, no attraction. 2 | dist_attract: 6.0 # Distance between CPSs in meter below which attraction starts to decrease. Must be greater than dist_critical. 3 | dist_repulse: 12.0 # Distance between CPSs in meter below which repulsion starts to increase. Must be greater than dist_critical. 4 | # dist_critical: 8.0 # Distance between CPSs in meter below which the collision avoidance will work maximally. 5 | # dist_avoid: 12.0 # Distance between CPSs in meter below which collision avoidance is active. 6 | visualize: true # Whether to visualize the avoidance direction. 7 | # Function shapes can be lin, li2, sin, log, or exp. Default is a constant value. 8 | attraction_shape: lin # The shape of the attraction function. 9 | repulsion_shape: lin # The shape of the repulsion function. 10 | excluded: # No collision avoidance in these states. 11 | - bar 12 | -------------------------------------------------------------------------------- /collision_avoidance/test/rosconsole.config: -------------------------------------------------------------------------------- 1 | # Set the default ros output 2 | log4j.logger.ros=INFO 3 | 4 | # Override a specific package 5 | log4j.logger.ros.collision_avoidance=DEBUG 6 | -------------------------------------------------------------------------------- /collision_avoidance/test/test_collision_avoidance.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /coverage_path/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package coverage_path 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.0 (2019-10-31) 6 | ------------------ 7 | * Initial release of coverage_path 8 | * Contributors: Micha Sende 9 | -------------------------------------------------------------------------------- /coverage_path/docs/html/bc_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/coverage_path/docs/html/bc_s.png -------------------------------------------------------------------------------- /coverage_path/docs/html/bdwn.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/coverage_path/docs/html/bdwn.png 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-------------------------------------------------------------------------------- 1 | 2 | coverage_path: File Members 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 17 | 18 | 19 |
20 |   25 |
26 | 27 |
28 |
29 | coverage_path
30 | Author(s): Micha Sende
31 | autogenerated on Thu Jan 27 2022 10:04:20 32 |
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9 | 10 |

coverage_path Msg/Srv Documentation

11 | 12 |
13 | See also: 14 | 15 | 20 | 21 |
22 | 23 | 24 | 25 | 26 | 27 | 28 |

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29 | 30 |
31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /coverage_path/docs/html/index.html: -------------------------------------------------------------------------------- 1 | 2 | coverage_path: Main Page 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 17 | 18 | 19 |
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coverage_path Documentation
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25 | 26 |
27 |
28 | coverage_path
29 | Author(s): Micha Sende
30 | autogenerated on Thu Jan 27 2022 10:04:20 31 |
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25 | -------------------------------------------------------------------------------- /coverage_path/launch/coverage_path.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /coverage_path/test/coverage_path.yaml: -------------------------------------------------------------------------------- 1 | resolution: 0.5 # The spacing between two adjacent coverage path legs in meter. 2 | visualize: false # Whether to publish the coverage path on a topic for visualization. 3 | divide_area: true # Whether to divide the area among the CPSs in the swarm before generating the path. Joining or leaving swarm members will trigger regeneration of the path. 4 | vertical: true # Whether the sweeping pattern is vertical or horizontal. 5 | turning_points: true # Whether there are only waypoints at turning points of the path or also waypoints regularly spaced on straight line segments of the path. 6 | states: # Only CPSs in these states are considered part of the swarm. 7 | - valid -------------------------------------------------------------------------------- /coverage_path/test/ma.yaml: -------------------------------------------------------------------------------- 1 | publish_map: false # Whether to publish a grid map, either created from the coordinates or received from a map server. 2 | cell_warn: 1000 # Number of grid cells in the map above which a performance warning is issued. 3 | resolution: 1.0 # Resolution of the grid map representing the area in meter / cell. 4 | wait_for_map: 2.0 # Time in seconds to wait initially for another map provider. 5 | 6 | # The area in which the mission takes place. It is a polygon specified by a list of coordinates. 7 | # Area coordinates given as separate lists of x-coordinates/longitudes and y-coordinates/latitudes. Make sure they are given in order. 8 | 9 | # Simulation 10 | area_x: 11 | - -10 12 | - 10 13 | - 10 14 | - -10 15 | area_y: 16 | - -10 17 | - -10 18 | - 10 19 | - 10 20 | -------------------------------------------------------------------------------- /coverage_path/test/rosconsole.config: -------------------------------------------------------------------------------- 1 | # Set the default ros output 2 | log4j.logger.ros=INFO 3 | 4 | # Override a specific package 5 | #log4j.logger.ros.coverage_path=DEBUG 6 | -------------------------------------------------------------------------------- /coverage_path/test/test_coverage_path.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /kinematics_exchanger/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package kinematics_exchanger 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.0 (2019-10-31) 6 | ------------------ 7 | * Changed: Renamed package swarm_kinematics_exchanger to kinematics_exchanger 8 | * Contributors: Micha Sende 9 | 10 | 1.0.0 (2019-09-11) 11 | ------------------ 12 | * Initial release of swarm_kinematics_exchanger 13 | * Contributors: Micha Sende 14 | -------------------------------------------------------------------------------- /kinematics_exchanger/docs/html/bc_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/kinematics_exchanger/docs/html/bc_s.png -------------------------------------------------------------------------------- /kinematics_exchanger/docs/html/bdwn.png: 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-------------------------------------------------------------------------------- /kinematics_exchanger/docs/manifest.yaml: -------------------------------------------------------------------------------- 1 | actions: [] 2 | authors: Micha Sende 3 | brief: '' 4 | bugtracker: '' 5 | depends: 6 | - cpswarm_msgs 7 | - geometry_msgs 8 | - roscpp 9 | - catkin 10 | - tf2 11 | description: A package that exchanges kinematic properties such as velocity or position 12 | between multiple cyber physical systems (CPSs) in a swarm. 13 | license: Apache License 2.0 14 | maintainers: Micha Sende 15 | msgs: [] 16 | package_type: package 17 | repo_url: '' 18 | srvs: [] 19 | url: http://wiki.ros.org/kinematics_exchanger 20 | -------------------------------------------------------------------------------- /kinematics_exchanger/launch/kinematics_exchanger.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /kinematics_exchanger/param/kinematics_exchanger.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 10.0 # The frequency in Hz at which to run the control loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | timeout: 1.0 # The time in seconds after which another CPS is considered to have left the swarm. 4 | sample_size: 5 # The number of data samples to average over for reliable results. 5 | init: 30 # The number of messages to ignore during initialization. This is because the first messages are inaccurate. 6 | -------------------------------------------------------------------------------- /library_structure.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cpswarm/swarm_functions/be1467f2f2cf3e9f6204a4ab741903f2df3e130d/library_structure.png -------------------------------------------------------------------------------- /roi_assignment/launch/roi_assignment.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /roi_assignment/param/roi_assignment.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 1.5 # The frequency in Hz at which to run the control loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | timeout: 10.0 # The time in seconds to listen for incoming bids from other CPSs after the auction has been opened, i.e., auction duration. 4 | cost_param: 0.6 # Parametrization of the ROI selection cost function [0,1]. 0: only distance matters, 1: only agent density matters. 5 | -------------------------------------------------------------------------------- /roi_assignment/src/lib/auction_roi.cpp: -------------------------------------------------------------------------------- 1 | #include "lib/auction_roi.h" 2 | 3 | auction_roi::auction_roi () 4 | { 5 | } 6 | 7 | auction_roi::auction_roi (double distance, vector coords, double cost_param) : distance(distance), coords(coords), cost_param(cost_param) 8 | { 9 | // sort coordinates for id generation 10 | set> coords_set; 11 | for (auto c : coords) 12 | coords_set.emplace(make_pair(c.x, c.y)); 13 | 14 | // generate id 15 | id = ""; 16 | for (auto c : coords_set) 17 | id += to_string(c.first) + "," + to_string(c.second) + " "; 18 | 19 | // calculate cost 20 | cost = pow(distance, 1-cost_param); 21 | } 22 | 23 | void auction_roi::add (string cps) 24 | { 25 | // add cps 26 | cpss.insert(cps); 27 | 28 | // update cost 29 | cost = pow(distance, 1-cost_param) * pow(1 + cpss.size(), cost_param); 30 | 31 | } 32 | 33 | vector auction_roi::get_coords () 34 | { 35 | return coords; 36 | } 37 | 38 | double auction_roi::get_cost () 39 | { 40 | return cost; 41 | } 42 | 43 | string auction_roi::get_id () 44 | { 45 | return id; 46 | } 47 | -------------------------------------------------------------------------------- /roi_assignment/test/roi_assignment.yaml: -------------------------------------------------------------------------------- 1 | timeout: 1.0 # The time in seconds to listen for incoming bids from other CPSs after the auction has been opened, i.e., auction duration. 2 | -------------------------------------------------------------------------------- /roi_assignment/test/roi_services.yaml: -------------------------------------------------------------------------------- 1 | resolution: 1.0 # Resolution of the grid map representing the area in meter / cell. 2 | # The directory containing the files with the ROI coordinates 3 | roi_dir: ../../swarm_functions/roi_assignment/test/ 4 | duplicates: false # Whether to allow duplicate ROIs, i.e., ROIs with identical coordinates. 5 | publish: false # Whether to publish any newly imported ROI as event. 6 | visualize: false # Whether to publish the map of any newly imported ROI. 7 | -------------------------------------------------------------------------------- /roi_assignment/test/rosconsole.config: -------------------------------------------------------------------------------- 1 | # Set the default ros output 2 | log4j.logger.ros=INFO 3 | 4 | # Override a specific package 5 | log4j.logger.ros.roi_assignment=DEBUG 6 | -------------------------------------------------------------------------------- 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29 | Author(s): Micha Sende
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state_exchanger Msg/Srv Documentation

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9 | - smach_msgs 10 | description: A package that exchanges behavioral states between multiple cyber physical 11 | systems (CPSs) in a swarm. 12 | license: Apache License 2.0 13 | maintainers: Micha Sende 14 | msgs: [] 15 | package_type: package 16 | repo_url: '' 17 | srvs: [] 18 | url: http://wiki.ros.org/state_exchanger 19 | -------------------------------------------------------------------------------- /state_exchanger/include/state_exchanger.h: -------------------------------------------------------------------------------- 1 | #ifndef STATE_EXCHANGER_H 2 | #define STATE_EXCHANGER_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | using namespace std; 11 | using namespace ros; 12 | 13 | /** 14 | * @brief A STATE type containing UUID and state of the corresponding CPS together with last updated time stamp. 15 | */ 16 | typedef struct state_t { 17 | string uuid; 18 | string state; 19 | Time stamp; 20 | } state_t; 21 | 22 | /** 23 | * @brief Current state of the CPS. 24 | */ 25 | string state; 26 | 27 | /** 28 | * @brief Whether a valid state has been received. 29 | */ 30 | bool state_valid; 31 | 32 | /** 33 | * @brief The state of all known swarm members. 34 | */ 35 | map swarm_state; 36 | 37 | /** 38 | * @brief Whether to only listen or also send data. 39 | */ 40 | bool read_only; 41 | 42 | #endif // STATE_EXCHANGER_H 43 | -------------------------------------------------------------------------------- /state_exchanger/launch/state_exchanger.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /state_exchanger/param/state_exchanger.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 1.5 # The frequency in Hz at which to run the control loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | timeout: 20.0 # The time in seconds after which another CPS is considered to have left the swarm. 4 | -------------------------------------------------------------------------------- /swarm_functions/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package swarm_functions 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.0 (2019-10-31) 6 | ------------------ 7 | * Added: Package area_division 8 | * Added: Package coverage_path 9 | * Added: Package state_exchanger 10 | * Added: Package target_monitor 11 | * Changed: Renamed package swarm_kinematics_exchanger to kinematics_exchanger 12 | * Fixed task_allocation: Use frame ID in messages 13 | * Changed task_allocation: Use latched topics 14 | 15 | 1.0.0 (2019-09-11) 16 | ------------------ 17 | * Initial release 18 | * Based on the SAR demo at the M18 review of the CPSwarm project 19 | * Merged: Task assignment and compute cost into task allocation 20 | * Changed: Swarm kinematics exchanger extends position exchanger. 21 | -------------------------------------------------------------------------------- /swarm_functions/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(swarm_functions) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /target_monitor/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package target_monitor 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.0 (2019-10-31) 6 | ------------------ 7 | * Initial release of target_monitor 8 | * Contributors: Micha Sende 9 | -------------------------------------------------------------------------------- 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28 | target_monitor
29 | Author(s): Micha Sende
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28 | target_monitor
29 | Author(s): Micha Sende
30 | autogenerated on Wed Feb 26 2020 13:11:40 31 |
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9 | 10 |

target_monitor Msg/Srv Documentation

11 | 12 |
13 | See also: 14 | 15 | 20 | 21 |
22 | 23 | 24 | 25 | 26 | 27 | 28 |

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target_monitor Documentation
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27 | target_monitor
28 | Author(s): Micha Sende
29 | autogenerated on Wed Feb 26 2020 13:11:40 30 |
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/target_monitor/launch/target_monitor.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /target_monitor/param/target_monitor.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 5.0 # The frequency in Hz at which to run the swarm behavior loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | tracking_timeout: 5.0 # The time in seconds after which a target transitions into the state lost when no target information is received. 4 | tracking_time: -1.0 # The time in seconds which a target has to be tracked until it switches to state done. Negative to disable, i.e., infinite time. 5 | fov: 0.5 # Range of the target tracking camera in meter. It is used to simulate target detection. Targets within this distance are detected by the CPS. 6 | min_trackers: 1 # Minimum number of tracking CPSs that are needed for one target. 7 | max_trackers: 3 # Maximum number of tracking CPSs that are allowed for one target. 8 | simulation: false # Whether the targets are detected virtually by position or actually by the camera tracking topic. 9 | -------------------------------------------------------------------------------- /target_monitor/param/targets.yaml: -------------------------------------------------------------------------------- 1 | targets_x: # The locations of the targets in simulation, given as two separate lists of local x-coordinates and y-coordinates. Make sure they are given in order. 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-------------------------------------------------------------------------------- 1 | actions: [] 2 | authors: '' 3 | brief: '' 4 | bugtracker: '' 5 | depends: 6 | - catkin 7 | - actionlib 8 | - cpswarm_msgs 9 | - roscpp 10 | - actionlib_msgs 11 | description: A package that offers action servers for assigning tasks between cyber 12 | physical system (CPS). 13 | license: Apache License 2.0 14 | maintainers: Micha Sende , Gianluca Prato , 15 | Micha Sende 16 | msgs: [] 17 | package_type: package 18 | repo_url: '' 19 | srvs: [] 20 | url: http://wiki.ros.org/task_allocation 21 | -------------------------------------------------------------------------------- /task_allocation/launch/task_allocation.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /task_allocation/param/task_allocation.yaml: -------------------------------------------------------------------------------- 1 | loop_rate: 5.0 # The frequency in Hz at which to run the swarm behavior loops. 2 | queue_size: 10 # The size of the message queue used for publishing and subscribing to topics. 3 | timeout: 10.0 # The time in seconds to listen for incoming bids from other CPSs after the auction has been opened, i.e., auction duration. 4 | -------------------------------------------------------------------------------- /tracks.yaml: -------------------------------------------------------------------------------- 1 | tracks: {} 2 | --------------------------------------------------------------------------------