├── .github ├── labeler.yml └── workflows │ ├── ci.yaml │ └── labeler.yaml ├── .gitignore ├── README.md ├── camera_throttle ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── camera_throttle │ │ ├── camera_throttle.h │ │ ├── rgbd_camera_publisher.h │ │ ├── rgbd_camera_subscriber.h │ │ ├── rgbd_image_transport.h │ │ └── rgbd_throttle.h ├── nodelets.xml ├── package.xml └── src │ ├── camera_throttle.cpp │ ├── rgbd_camera_publisher.cpp │ ├── rgbd_camera_subscriber.cpp │ ├── rgbd_image_transport.cpp │ └── rgbd_throttle.cpp ├── cras_bag_tools ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ ├── add_subtitles.yaml │ ├── anonymize.yaml │ ├── camera_mask_marv.yaml │ ├── camera_mask_tradr.yaml │ ├── compress_cams.yaml │ ├── decompress_cams.yaml │ ├── depth_image_preview.yaml │ ├── diagnostics.yaml │ ├── fix_camera_info.yaml │ ├── fix_extrinsics_ikalibr.yaml │ ├── fix_joint_states.yaml │ ├── fix_marv_flippers.yaml │ ├── fix_spot_cams.yaml │ ├── no_sensors.yaml │ ├── no_sensors_simple.yaml │ ├── recompress_cams.yaml │ ├── recompute_tf.yaml │ └── tf.yaml ├── doc │ ├── .gitignore │ ├── Makefile │ ├── conf.py │ ├── cras_bag_tools.rst │ └── index.rst ├── package.xml ├── rosdoc.yaml ├── scripts │ ├── extract_images │ ├── filter_bag │ ├── fix_msg_defs │ ├── merge_bag │ └── size_per_topic ├── setup.py └── src │ └── cras_bag_tools │ ├── __init__.py │ ├── bag_filter.py │ ├── bag_utils.py │ ├── fix_msg_defs.py │ ├── message_filter.py │ ├── message_filters.py │ ├── time_range.py │ ├── topic_set.py │ └── tqdm_bag.py ├── cras_cpp_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg │ └── FilterChain.cfg ├── cmake │ ├── Modules │ │ └── FindFilesystem.cmake │ ├── cras_cpp_common-extras.cmake.develspace.in │ ├── cras_cpp_common-extras.cmake.installspace.in │ ├── cras_cpp_common-node_from_nodelet.cmake.em │ ├── designated_initializers_try_compile.cpp │ ├── from_chars_try_compile.cpp │ └── node_from_nodelet.cpp.in ├── include │ └── cras_cpp_common │ │ ├── any.hpp │ │ ├── c_api.h │ │ ├── cloud.hpp │ │ ├── cloud │ │ └── impl │ │ │ └── cloud.hpp │ │ ├── diag_utils.hpp │ │ ├── diag_utils │ │ ├── deprecated │ │ │ └── topic_diagnostic.h │ │ ├── diagnosed_pub_sub.hpp │ │ ├── duration_status.h │ │ ├── duration_status_param.h │ │ ├── impl │ │ │ └── diagnosed_pub_sub.hpp │ │ ├── offline_diag_updater.h │ │ ├── topic_status.hpp │ │ ├── topic_status_param.hpp │ │ └── updater.h │ │ ├── diagnostics │ │ ├── ImprovedUpdater.h │ │ └── SlowTopicDiagUpdater.h │ │ ├── expected.hpp │ │ ├── external │ │ ├── README.md │ │ ├── any-lite │ │ │ ├── LICENSE.txt │ │ │ └── any.hpp │ │ ├── fast_float │ │ │ ├── LICENSE │ │ │ ├── ascii_number.h │ │ │ ├── bigint.h │ │ │ ├── constexpr_feature_detect.h │ │ │ ├── decimal_to_binary.h │ │ │ ├── digit_comparison.h │ │ │ ├── fast_float.h │ │ │ ├── fast_table.h │ │ │ ├── float_common.h │ │ │ ├── parse_number.h │ │ │ └── simple_decimal_conversion.h │ │ ├── invoke.hpp │ │ │ ├── LICENSE.md │ │ │ └── invoke.hpp │ │ ├── tcb │ │ │ ├── LICENSE_1_0.txt │ │ │ └── span.hpp │ │ └── tl │ │ │ ├── expected.hpp │ │ │ └── optional.hpp │ │ ├── filter_chain_nodelet.hpp │ │ ├── filter_utils.hpp │ │ ├── filter_utils │ │ ├── filter_base.hpp │ │ ├── filter_chain.hpp │ │ ├── filter_chain_nodelet.hpp │ │ └── impl │ │ │ ├── filter_base.hpp │ │ │ ├── filter_chain.hpp │ │ │ └── filter_chain_nodelet.hpp │ │ ├── functional.hpp │ │ ├── log_utils.h │ │ ├── log_utils │ │ ├── deprecated │ │ │ └── macros.h │ │ ├── inject_rosconsole.h │ │ ├── macros.h │ │ ├── memory.h │ │ ├── node.h │ │ └── nodelet.h │ │ ├── math_utils.hpp │ │ ├── math_utils │ │ ├── impl │ │ │ └── running_stats.hpp │ │ ├── running_stats.hpp │ │ └── running_stats_duration.hpp │ │ ├── message_utils.hpp │ │ ├── node_utils.hpp │ │ ├── node_utils │ │ ├── node_handle.h │ │ ├── node_handle_with_diagnostics.h │ │ ├── node_with_optional_master.h │ │ └── param_helper.h │ │ ├── nodelet_utils.hpp │ │ ├── nodelet_utils │ │ ├── impl │ │ │ ├── nodelet_with_diagnostics.hpp │ │ │ ├── nodelet_with_shared_tf_buffer.hpp │ │ │ ├── param_helper.hpp │ │ │ ├── stateful_nodelet.hpp │ │ │ └── thread_name_updating_nodelet.hpp │ │ ├── loader_ros.h │ │ ├── log_macros.h │ │ ├── nodelet_aware_tf_buffer.h │ │ ├── nodelet_manager.h │ │ ├── nodelet_manager_sharing_tf_buffer.h │ │ ├── nodelet_with_diagnostics.hpp │ │ ├── nodelet_with_shared_tf_buffer.hpp │ │ ├── param_helper.hpp │ │ ├── stateful_nodelet.hpp │ │ └── thread_name_updating_nodelet.hpp │ │ ├── optional.hpp │ │ ├── param_utils.hpp │ │ ├── param_utils │ │ ├── bound_param_helper.hpp │ │ ├── get_param_adapter.hpp │ │ ├── get_param_adapters │ │ │ ├── node_handle.hpp │ │ │ └── xmlrpc_value.hpp │ │ ├── get_param_options.hpp │ │ ├── get_param_result.hpp │ │ ├── get_param_specializations │ │ │ ├── eigen.hpp │ │ │ ├── geometry_msgs.hpp │ │ │ ├── ros.hpp │ │ │ └── tf2.hpp │ │ └── param_helper.hpp │ │ ├── pool_allocator.hpp │ │ ├── rate_limiter.h │ │ ├── resettable.h │ │ ├── set_utils.hpp │ │ ├── small_map.hpp │ │ ├── span.hpp │ │ ├── string_utils.hpp │ │ ├── string_utils │ │ ├── eigen.hpp │ │ ├── from_chars.h │ │ ├── ros.hpp │ │ ├── tf2.hpp │ │ └── xmlrpc.hpp │ │ ├── suppress_warnings.h │ │ ├── test_utils │ │ └── preloading_class_loader.hpp │ │ ├── tf2_sensor_msgs.h │ │ ├── tf2_utils.hpp │ │ ├── tf2_utils │ │ ├── interruptible_buffer.h │ │ └── message_filter.hpp │ │ ├── thread_utils.h │ │ ├── thread_utils │ │ └── semaphore.hpp │ │ ├── time_utils.hpp │ │ ├── time_utils │ │ └── interruptible_sleep_interface.h │ │ ├── type_utils.hpp │ │ ├── type_utils │ │ ├── literal_sz.h │ │ └── string_traits.hpp │ │ ├── urdf_utils.h │ │ ├── xmlrpc_value_traits.hpp │ │ └── xmlrpc_value_utils.hpp ├── nodes │ └── nodelet_manager_sharing_tf_buffer.cpp ├── package.xml ├── rosdoc.yaml ├── src │ ├── c_api.cpp │ ├── cloud.cpp │ ├── diag_utils │ │ ├── duration_status.cpp │ │ ├── duration_status_param.cpp │ │ ├── offline_diag_updater.cpp │ │ ├── topic_diagnostic.cpp │ │ ├── topic_status_param.cpp │ │ └── updater.cpp │ ├── log_utils.cpp │ ├── log_utils │ │ ├── memory.cpp │ │ ├── node.cpp │ │ └── nodelet.cpp │ ├── node_utils │ │ ├── node_handle_with_diagnostics.cpp │ │ ├── node_with_optional_master.cpp │ │ └── param_helper.cpp │ ├── nodelet_utils │ │ ├── loader_ros.cpp │ │ ├── nodelet_aware_tf_buffer.cpp │ │ ├── nodelet_manager.cpp │ │ ├── nodelet_manager_sharing_tf_buffer.cpp │ │ └── stateful_nodelet.cpp │ ├── param_utils │ │ └── get_param_adapters │ │ │ ├── node_handle.cpp │ │ │ └── xmlrpc_value.cpp │ ├── rate_limiter.cpp │ ├── resettable.cpp │ ├── string_utils.cpp │ ├── string_utils │ │ ├── from_chars.cpp │ │ └── ros.cpp │ ├── tf2_sensor_msgs.cpp │ ├── tf2_utils.cpp │ ├── tf2_utils │ │ └── interruptible_buffer.cpp │ ├── thread_utils.cpp │ ├── thread_utils │ │ └── semaphore.cpp │ ├── time_utils.cpp │ ├── time_utils │ │ └── interruptible_sleep_interface.cpp │ ├── type_utils.cpp │ └── urdf_utils.cpp └── test │ ├── get_param_test.inc │ ├── log_appender.inc │ ├── subscription_callbacks.inc │ ├── test_c_api.cpp │ ├── test_cloud.cpp │ ├── test_diag_utils.cpp │ ├── test_diag_utils.test │ ├── test_filter_base.cpp │ ├── test_filter_base.test │ ├── test_filter_chain.cpp │ ├── test_filter_chain_nodelet.cpp │ ├── test_filter_chain_nodelet.test │ ├── test_filter_chain_nodelet.yaml │ ├── test_log_utils.cpp │ ├── test_math_utils.cpp │ ├── test_node_utils.test │ ├── test_node_utils_diagnostics.cpp │ ├── test_node_utils_get_param.cpp │ ├── test_node_utils_node_with_master.cpp │ ├── test_node_utils_node_without_master.cpp │ ├── test_nodelet_aware_tf_buffer.cpp │ ├── test_nodelet_diagnostics.cpp │ ├── test_nodelet_get_param.cpp │ ├── test_nodelet_get_param.test │ ├── test_nodelet_log_macros.cpp │ ├── test_nodelet_manager.cpp │ ├── test_nodelet_manager.test │ ├── test_nodelet_utils.test │ ├── test_nodelet_with_shared_tf_buffer.cpp │ ├── test_param_utils.cpp │ ├── test_param_utils.test │ ├── test_params.yaml │ ├── test_pool_allocator.cpp │ ├── test_rate_limiter.cpp │ ├── test_resettable.cpp │ ├── test_resettable.test │ ├── test_set_utils.cpp │ ├── test_small_map.cpp │ ├── test_stateful_nodelet.cpp │ ├── test_string_utils.cpp │ ├── test_tf2_sensor_msgs.cpp │ ├── test_tf2_utils.cpp │ ├── test_tf2_utils.test │ ├── test_thread_name_updating_nodelet.cpp │ ├── test_thread_utils.cpp │ ├── test_time_utils.cpp │ ├── test_type_utils.cpp │ ├── test_urdf_utils.cpp │ ├── test_xmlrpc_value_traits.cpp │ └── test_xmlrpc_value_utils.cpp ├── cras_docs_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc │ └── screenshot.png ├── package.xml ├── setup.py └── src │ └── cras_docs_common │ ├── __init__.py │ ├── sphinx-themes │ └── cras-theme │ │ ├── static │ │ ├── cras-sphinxdoc.css │ │ └── ctu-fee.jpg │ │ └── theme.conf │ └── sphinx_docs_conf.py ├── cras_py_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc │ ├── .gitignore │ ├── conf.py │ ├── index.rst │ └── modules.rst ├── package.xml ├── rosdoc.yaml ├── setup.py ├── src │ ├── cras │ │ ├── __init__.py │ │ ├── ctypes_utils.py │ │ ├── distortion_models.py │ │ ├── geometry_utils.py │ │ ├── heap.py │ │ ├── image_encodings.py │ │ ├── impl │ │ │ ├── __init__.py │ │ │ ├── param_utils_geometry_msgs.py │ │ │ ├── param_utils_numpy.py │ │ │ └── param_utils_rospy.py │ │ ├── log_utils.py │ │ ├── message_utils.py │ │ ├── node_utils.py │ │ ├── param_utils.py │ │ ├── plugin_utils.py │ │ ├── python_utils.py │ │ ├── static_transform_broadcaster.py │ │ ├── string_utils.py │ │ ├── test_utils.py │ │ ├── time_utils.py │ │ └── topic_utils.py │ ├── distortion_models.cpp │ ├── image_encodings.cpp │ └── rosconsole.cpp └── test │ ├── publish_static_tfs.py │ ├── test_ctypes_utils.py │ ├── test_distortion_models.py │ ├── test_geometry_utils.py │ ├── test_heap.py │ ├── test_image_encodings.py │ ├── test_log_utils.py │ ├── test_log_utils.test │ ├── test_message_utils.py │ ├── test_node_utils.py │ ├── test_node_utils.test │ ├── test_param_utils.py │ ├── test_param_utils.test │ ├── test_params.yaml │ ├── test_plugin_utils.py │ ├── test_python_utils.py │ ├── test_static_tf_broadcaster.py │ ├── test_static_transform_broadcaster.test │ ├── test_string_utils.py │ ├── test_test_utils.py │ ├── test_time_utils.py │ ├── test_topic_utils.py │ └── test_topic_utils.test ├── cras_topic_tools ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data │ ├── disable_string.bag │ ├── zero_twist.bag │ └── zero_twist_stamped.bag ├── include │ └── cras_topic_tools │ │ ├── change_header.h │ │ ├── count_messages.h │ │ ├── generic_lazy_pubsub.hpp │ │ ├── heartbeat.h │ │ ├── impl │ │ ├── lazy_subscriber.hpp │ │ └── shape_shifter.hpp │ │ ├── lazy_subscriber.hpp │ │ ├── priority_mux.h │ │ ├── priority_mux_base.h │ │ ├── relay.h │ │ ├── repeat.h │ │ ├── shape_shifter.h │ │ └── throttle_messages.h ├── nodelet.xml ├── nodes │ ├── filter │ └── mux_replay ├── package.xml ├── src │ ├── change_header.cpp │ ├── count_messages.cpp │ ├── generic_lazy_pubsub.cpp │ ├── heartbeat.cpp │ ├── lazy_subscriber.cpp │ ├── priority_mux.cpp │ ├── priority_mux_base.cpp │ ├── relay.cpp │ ├── repeat.cpp │ ├── shape_shifter.cpp │ └── throttle_messages.cpp └── test │ ├── test_change_header │ ├── test_change_header.test │ ├── test_change_header_nodelet.test │ ├── test_count_messages │ ├── test_count_messages.test │ ├── test_filter │ ├── test_filter.test │ ├── test_generic_lazy_pubsub.cpp │ ├── test_generic_lazy_pubsub.test │ ├── test_heartbeat │ ├── test_heartbeat.test │ ├── test_heartbeat_nodelet.test │ ├── test_lazy_subscriber.cpp │ ├── test_lazy_subscriber.test │ ├── test_mux_replay │ ├── test_mux_replay.test │ ├── test_mux_replay_loop │ ├── test_mux_replay_loop.test │ ├── test_priority_mux │ ├── test_priority_mux.test │ ├── test_priority_mux.yaml │ ├── test_priority_mux_base.cpp │ ├── test_relay │ ├── test_relay.test │ ├── test_relay_nodelet.test │ ├── test_repeat │ ├── test_repeat.test │ ├── test_repeat_nodelet.test │ ├── test_shape_shifter.cpp │ ├── test_throttle │ ├── test_throttle.test │ └── test_throttle_nodelet.test ├── ctu-cras-norlab-team.jpg ├── ctu-fee.jpg ├── image_transport_codecs ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── codecs.xml ├── doc │ ├── .gitignore │ ├── conf.py │ ├── index.rst │ └── modules.rst ├── include │ └── image_transport_codecs │ │ ├── codecs │ │ ├── compressed_codec.h │ │ └── compressed_depth_codec.h │ │ ├── image_transport_codec.h │ │ ├── image_transport_codec_plugin.h │ │ ├── image_transport_codecs.h │ │ └── parse_compressed_format.h ├── package.xml ├── rosdoc.yaml ├── setup.py ├── src │ ├── codecs │ │ ├── compressed_codec.cpp │ │ └── compressed_depth_codec.cpp │ ├── image_transport_codec.cpp │ ├── image_transport_codecs.cpp │ ├── image_transport_codecs │ │ ├── __init__.py │ │ ├── compressed_codec.py │ │ ├── compressed_depth_codec.py │ │ └── parse_compressed_format.py │ ├── parse_compressed_format.cpp │ └── plugins │ │ ├── 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