├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── diff_drive.yaml └── laser_filter.yaml ├── dependencies.rosinstall ├── include ├── decision_maker.h ├── frontier_exploration.h ├── graph_optimisation.h ├── graph_optimisation_nodelet.h ├── kalman_filter.h ├── object_detector.h ├── pedestrian.h ├── static_scan_extractor.h ├── static_scan_extractor_nodelet.h ├── tracked_object.h └── utils.h ├── install.sh ├── launch ├── SLAM_nodelets.launch ├── combined_laser_scans.launch ├── decision_maker.launch ├── frontier_exploration_service.launch ├── graph_optimisation.launch ├── graph_optimisation_pepper.launch ├── graph_optimisation_turtlebot.launch ├── move_base.launch ├── move_base_pepper.launch ├── pedestrian_simulator.launch ├── pioneer_gazebo.launch ├── static_scan_extractor.launch └── static_scan_extractor_pepper.launch ├── nav ├── base_local_planner_params.yaml ├── costmap_common_params_dynamic.yaml ├── costmap_common_params_static.yaml ├── global_costmap_params.yaml ├── local_costmap_params.yaml ├── pepper_base_local_planner_params.yaml ├── pepper_costmap_common_params_dynamic.yaml ├── pepper_costmap_common_params_static.yaml ├── pepper_global_costmap_params.yaml └── pepper_local_costmap_params.yaml ├── nodelet_plugins.xml ├── package.xml ├── run_pepper_SLAM.sh ├── run_pepper_SLAM_dyn.sh ├── run_pepper_SLAM_exploration.sh ├── run_pepper_SLAM_exploration_dyn.sh ├── run_pioneer_SLAM.sh ├── run_pioneer_exploration.sh ├── run_pioneer_exploration_dyn_sim.sh ├── run_turtlebot3_SLAM.sh ├── rviz ├── crowdbot_active_slam.rviz └── turtlebot.rviz ├── src ├── combined_laser_scans.cpp ├── decision_maker.cpp ├── frontier_exploration.cpp ├── graph_optimisation.cpp ├── graph_optimisation_nodelet.cpp ├── helper.cpp ├── kalman_filter.cpp ├── object_detector.cpp ├── pedestrian.cpp ├── pedestrian_simulator.cpp ├── static_scan_extractor.cpp ├── static_scan_extractor_nodelet.cpp ├── tracked_object.cpp └── utils.cpp ├── srv ├── current_pose.srv ├── get_frontier_list.srv ├── get_map.srv ├── service_call.srv └── utility_calc.srv ├── test_results └── scripts │ ├── calculate_SDF_error.cpp │ ├── calculate_map_error.cpp │ ├── get_SDF.cpp │ ├── plot_SDF.cpp │ ├── plot_SDF_diff.cpp │ ├── plot_cov_along_path.cpp │ └── pub_map_difference.cpp ├── urdf └── pedestrian.xacro └── worlds ├── closed_maze.world ├── empty_world.world ├── lab.world ├── occupancy_maps ├── occupancy_grid_map_closed_maze_2000x2000.txt ├── occupancy_grid_map_lab_2000x2000.txt ├── occupancy_grid_map_rand_box_cylinder_2000x2000.txt ├── occupancy_grid_map_rand_boxes_2000x2000.txt └── occupancy_grid_map_utm_0_2000x2000.txt ├── rand_box_cylinder.world ├── rand_boxes.world ├── sdf_maps ├── sdf_map_closed_maze_2000x2000.txt ├── sdf_map_lab_2000x2000.txt ├── sdf_map_rand_box_cylinder_2000x2000.txt ├── sdf_map_rand_boxes_2000x2000.txt └── sdf_map_utm_0_2000x2000.txt └── utm_0.world /CMakeLists.txt: -------------------------------------------------------------------------------- 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