├── .gitignore ├── README.md ├── amcl ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── AMCL.cfg ├── examples │ ├── amcl_diff.launch │ └── amcl_omni.launch ├── include │ └── amcl │ │ ├── map │ │ └── map.h │ │ ├── pf │ │ ├── eig3.h │ │ ├── pf.h │ │ ├── pf_kdtree.h │ │ ├── pf_pdf.h │ │ └── pf_vector.h │ │ └── sensors │ │ ├── amcl_laser.h │ │ ├── amcl_odom.h │ │ └── amcl_sensor.h ├── package.xml ├── src │ ├── amcl │ │ ├── map │ │ │ ├── map.c │ │ │ ├── map_cspace.cpp │ │ │ ├── map_draw.c │ │ │ ├── map_range.c │ │ │ └── map_store.c │ │ ├── pf │ │ │ ├── eig3.c │ │ │ ├── pf.c │ │ │ ├── pf_draw.c │ │ │ ├── pf_kdtree.c │ │ │ ├── pf_pdf.c │ │ │ └── pf_vector.c │ │ └── sensors │ │ │ ├── amcl_laser.cpp │ │ │ ├── amcl_odom.cpp │ │ │ └── amcl_sensor.cpp │ ├── amcl_node.cpp │ └── include │ │ └── portable_utils.hpp └── test │ ├── basic_localization.py │ ├── basic_localization_stage.xml │ ├── global_localization_stage.xml │ ├── rosie_multilaser.xml │ ├── set_initial_pose.xml │ ├── set_initial_pose_delayed.xml │ ├── set_pose.py │ ├── small_loop_crazy_driving_prg.xml │ ├── small_loop_crazy_driving_prg_corrected.xml │ ├── small_loop_prf.xml │ ├── texas_greenroom_loop.xml │ ├── texas_greenroom_loop_corrected.xml │ ├── texas_willow_hallway_loop.xml │ └── texas_willow_hallway_loop_corrected.xml ├── base_local_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── blp_plugin.xml ├── cfg │ ├── BaseLocalPlanner.cfg │ └── LocalPlannerLimits.cfg ├── include │ └── base_local_planner │ │ ├── costmap_model.h │ │ ├── footprint_helper.h │ │ ├── goal_functions.h │ │ ├── latched_stop_rotate_controller.h │ │ ├── line_iterator.h │ │ ├── local_planner_limits.h │ │ ├── local_planner_util.h │ │ ├── map_cell.h │ │ ├── map_grid.h │ │ ├── map_grid_cost_function.h │ │ ├── map_grid_visualizer.h │ │ ├── obstacle_cost_function.h │ │ ├── odometry_helper_ros.h │ │ ├── oscillation_cost_function.h │ │ ├── planar_laser_scan.h │ │ ├── point_grid.h │ │ ├── prefer_forward_cost_function.h │ │ ├── simple_scored_sampling_planner.h │ │ ├── simple_trajectory_generator.h │ │ ├── trajectory.h │ │ ├── trajectory_cost_function.h │ │ ├── trajectory_inc.h │ │ ├── trajectory_planner.h │ │ ├── trajectory_planner_ros.h │ │ ├── trajectory_sample_generator.h │ │ ├── trajectory_search.h │ │ ├── twirling_cost_function.h │ │ ├── velocity_iterator.h │ │ ├── voxel_grid_model.h │ │ └── world_model.h ├── msg │ └── Position2DInt.msg ├── package.xml ├── setup.py ├── src │ ├── costmap_model.cpp │ ├── footprint_helper.cpp │ ├── goal_functions.cpp │ ├── latched_stop_rotate_controller.cpp │ ├── local_planner_limits │ │ ├── .gitignore │ │ └── __init__.py │ ├── local_planner_util.cpp │ ├── map_cell.cpp │ ├── map_grid.cpp │ ├── map_grid_cost_function.cpp │ ├── map_grid_visualizer.cpp │ ├── obstacle_cost_function.cpp │ ├── odometry_helper_ros.cpp │ ├── oscillation_cost_function.cpp │ ├── point_grid.cpp │ ├── point_grid_node.cpp │ ├── prefer_forward_cost_function.cpp │ ├── simple_scored_sampling_planner.cpp │ ├── simple_trajectory_generator.cpp │ ├── trajectory.cpp │ ├── trajectory_planner.cpp │ ├── trajectory_planner_ros.cpp │ ├── twirling_cost_function.cpp │ └── voxel_grid_model.cpp └── test │ ├── footprint_helper_test.cpp │ ├── gtest_main.cpp │ ├── line_iterator_test.cpp │ ├── map_grid_test.cpp │ ├── trajectory_generator_test.cpp │ ├── utest.cpp │ ├── velocity_iterator_test.cpp │ └── wavefront_map_accessor.h ├── carrot_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── bgp_plugin.xml ├── include │ └── carrot_planner │ │ └── carrot_planner.h ├── package.xml └── src │ └── carrot_planner.cpp ├── clear_costmap_recovery ├── CHANGELOG.rst ├── CMakeLists.txt ├── ccr_plugin.xml ├── include │ └── clear_costmap_recovery │ │ └── clear_costmap_recovery.h ├── package.xml ├── src │ └── clear_costmap_recovery.cpp └── test │ ├── clear_tester.cpp │ ├── clear_tests.launch │ └── params.yaml ├── costmap_2d ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ ├── Costmap2D.cfg │ ├── GenericPlugin.cfg │ ├── InflationPlugin.cfg │ ├── ObstaclePlugin.cfg │ └── VoxelPlugin.cfg ├── costmap_plugins.xml ├── include │ └── costmap_2d │ │ ├── array_parser.h │ │ ├── cost_values.h │ │ ├── costmap_2d.h │ │ ├── costmap_2d_publisher.h │ │ ├── costmap_2d_ros.h │ │ ├── costmap_layer.h │ │ ├── costmap_math.h │ │ ├── footprint.h │ │ ├── inflation_layer.h │ │ ├── layer.h │ │ ├── layered_costmap.h │ │ ├── observation.h │ │ ├── observation_buffer.h │ │ ├── obstacle_layer.h │ │ ├── static_layer.h │ │ ├── testing_helper.h │ │ └── voxel_layer.h ├── launch │ ├── example.launch │ └── example_params.yaml ├── msg │ └── VoxelGrid.msg ├── package.xml ├── plugins │ ├── inflation_layer.cpp │ ├── obstacle_layer.cpp │ ├── static_layer.cpp │ └── voxel_layer.cpp ├── src │ ├── array_parser.cpp │ ├── costmap_2d.cpp │ ├── costmap_2d_cloud.cpp │ ├── costmap_2d_markers.cpp │ ├── costmap_2d_node.cpp │ ├── costmap_2d_publisher.cpp │ ├── costmap_2d_ros.cpp │ ├── costmap_layer.cpp │ ├── costmap_math.cpp │ ├── footprint.cpp │ ├── layer.cpp │ ├── layered_costmap.cpp │ └── observation_buffer.cpp └── test │ ├── TenByTen.pgm │ ├── TenByTen.yaml │ ├── array_parser_test.cpp │ ├── coordinates_test.cpp │ ├── costmap_params.yaml │ ├── costmap_tester.cpp │ ├── footprint_tests.cpp │ ├── footprint_tests.launch │ ├── inflation_tests.cpp │ ├── inflation_tests.launch │ ├── module_tests.cpp │ ├── obstacle_tests.cpp │ ├── obstacle_tests.launch │ ├── simple_driving_test.xml │ ├── static_tests.cpp │ └── static_tests.launch ├── dwa_local_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── blp_plugin.xml ├── cfg │ └── DWAPlanner.cfg ├── include │ └── dwa_local_planner │ │ ├── dwa_planner.h │ │ └── dwa_planner_ros.h ├── package.xml └── src │ ├── dwa_planner.cpp │ └── dwa_planner_ros.cpp ├── fake_localization ├── CHANGELOG.rst ├── CMakeLists.txt ├── fake_localization.cpp ├── package.xml └── static_odom_broadcaster.py ├── global_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── bgp_plugin.xml ├── cfg │ └── GlobalPlanner.cfg ├── include │ └── global_planner │ │ ├── astar.h │ │ ├── dijkstra.h │ │ ├── expander.h │ │ ├── gradient_path.h │ │ ├── grid_path.h │ │ ├── orientation_filter.h │ │ ├── planner_core.h │ │ ├── potential_calculator.h │ │ ├── quadratic_calculator.h │ │ └── traceback.h ├── package.xml └── src │ ├── astar.cpp │ ├── dijkstra.cpp │ ├── gradient_path.cpp │ ├── grid_path.cpp │ ├── orientation_filter.cpp │ ├── plan_node.cpp │ ├── planner_core.cpp │ └── quadratic_calculator.cpp ├── map_server ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── map_server │ │ └── image_loader.h ├── package.xml ├── scripts │ └── crop_map ├── src │ ├── image_loader.cpp │ ├── main.cpp │ ├── map_saver.cpp │ └── map_server.dox └── test │ ├── consumer.py │ ├── rtest.cpp │ ├── rtest.xml │ ├── spectrum.png │ ├── test_constants.cpp │ ├── test_constants.h │ ├── testmap.bmp │ ├── testmap.png │ ├── testmap.yaml │ ├── testmap2.png │ ├── testmap2.yaml │ └── utest.cpp ├── move_base ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── MoveBase.cfg ├── include │ └── move_base │ │ └── move_base.h ├── package.xml ├── planner_test.xml └── src │ ├── move_base.cpp │ └── move_base_node.cpp ├── move_slow_and_clear ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── move_slow_and_clear │ │ └── move_slow_and_clear.h ├── package.xml ├── recovery_plugin.xml └── src │ └── move_slow_and_clear.cpp ├── nav_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── nav_core │ │ ├── base_global_planner.h │ │ ├── base_local_planner.h │ │ ├── parameter_magic.h │ │ └── recovery_behavior.h └── package.xml ├── navfn ├── CHANGELOG.rst ├── CMakeLists.txt ├── Makefile.orig ├── bgp_plugin.xml ├── include │ └── navfn │ │ ├── navfn.h │ │ ├── navfn_ros.h │ │ ├── potarr_point.h │ │ └── read_pgm_costmap.h ├── package.xml ├── src │ ├── navfn.cpp │ ├── navfn_node.cpp │ ├── navfn_ros.cpp │ ├── navtest │ │ ├── navtest.cpp │ │ ├── navwin.cpp │ │ └── navwin.h │ └── read_pgm_costmap.cpp ├── srv │ ├── MakeNavPlan.srv │ └── SetCostmap.srv └── test │ 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