├── README.md ├── autopatrol_interfaces ├── CMakeLists.txt ├── LICENSE ├── package.xml └── srv │ └── SpeachText.srv ├── autopatrol_robot ├── autopatrol_robot │ ├── __init__.py │ ├── patrol_node.py │ └── speaker.py ├── config │ └── patrol_config.yaml ├── launch │ └── autopatrol.launch.py ├── package.xml ├── resource │ └── autopatrol_robot ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ ├── test_pep257.py │ └── test_sc.py ├── fishbot_application ├── fishbot_application │ ├── __init__.py │ ├── get_robot_pose.py │ ├── init_robot_pose.py │ ├── nav_to_pose.py │ └── waypoint_follower.py ├── package.xml ├── resource │ └── fishbot_application ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── fishbot_application_cpp ├── CMakeLists.txt ├── package.xml └── src │ └── nav2pose.cpp ├── fishbot_description ├── CMakeLists.txt ├── LICENSE ├── config │ ├── fishbot_ros2_controller copy.yaml │ ├── fishbot_ros2_controller.yaml │ └── rviz │ │ └── display_model.rviz ├── launch │ ├── display_robot.launch.py │ ├── gazebo_sim.launch.py │ ├── gazebo_sim.ros2_control.launch.py │ └── ign_gazebo.launch.py ├── package.xml ├── urdf │ ├── first_robot.urdf │ ├── first_robot.urdf.xacro │ └── fishbot │ │ ├── actuator │ │ ├── caster.urdf.xacro │ │ └── wheel.urdf.xacro │ │ ├── base.urdf.xacro │ │ ├── common_inertia.xacro │ │ ├── fishbot.ros2_control.xacro │ │ ├── fishbot.urdf.xacro │ │ ├── plugins │ │ ├── gazebo_control_plugin.xacro │ │ └── gazebo_sensor_plugin.xacro │ │ └── sensor │ │ ├── camera.urdf.xacro │ │ ├── imu.urdf.xacro │ │ └── laser.urdf.xacro └── world │ ├── custom_room.world │ └── room │ ├── model.config │ └── model.sdf └── fishbot_navigation2 ├── CMakeLists.txt ├── config ├── nav2_config _warn_localcostmap.yaml ├── nav2_config.yaml ├── nav2_config_error_full.yaml └── nav2_params.yaml ├── launch └── navigation2.launch.py ├── maps ├── room.pgm ├── room.yaml ├── room1_map.pgm └── 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