├── .gitignore ├── .vscode └── c_cpp_properties.json ├── README.md ├── chapt1 ├── CMakeLists.txt ├── Makefile ├── cmake_install.cmake ├── hello_world.cpp ├── hello_world.py └── learn_cmake ├── chapt10 ├── chapt10_ws │ ├── .vscode │ │ └── settings.json │ ├── shm.xml │ ├── src │ │ ├── learn_compose │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── learn_compose │ │ │ │ │ ├── listener.hpp │ │ │ │ │ └── talker.hpp │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ ├── intra_process_pubsub.cpp │ │ │ │ ├── listener.cpp │ │ │ │ └── talker.cpp │ │ ├── learn_dds_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── shm_pub.cpp │ │ ├── learn_executor_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── learn_executor.cpp │ │ ├── learn_executor_py │ │ │ ├── learn_executor_py │ │ │ │ ├── __init__.py │ │ │ │ └── learn_executor.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ │ └── learn_executor_py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ └── test │ │ │ │ ├── test_copyright.py │ │ │ │ ├── test_flake8.py │ │ │ │ └── test_pep257.py │ │ ├── learn_lifecyclenode_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── learn_lifecyclenode.cpp │ │ ├── learn_lifecyclenode_py │ │ │ ├── learn_lifecyclenode_py │ │ │ │ ├── __init__.py │ │ │ │ └── learn_lifecyclenode.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ │ └── learn_lifecyclenode_py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ └── test │ │ │ │ ├── test_copyright.py │ │ │ │ ├── test_flake8.py │ │ │ │ └── test_pep257.py │ │ ├── learn_message_filter_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── timesync_test.cpp │ │ ├── learn_message_filter_py │ │ │ ├── learn_message_filter_py │ │ │ │ ├── __init__.py │ │ │ │ └── timesync_test.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ │ └── learn_message_filter_py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ └── test │ │ │ │ ├── test_copyright.py │ │ │ │ ├── test_flake8.py │ │ │ │ └── test_pep257.py │ │ ├── learn_qos_cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── reliability_test.cpp │ │ └── learn_qos_py │ │ │ ├── learn_qos_py │ │ │ ├── __init__.py │ │ │ └── reliability_test.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ └── learn_qos_py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ └── test │ │ │ ├── test_copyright.py │ │ │ ├── test_flake8.py │ │ │ └── test_pep257.py │ └── topic_sub_limit.xml └── rosbag2_message_filter │ ├── metadata.yaml │ └── rosbag2_message_filter.db3 ├── chapt2 ├── .vscode │ └── c_cpp_properties.json ├── CMakeLists1.txt ├── chapt2_ws │ ├── novel1.txt │ ├── novel2.txt │ ├── novel3.txt │ └── src │ │ ├── demo_cpp_pkg │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── include │ │ │ └── cpp-httplib │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── cmake │ │ │ │ └── FindBrotli.cmake │ │ │ │ ├── example │ │ │ │ ├── Dockerfile.hello │ │ │ │ ├── Makefile │ │ │ │ ├── benchmark.cc │ │ │ │ ├── ca-bundle.crt │ │ │ │ ├── client.cc │ │ │ │ ├── client.vcxproj │ │ │ │ ├── example.sln │ │ │ │ ├── hello.cc │ │ │ │ ├── redirect.cc │ │ │ │ ├── server.cc │ │ │ │ ├── server.vcxproj │ │ │ │ ├── simplecli.cc │ │ │ │ ├── simplesvr.cc │ │ │ │ ├── upload.cc │ │ │ │ └── uploader.sh │ │ │ │ ├── httplib.h │ │ │ │ ├── httplibConfig.cmake.in │ │ │ │ ├── meson.build │ │ │ │ ├── meson_options.txt │ │ │ │ ├── split.py │ │ │ │ └── test │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Makefile │ │ │ │ ├── ca-bundle.crt │ │ │ │ ├── fuzzing │ │ │ │ ├── Makefile │ │ │ │ ├── corpus │ │ │ │ │ ├── 1 │ │ │ │ │ ├── 2 │ │ │ │ │ ├── 3 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5042094968537088 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5372331946541056 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5386708825800704 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5667822731132928 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5886572146327552 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-5942767436562432 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-6007379124158464 │ │ │ │ │ ├── clusterfuzz-testcase-minimized-server_fuzzer-6508706672541696 │ │ │ │ │ └── issue1264 │ │ │ │ ├── server_fuzzer.cc │ │ │ │ ├── server_fuzzer.dict │ │ │ │ └── standalone_fuzz_target_runner.cpp │ │ │ │ ├── gtest │ │ │ │ ├── gtest-all.cc │ │ │ │ ├── gtest.h │ │ │ │ └── gtest_main.cc │ │ │ │ ├── image.jpg │ │ │ │ ├── include_httplib.cc │ │ │ │ ├── meson.build │ │ │ │ ├── proxy │ │ │ │ ├── Dockerfile │ │ │ │ ├── basic_passwd │ │ │ │ ├── basic_squid.conf │ │ │ │ ├── digest_passwd │ │ │ │ ├── digest_squid.conf │ │ │ │ └── docker-compose.yml │ │ │ │ ├── test.cc │ │ │ │ ├── test.conf │ │ │ │ ├── test.rootCA.conf │ │ │ │ ├── test.sln │ │ │ │ ├── test.vcxproj │ │ │ │ ├── test_proxy.cc │ │ │ │ ├── www │ │ │ │ └── dir │ │ │ │ │ ├── index.html │ │ │ │ │ ├── meson.build │ │ │ │ │ ├── test.abcde │ │ │ │ │ └── test.html │ │ │ │ ├── www2 │ │ │ │ └── dir │ │ │ │ │ ├── index.html │ │ │ │ │ ├── meson.build │ │ │ │ │ └── test.html │ │ │ │ └── www3 │ │ │ │ └── dir │ │ │ │ ├── index.html │ │ │ │ ├── meson.build │ │ │ │ └── test.html │ │ ├── package.xml │ │ └── src │ │ │ ├── cpp_node.cpp │ │ │ ├── learn_auto.cpp │ │ │ ├── learn_function.cpp │ │ │ ├── learn_lambda.cpp │ │ │ ├── learn_shared_ptr.cpp │ │ │ ├── learn_thread.cpp │ │ │ └── person_node.cpp │ │ └── demo_python_pkg │ │ ├── LICENSE │ │ ├── demo_python_pkg │ │ ├── __init__.py │ │ ├── learn_thread.py │ │ ├── person_node.py │ │ ├── python_node.py │ │ └── writer_node.py │ │ ├── package.xml │ │ ├── resource │ │ └── demo_python_pkg │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── ros2_cpp_node.cpp └── ros2_python_node.py ├── chapt3 ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── topic_practice_ws │ └── src │ │ ├── status_display │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── package.xml │ │ └── src │ │ │ ├── hello_qt.cpp │ │ │ └── sys_status_display.cpp │ │ ├── status_interfaces │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ └── SystemStatus.msg │ │ └── package.xml │ │ └── status_publisher │ │ ├── LICENSE │ │ ├── package.xml │ │ ├── resource │ │ └── status_publisher │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── status_publisher │ │ ├── __init__.py │ │ └── sys_status_pub.py │ │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py └── topic_ws │ └── src │ ├── demo_cpp_topic │ ├── CMakeLists.txt │ ├── LICENSE │ ├── package.xml │ └── src │ │ ├── turtle_circle.cpp │ │ └── turtle_control.cpp │ └── demo_python_topic │ ├── LICENSE │ ├── demo_python_topic │ ├── __init__.py │ ├── novel_pub_node.py │ └── novel_sub_node.py │ ├── package.xml │ ├── resource │ └── demo_python_topic │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── chapt4 └── chapt4_ws │ └── src │ ├── chapt4_interfaces │ ├── CMakeLists.txt │ ├── LICENSE │ ├── package.xml │ └── srv │ │ ├── FaceDetector.srv │ │ └── Patrol.srv │ ├── demo_cpp_service │ ├── CMakeLists.txt │ ├── LICENSE │ ├── launch │ │ └── demo.launch.py │ ├── package.xml │ └── src │ │ ├── patrol_client.cpp │ │ └── turtle_control.cpp │ └── demo_python_service │ ├── LICENSE │ ├── demo_python_service │ ├── __init__.py │ ├── face_detect_client_node.py │ ├── face_detect_node.py │ └── learn_face_detect.py │ ├── launch │ └── demo.launch.py │ ├── package.xml │ ├── resource │ ├── default.jpg │ ├── demo_python_service │ └── test1.jpg │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── chapt5 ├── chapt5_ws │ └── src │ │ ├── demo_cpp_tf │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── package.xml │ │ └── src │ │ │ ├── dynamic_tf_broadcaster.cpp │ │ │ ├── static_tf_broadcaster.cpp │ │ │ └── tf_listener.cpp │ │ └── demo_python_tf │ │ ├── LICENSE │ │ ├── demo_python_tf │ │ ├── __init__.py │ │ ├── dynamic_tf_broadcaster.py │ │ ├── static_tf_broadcaster.py │ │ └── tf_listener.py │ │ ├── package.xml │ │ ├── resource │ │ └── demo_python_tf │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── frames_2023-12-10_15.19.49.gv ├── frames_2023-12-10_15.19.49.pdf ├── learn_git │ ├── CMakeLists.txt │ └── package.xml ├── rosbag2_2023_12_11-01_57_18 │ ├── metadata.yaml │ └── rosbag2_2023_12_11-01_57_18_0.db3 └── rviz_tf.rviz ├── chapt6 └── chapt6_ws │ └── src │ └── fishbot_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── config │ ├── fishbot_ros2_controller.yaml │ └── rviz │ │ └── dispaly_model.rviz │ ├── launch │ ├── display_robot.launch.py │ └── gazebo_sim.launch.py │ ├── package.xml │ ├── urdf │ ├── first_robot.gv │ ├── first_robot.pdf │ ├── 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 ├── chapt7 └── chapt7_ws │ ├── README.md │ └── src │ ├── autopatrol_interfaces │ ├── CMakeLists.txt │ ├── 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 │ ├── 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.yaml │ │ └── rviz │ │ │ └── dispaly_model.rviz │ ├── launch │ │ ├── display_robot.launch.py │ │ └── gazebo_sim.launch.py │ ├── package.xml │ ├── urdf │ │ ├── first_robot.gv │ │ ├── first_robot.pdf │ │ ├── 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_params.yaml │ ├── launch │ └── navigation2.launch.py │ ├── maps │ ├── room.pgm │ └── room.yaml │ └── package.xml ├── chapt8 ├── chapt8_ws │ └── src │ │ ├── autopatrol_interfaces │ │ ├── CMakeLists.txt │ │ ├── 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 │ │ ├── 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.yaml │ │ │ └── rviz │ │ │ │ └── dispaly_model.rviz │ │ ├── launch │ │ │ ├── display_robot.launch.py │ │ │ └── gazebo_sim.launch.py │ │ ├── package.xml │ │ ├── urdf │ │ │ ├── first_robot.gv │ │ │ ├── first_robot.pdf │ │ │ ├── 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_params.yaml │ │ ├── launch │ │ │ └── navigation2.launch.py │ │ ├── maps │ │ │ ├── room.pgm │ │ │ └── room.yaml │ │ └── package.xml │ │ ├── nav2_custom_controller │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── nav2_custom_controller │ │ │ │ └── custom_controller.hpp │ │ ├── nav2_custom_controller.xml │ │ ├── package.xml │ │ └── src │ │ │ └── custom_controller.cpp │ │ └── nav2_custom_planner │ │ ├── CMakeLists.txt │ │ ├── custom_planner_plugin.xml │ │ ├── include │ │ └── nav2_custom_planner │ │ │ └── nav2_custom_planner.hpp │ │ ├── package.xml │ │ └── src │ │ └── nav2_custom_planner.cpp └── learn_pluginlib │ └── src │ └── motion_control_system │ ├── CMakeLists.txt │ ├── LICENSE │ ├── include │ └── motion_control_system │ │ ├── motion_control_interface.hpp │ │ └── spin_motion_controller.hpp │ ├── package.xml │ ├── spin_motion_plugins.xml │ └── src │ ├── spin_motion_controller.cpp │ └── test_plugin.cpp ├── chapt9 └── fishbot_ws │ └── src │ ├── fishbot_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── bringup.launch.py │ │ └── urdf2tf.launch.py │ ├── package.xml │ └── src │ │ └── odom2tf.cpp │ ├── fishbot_description │ ├── CMakeLists.txt │ ├── package.xml │ └── urdf │ │ └── fishbot.urdf │ └── fishbot_navigation2 │ ├── CMakeLists.txt │ ├── config │ └── nav2_params.yaml │ ├── launch │ └── navigation2.launch.py │ ├── maps │ ├── room.pgm │ └── room.yaml │ └── package.xml └── image └── book.jpg /.gitignore: -------------------------------------------------------------------------------- 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