├── .github ├── ISSUE_TEMPLATE │ └── issue-template--bugs--typos-errors--comments-.md └── workflows │ ├── foxy-devel.yaml │ ├── humble-devel.yaml │ ├── jazzy-devel.yaml │ ├── kilted-devel.yaml │ └── rolling.yaml ├── README.md ├── br2_basics ├── CMakeLists.txt ├── config │ └── params.yaml ├── launch │ ├── includer_launch.py │ ├── param_node_v1_launch.py │ ├── param_node_v2_launch.py │ ├── pub_sub_v1_launch.py │ └── pub_sub_v2_launch.py ├── package.xml └── src │ ├── executors.cpp │ ├── logger.cpp │ ├── logger_class.cpp │ ├── param_reader.cpp │ ├── publisher.cpp │ ├── publisher_class.cpp │ └── subscriber_class.cpp ├── br2_bt_bumpgo ├── CMakeLists.txt ├── behavior_tree_xml │ └── bumpgo.xml ├── cmake │ └── FindZMQ.cmake ├── include │ └── br2_bt_bumpgo │ │ ├── Back.hpp │ │ ├── Forward.hpp │ │ ├── IsObstacle.hpp │ │ └── Turn.hpp ├── package.xml ├── src │ ├── br2_bt_bumpgo │ │ ├── Back.cpp │ │ ├── Forward.cpp │ │ ├── IsObstacle.cpp │ │ └── Turn.cpp │ └── bt_bumpgo_main.cpp └── tests │ ├── CMakeLists.txt │ ├── bt_action_test.cpp │ └── bt_forward_main.cpp ├── br2_bt_patrolling ├── CMakeLists.txt ├── behavior_tree_xml │ └── patrolling.xml ├── cmake │ └── FindZMQ.cmake ├── include │ └── br2_bt_patrolling │ │ ├── BatteryChecker.hpp │ │ ├── GetWaypoint.hpp │ │ ├── Move.hpp │ │ ├── Patrol.hpp │ │ ├── Recharge.hpp │ │ ├── TrackObjects.hpp │ │ └── ctrl_support │ │ ├── BTActionNode.hpp │ │ └── BTLifecycleCtrlNode.hpp ├── launch │ └── patrolling.launch.py ├── package.xml ├── src │ ├── br2_bt_patrolling │ │ ├── BatteryChecker.cpp │ │ ├── GetWaypoint.cpp │ │ ├── Move.cpp │ │ ├── Patrol.cpp │ │ ├── Recharge.cpp │ │ └── TrackObjects.cpp │ └── patrolling_main.cpp └── tests │ ├── CMakeLists.txt │ └── bt_action_test.cpp ├── br2_deep_ros ├── CMakeLists.txt ├── package.xml └── src │ ├── executors.cpp │ ├── executors_cbg.cpp │ ├── executors_cbg_reentrant.cpp │ ├── strategy_1.cpp │ ├── strategy_2.cpp │ ├── strategy_3.cpp │ ├── wakeup.cpp │ └── wakeup_ros.cpp ├── br2_fsm_bumpgo_cpp ├── CMakeLists.txt ├── include │ └── br2_fsm_bumpgo_cpp │ │ └── BumpGoNode.hpp ├── launch │ └── bump_and_go.launch.py ├── package.xml └── src │ ├── br2_fsm_bumpgo_cpp │ └── BumpGoNode.cpp │ └── bumpgo_main.cpp ├── br2_fsm_bumpgo_py ├── br2_fsm_bumpgo_py │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── bump_go_main.cpython-38.pyc │ └── bump_go_main.py ├── launch │ └── bump_and_go.launch.py ├── package.xml ├── resource │ └── br2_fsm_bumpgo_py ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── br2_navigation ├── CMakeLists.txt ├── launch │ └── tiago_navigation.launch.py ├── maps │ ├── aws_house.pgm │ └── aws_house.yaml ├── package.xml └── params │ ├── mapper_params_online_async.yaml │ └── tiago_nav_params.yaml ├── br2_tf2_detector ├── CMakeLists.txt ├── include │ └── br2_tf2_detector │ │ ├── ObstacleDetectorImprovedNode.hpp │ │ ├── ObstacleDetectorNode.hpp │ │ └── ObstacleMonitorNode.hpp ├── launch │ ├── detector_basic.launch.py │ └── detector_improved.launch.py ├── package.xml └── src │ ├── br2_tf2_detector │ ├── ObstacleDetectorImprovedNode.cpp │ ├── ObstacleDetectorNode.cpp │ └── ObstacleMonitorNode.cpp │ ├── detector_improved_main.cpp │ └── detector_main.cpp ├── br2_tiago ├── CMakeLists.txt ├── Readme.md ├── launch │ └── sim.launch.py └── package.xml ├── br2_tracking ├── CMakeLists.txt ├── config │ └── detector.yaml ├── include │ └── br2_tracking │ │ ├── HeadController.hpp │ │ ├── ObjectDetector.hpp │ │ └── PIDController.hpp ├── launch │ └── tracking.launch.py ├── package.xml ├── src │ ├── br2_tracking │ │ ├── HeadController.cpp │ │ ├── ObjectDetector.cpp │ │ └── PIDController.cpp │ ├── object_detector_main.cpp │ └── object_tracker_main.cpp └── tests │ ├── CMakeLists.txt │ └── pid_test.cpp ├── br2_tracking_msgs ├── CMakeLists.txt ├── msg │ └── PanTiltCommand.msg └── package.xml ├── br2_vff_avoidance ├── CMakeLists.txt ├── include │ └── br2_vff_avoidance │ │ └── AvoidanceNode.hpp 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