├── .github └── workflows │ └── master.yaml ├── .gitignore ├── .gitmodules ├── README.md ├── basics_ros ├── CMakeLists.txt ├── launch │ └── pubsub.launch ├── package.xml └── src │ ├── nodo_iterativo.cpp │ ├── nodo_pub.cpp │ ├── nodo_simple.cpp │ ├── nodo_sub.cpp │ ├── nodo_sub_async.cpp │ └── nodo_sub_obj.cpp ├── behavior_trees ├── CMakeLists.txt ├── behavior_trees_xml │ ├── tree_1.xml │ ├── tree_2.xml │ ├── tree_3.xml │ └── tree_4.xml ├── cmake │ └── FindZMQ.cmake ├── include │ └── behavior_trees │ │ ├── ApproachObject.h │ │ ├── BTNavAction.h │ │ ├── CheckBattery.h │ │ ├── CloseGripper.h │ │ ├── Move.h │ │ └── OpenGripper.h ├── package.xml └── src │ ├── behavior_trees │ ├── ApproachObject.cpp │ ├── CheckBattery.cpp │ ├── CloseGripper.cpp │ ├── Move.cpp │ └── OpenGripper.cpp │ └── nodo_behavior_trees.cpp ├── bumpgo ├── CMakeLists.txt ├── package.xml └── src │ └── nodo_bumpgo.cpp ├── cameras_cpp ├── CMakeLists.txt ├── package.xml └── src │ ├── nodo_bbx.cpp │ ├── nodo_camera.cpp │ ├── nodo_rgbd_filter.cpp │ └── nodo_rgbd_tf.cpp ├── comms_cpp ├── CMakeLists.txt ├── launch │ └── pubsub.launch ├── package.xml └── src │ ├── nodo_distance_client.cpp │ ├── nodo_distance_server.cpp │ ├── nodo_nav_client.cpp │ ├── nodo_point_pub.cpp │ ├── nodo_point_sub.cpp │ ├── nodo_sequence_client.cpp │ └── nodo_sequence_server.cpp ├── geometry_tf ├── CMakeLists.txt ├── include │ └── geometry_tf │ │ └── transforms.h ├── package.xml └── src │ ├── geometry_tf │ └── transforms.cpp │ ├── nodo_tf_pub.cpp │ └── nodo_tf_sub.cpp ├── navigation ├── CMakeLists.txt ├── launch │ ├── includes │ │ ├── amcl.launch.xml │ │ ├── gmapping.launch.xml │ │ ├── move_base.launch.xml │ │ ├── safety_controller.launch.xml │ │ └── velocity_smoother.launch.xml │ ├── localization.launch │ ├── navigation.launch │ ├── octomap_mapping.launch │ ├── slam_mapping.launch │ └── static_map.launch ├── maps │ ├── GrannieAnnie.pgm │ ├── GrannieAnnie.yaml │ ├── map.pgm │ ├── map.yaml │ ├── static.pgm │ └── static_map.yaml ├── package.xml ├── param │ ├── costmap_common_params.yaml │ ├── dummy.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── global_planner_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ ├── navfn_global_planner_params.yaml │ └── smoother.yaml └── src │ └── navigate_to_wp.cpp ├── parameters_cpp ├── CMakeLists.txt ├── config │ └── config_1.yaml ├── launch │ ├── params.launch │ └── params_config.launch ├── package.xml └── src │ └── nodo_parameter_reader.cpp ├── plansys2_tools ├── CMakeLists.txt ├── README.md ├── include │ └── rqt_plansys2_performers │ │ └── RQTPerformers.hpp ├── package.xml ├── plugin_performers.xml ├── scripts │ └── rqt_plansys2_performers ├── setup.py └── src │ └── rqt_plansys2_performers │ ├── RQTPerformers.cpp │ └── rqt_plansys2_performers.ui ├── resources └── cheat_sheet.jpeg ├── robots ├── CMakeLists.txt ├── definition │ ├── robot │ │ └── my_laser_config.yaml │ └── sim │ │ ├── hokuyo.dae │ │ ├── hokuyo.urdf.xacro │ │ ├── kobuki_hexagons_asus_xtion_pro.urdf.xacro │ │ ├── meshes │ │ ├── create_body.dae │ │ ├── create_body.tga │ │ ├── images │ │ │ ├── main_body.jpg │ │ │ └── wheel.jpg │ │ ├── main_body.dae │ │ ├── sensors │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ ├── stacks │ │ │ ├── circles │ │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ │ ├── plate_0_logo.dae │ │ │ │ ├── plate_0_logo.tga │ │ │ │ ├── plate_1_logo.dae │ │ │ │ ├── plate_1_logo.tga │ │ │ │ ├── plate_2_logo.dae │ │ │ │ └── plate_2_logo.tga │ │ │ └── hexagons │ │ │ │ ├── images │ │ │ │ ├── 1f_pole.jpg │ │ │ │ ├── 1f_stack.jpg │ │ │ │ ├── 2f_pole.jpg │ │ │ │ ├── 2f_stack.jpg │ │ │ │ ├── 3f_pole.jpg │ │ │ │ ├── 3f_stack.jpg │ │ │ │ ├── 3f_stack1.jpg │ │ │ │ ├── kinect_pole.jpg │ │ │ │ └── kinect_pole_old.jpg │ │ │ │ ├── plate_bottom.dae │ │ │ │ ├── plate_middle.dae │ │ │ │ ├── plate_top.dae │ │ │ │ ├── pole_bottom.dae │ │ │ │ ├── pole_kinect.dae │ │ │ │ ├── pole_middle.dae │ │ │ │ └── pole_top.dae │ │ └── wheel.dae │ │ ├── my_laser_config.yaml │ │ └── urdf │ │ ├── common_properties.urdf.xacro │ │ ├── create.urdf.xacro │ │ ├── create_gazebo.urdf.xacro │ │ ├── kobuki.urdf.xacro │ │ ├── kobuki_gazebo.urdf.xacro │ │ ├── sensors │ │ ├── astra.urdf.xacro │ │ ├── asus_xtion_pro.urdf.xacro │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ ├── kinect.urdf.xacro │ │ └── r200.urdf.xacro │ │ ├── stacks │ │ ├── circles.urdf.xacro │ │ └── hexagons.urdf.xacro │ │ ├── turtlebot_common_library.urdf.xacro │ │ ├── turtlebot_gazebo.urdf.xacro │ │ └── turtlebot_properties.urdf.xacro ├── launch │ ├── includes │ │ └── robot.launch.xml │ ├── kobuki_astra.launch │ ├── kobuki_rplidar.launch │ ├── kobuki_rplidar_astra.launch │ ├── kobuki_rplidar_xtion.launch │ ├── kobuki_xtion.launch │ └── sim.launch ├── package.xml └── worlds │ ├── GrannyAnnie.world │ ├── RoCKIn@Home.sdf │ ├── models │ ├── circuitoMontmelo │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── asphalt.material │ │ │ └── textures │ │ │ │ └── tarmac.png │ │ ├── model.config │ │ └── model.sdf │ └── paredesMontmelo │ │ ├── model.config │ │ └── model.sdf │ ├── montmelo.world │ ├── robocuplab.world │ └── 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