├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── gui ├── PoseStamped.yaml ├── Thrusters.yaml ├── Velocity.yaml ├── VelocityDepth.yaml ├── depth_gui.launch ├── pose_gui.launch ├── thruster_gui.launch └── velocity_gui.launch ├── include └── freefloating_gazebo │ ├── butterworth.h │ ├── freefloating_gazebo_control.h │ ├── freefloating_gazebo_fluid.h │ ├── freefloating_pids.h │ ├── freefloating_pids_body.h │ ├── freefloating_pids_joint.h │ ├── hydro_link.h │ ├── hydro_model_parser.h │ └── thruster_allocator.h ├── launch └── rviz.launch ├── package.xml ├── scripts ├── gen_pid │ ├── gen_pid.py │ ├── parsers.py │ ├── pids.py │ ├── plqt.py │ ├── tunepid.py │ └── tunepid.ui ├── rviz_bridge.py ├── surface.py └── uwsim_scene_to_gazebo_spawner.py ├── src ├── freefloating_gazebo_control.cpp ├── freefloating_gazebo_fluid.cpp ├── freefloating_pids.cpp ├── freefloating_pids_body.cpp ├── freefloating_pids_joint.cpp ├── hydro_link.cpp ├── hydro_model_parser.cpp ├── pids │ 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