├── LICENSE ├── README.md ├── erwhi_bringup ├── CMakeLists.txt ├── config │ └── imu_bosch.yaml ├── launch │ ├── bringup.launch │ └── include │ │ └── sensors.launch └── package.xml ├── erwhi_control ├── CMakeLists.txt ├── config │ ├── control.yaml │ └── twist_mux.yaml ├── launch │ ├── control.launch │ ├── localization.launch │ └── twist_mux.launch └── package.xml ├── erwhi_description ├── CMakeLists.txt ├── launch │ ├── description.launch │ └── display.launch ├── meshes │ ├── antenna.stl │ ├── ball.stl │ ├── ball_caster_fixed.stl │ ├── base_mk4_v33.stl │ ├── battery.stl │ ├── battery_holder.stl │ ├── d435.stl │ ├── encoderkit.stl │ ├── ext_dc.stl │ ├── motor.stl │ ├── omniwheel.stl │ ├── pololu-wheel-70.stl │ ├── power_switch.stl │ ├── sengi_F.stl │ ├── standoff.stl │ ├── up2.stl │ ├── wago2.stl │ └── wago3.stl ├── package.xml ├── rviz │ └── display.rviz └── urdf │ ├── casters.urdf.xacro │ ├── casters │ ├── ball_caster.urdf.xacro │ ├── ball_caster_fixed.urdf.xacro │ └── omniwheel.urdf.xacro │ ├── description.urdf.xacro │ ├── details.urdf.xacro │ ├── details │ ├── components │ │ ├── antenna.urdf.xacro │ │ ├── battery.urdf.xacro │ │ ├── battery_holder.urdf.xacro │ │ ├── encoder.urdf.xacro │ │ ├── motor.urdf.xacro │ │ └── up2.urdf.xacro │ └── connectors │ │ ├── power │ │ ├── ext_dc.urdf.xacro │ │ └── power_switch.urdf.xacro │ │ ├── standoffs │ │ └── standoff.urdf.xacro │ │ └── wago │ │ ├── wago2.urdf.xacro │ │ └── wago3.urdf.xacro │ ├── erwhi.urdf.xacro │ ├── materials.xacro │ ├── parts │ ├── chassis.urdf.xacro │ └── wheel.urdf.xacro │ ├── sensors.urdf.xacro │ └── sensors │ ├── d435.urdf.xacro │ ├── imu.urdf.xacro │ └── sengi.urdf.xacro ├── erwhi_gazebo ├── CMakeLists.txt ├── launch │ ├── erwhi_gazebo.launch │ └── my_empty.launch ├── package.xml └── worlds │ ├── garage.world │ ├── kitchen.world │ ├── kitchen_closed.world │ └── kitchen_closed_old.world └── erwhi_navigation ├── CMakeLists.txt ├── config ├── costmap_common_params.yaml ├── 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