├── IPC ├── CMakeLists.txt ├── README.md ├── backward-cpp │ ├── .clang-format │ ├── .travis.yml │ ├── BackwardConfig.cmake │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.md │ ├── backward.cpp │ ├── backward.hpp │ ├── builds.sh │ ├── conanfile.py │ ├── doc │ │ ├── nice.png │ │ ├── pretty.png │ │ └── rude.png │ ├── test │ │ ├── _test_main.cpp │ │ ├── rectrace.cpp │ │ ├── select_signals.cpp │ │ ├── stacktrace.cpp │ │ ├── suicide.cpp │ │ ├── test.cpp │ │ └── test.hpp │ └── test_package │ │ ├── CMakeLists.txt │ │ ├── conanfile.py │ │ └── main.cpp ├── config │ ├── env_back_ipc.rviz │ ├── env_real.rviz │ ├── env_sim.rviz │ ├── env_vicon.rviz │ ├── indoor.yaml │ ├── indoor_lab.yaml │ ├── outdoor.yaml │ ├── param_gazebo.yaml │ ├── param_real copy.yaml │ ├── param_real.yaml │ ├── param_sim.yaml │ ├── param_sim_dyn.yaml │ ├── param_vicon.yaml │ └── time.csv ├── img │ └── out.png ├── include │ ├── astar_rm.cpp │ ├── astar_rm.h │ ├── callback.cpp │ ├── callback.h │ ├── ciri.cpp │ ├── ciri.h │ ├── emvp.cpp │ ├── emvp.h │ ├── mpc.cpp │ └── mpc.h ├── launch │ ├── indoor.launch │ ├── indoor_lab.launch │ ├── ipc_env.launch │ ├── ipc_gazebo.launch │ ├── ipc_real.launch │ ├── ipc_sim.launch │ ├── ipc_sim_dyn.launch │ ├── ipc_vicon.launch │ └── outdoor.launch ├── package.xml └── src │ ├── ipc_fsm.cpp │ ├── ipc_fsm.h │ └── main_ipc.cpp ├── LICENSE ├── README.md ├── img ├── mars_logo.svg ├── sbus_to_USB.png └── slope.png ├── joy_rc ├── CMakeLists.txt ├── launch │ ├── BT_x1.launch │ ├── car_ctrl.launch │ └── key_ctrl.launch ├── package.xml └── src │ ├── BT_x1.cpp │ ├── car_ctrl.cpp │ ├── key_ctrl.cpp │ └── subs_rc.cpp ├── mars_base ├── CMakeLists.txt ├── include │ ├── mars_led.cpp │ └── mars_led.hpp ├── launch │ ├── launch_led.launch │ ├── mars_base.launch │ ├── mars_led.launch │ └── swarm_led.launch ├── msg │ ├── BuckParam.msg │ ├── WS2812.msg │ └── WSRGB.msg ├── package.xml ├── src │ ├── launch_led.cpp │ ├── mars_led_node.cpp │ ├── mars_led_test.cpp │ ├── mars_rc.cpp │ ├── swarm_led.cpp │ └── ws2812_ctrl.cpp ├── test │ ├── usb_reset │ └── usb_reset.cpp └── usb_reset.sh ├── mars_planning_utils ├── README.md ├── img │ ├── image-20221226120141442.png │ └── image-20221226123600595.png ├── mars_planning_utils │ ├── CMakeLists.txt │ ├── benchmark_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── benchmark_utils │ │ │ │ ├── cpu_memory_query.h │ │ │ │ └── scope_timer.h │ │ └── src │ │ │ ├── cpu_memory_query.cpp │ │ │ └── scope_timer.cpp │ ├── debug_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── debug_utils │ │ │ │ └── backward.hpp │ │ └── src │ │ │ └── backward.cpp │ ├── geometry_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── geometry_utils │ │ │ │ ├── banded_system.h │ │ │ │ ├── ellipsoid.h │ │ │ │ ├── geometry_utils.h │ │ │ │ ├── piece.h │ │ │ │ ├── polynomial_interpolation.h │ │ │ │ ├── polytope.h │ │ │ │ ├── quadrotor_flatness.hpp │ │ │ │ ├── quickhull.h │ │ │ │ ├── raycaster.h │ │ │ │ ├── tailsitter_aerodyn.hpp │ │ │ │ └── trajectory.h │ │ └── src │ │ │ ├── banded_system.cpp │ │ │ ├── ellipsoid.cpp │ │ │ ├── geometry_utils.cpp │ │ │ ├── piece.cpp │ │ │ ├── polynomial_interpolation.cpp │ │ │ ├── polytope.cpp │ │ │ ├── quickhull.cpp │ │ │ ├── raycaster.cpp │ │ │ └── trajectory.cpp │ ├── math_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── math_utils │ │ │ │ ├── lbfgs.h │ │ │ │ ├── root_finder.h │ │ │ │ ├── sdlp.h │ │ │ │ └── sdqp.hpp │ │ ├── src │ │ │ ├── lbfgs.cpp │ │ │ ├── root_finder.cpp │ │ │ └── sdlp.cpp │ │ └── test │ │ │ ├── JenkinsTraub │ │ │ ├── jt.cpp │ │ │ └── jt.h │ │ │ ├── lbfgs_test.cpp │ │ │ └── root_finder_test.cpp │ ├── optimization_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── optimization_utils │ │ │ │ ├── minco.h │ │ │ │ ├── mvie.h │ │ │ │ ├── optimization_utils.h │ │ │ │ └── waypoint_trajectory_optimizer.h │ │ └── src │ │ │ ├── minco.cpp │ │ │ ├── mvie.cpp │ │ │ ├── optimization_utils.cpp │ │ │ └── waypoint_trajectory_optimizer.cpp │ ├── package.xml │ ├── test │ │ ├── minco_fix_pv.cpp │ │ ├── poly_interpo_test.cpp │ │ ├── root_finder_test.cpp │ │ └── test_mars_planning_utils.cpp │ ├── type_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── type_utils │ │ │ │ └── common_type_name.h │ │ └── src │ │ │ └── common_type_name.cpp │ └── visualization_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── visualization_utils │ │ │ ├── matplotlibcpp.h │ │ │ ├── tinycolormap.hpp │ │ │ └── visualization_utils.h │ │ └── src │ │ └── visualization_utils.cpp ├── mars_quadrotor_msgs │ ├── CMakeLists.txt │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Bspline.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── MincoTrajectory.msg │ │ ├── MpcPositionCommand.msg │ │ ├── Odometry.msg │ │ ├── OptimalTimeAllocator.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── Polyhedron.msg │ │ ├── PolyhedronVector.msg │ │ ├── PolynomialTrajectory(back).msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PositionCommand.msg │ │ ├── PositionCommand_back.msg │ │ ├── Px4ctrlDebug.msg │ │ ├── QuadrotorState.msg │ │ ├── Replan.msg │ │ ├── ReplanCheck.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── ServerTime.msg │ │ ├── SpatialTemporalOffset.msg │ │ ├── SpatialTemporalTrajectory.msg │ │ ├── StatusData.msg │ │ ├── SwarmCommand.msg │ │ ├── SwarmInfo.msg │ │ ├── SwarmOdometry.msg │ │ ├── TRPYCommand.msg │ │ ├── TakeoffLand.msg │ │ ├── TrajectoryMatrix.msg │ │ ├── TrakingPerformance.msg │ │ ├── aec.msg │ │ ├── ctrl.msg │ │ ├── drone_aec_info.msg │ │ ├── esdf_map.msg │ │ ├── fc_to_oa.msg │ │ ├── oa_manager_debug.msg │ │ ├── oa_result.msg │ │ └── vio_result.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ └── real_viz.launch │ ├── mainpage.dox │ ├── meshes │ │ └── uav-slope.dae │ ├── package.xml │ └── src │ │ └── odom_visualization.cpp ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h ├── viz_toolkit │ ├── Apps │ │ ├── draw_bounding_box.cpp │ │ ├── draw_odom.cpp │ │ └── draw_pointcloud_map.cpp │ ├── CMakeLists.txt │ ├── config │ │ └── cfg.yaml │ ├── launch │ │ ├── draw.launch │ │ └── draw_odom_mesh.launch │ ├── meshes │ │ └── yunque-M.dae │ └── package.xml └── waypoint_traj_gene │ ├── Apps │ ├── rc_waypoint_recorder.cpp │ └── waypoint_planner_node.cpp │ ├── CMakeLists.txt │ ├── config │ └── waypoint_planner.yaml │ ├── data │ ├── a_working_waypoints.txt │ ├── bee.txt │ ├── dimond11.txt │ ├── dimond15.txt │ ├── dimond7.txt │ ├── racing.txt │ ├── star_mission.txt │ ├── tracking.txt │ ├── xiaojian2.txt │ └── xiaojian3.txt │ ├── include │ ├── traj_opt │ │ ├── config.hpp │ │ └── waypt_traj_opt.hpp │ └── waypoint_traj_gene │ │ ├── config.hpp │ │ └── waypoint_traj_gene.hpp │ ├── launch │ ├── rc_waypoints_recorder.launch │ └── waypoint_planner.launch │ └── package.xml ├── mars_uav_sim ├── .gitignore ├── README.md ├── fmt.zip ├── perfect_drone_sim │ ├── CMakeLists.txt │ ├── include │ │ └── perfect_drone_sim │ │ │ └── perfect_drone_model.hpp │ ├── meshes │ │ └── yunque-A.dae │ ├── package.xml │ └── src │ │ └── perfect_drone.cpp ├── test_interface │ ├── CMakeLists.txt │ ├── config │ │ ├── default.rviz │ │ ├── depth_grid_cfg.yaml │ │ ├── fpv.rviz │ │ ├── map_complex.yaml │ │ ├── map_faster.yaml │ │ ├── map_simple.yaml │ │ ├── map_uzh.yaml │ │ ├── map_wall.yaml │ │ ├── poly_planner.rviz │ │ ├── random_map_config.yaml │ │ ├── so3_controller.yaml │ │ ├── so3_quadrotor.yaml │ │ └── traj.rviz │ ├── launch │ │ ├── map.launch │ │ ├── map_dyn.launch │ │ └── so3_quadrotor_sim.xml │ ├── package.xml │ └── src │ │ └── test_interface_node.cpp └── uav_simulator │ ├── Utils │ ├── cmake_utils │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ ├── arch.cmake │ │ │ ├── cmake_modules.cmake │ │ │ └── color.cmake │ │ ├── cmake_modules │ │ │ ├── FindEigen.cmake │ │ │ ├── FindGSL.cmake │ │ │ └── FindmvIMPACT.cmake │ │ └── package.xml │ ├── multi_map_server │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── include │ │ │ └── multi_map_server │ │ │ │ ├── Map2D.h │ │ │ │ └── Map3D.h │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── MultiOccupancyGrid.msg │ │ │ ├── MultiSparseMap3D.msg │ │ │ ├── SparseMap3D.msg │ │ │ └── VerticalOccupancyGridList.msg │ │ ├── package.xml │ │ └── src │ │ │ ├── multi_map_server │ │ │ ├── __init__.py │ │ │ └── msg │ │ │ │ ├── _MultiOccupancyGrid.py │ │ │ │ ├── _MultiSparseMap3D.py │ │ │ │ ├── _SparseMap3D.py │ │ │ │ ├── _VerticalOccupancyGridList.py │ │ │ │ └── __init__.py │ │ │ ├── multi_map_visualization.cc │ │ │ └── unused │ │ │ └── multi_map_server.cc │ ├── pose_utils │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── include │ │ │ └── pose_utils.h │ │ ├── package.xml │ │ └── src │ │ │ ├── pose_utils.cpp │ │ │ └── pose_utils.cpp~ │ ├── uav_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── uav_utils │ │ │ │ ├── converters.h │ │ │ │ ├── geometry_utils.h │ │ │ │ └── utils.h │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── odom_to_euler.py │ │ │ ├── send_odom.py │ │ │ ├── tf_assist.py │ │ │ └── topic_statistics.py │ │ └── src │ │ │ └── uav_utils_test.cpp │ └── waypoint_generator │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ ├── sample_waypoints.h │ │ └── waypoint_generator.cpp │ ├── aros_util │ ├── CMakeLists.txt │ ├── include │ │ └── aros_util │ │ │ ├── backward.hpp │ │ │ └── transport_util.h │ └── package.xml │ ├── depth_gene │ ├── Apps │ │ └── depth_gene.cpp │ ├── CMakeLists.txt │ ├── config │ │ └── depth_grid_cfg.yaml │ ├── include │ │ ├── depth_gene │ │ │ └── depth_grid.hpp │ │ └── tinycolormap.hpp │ ├── launch │ │ └── depth_gene.launch │ ├── package.xml │ └── rviz │ │ └── default.rviz │ ├── local_sensing │ ├── CMakeLists.txt │ ├── CMakeModules │ │ ├── FindCUDA.cmake │ │ ├── FindCUDA │ │ │ ├── make2cmake.cmake │ │ │ ├── parse_cubin.cmake │ │ │ └── run_nvcc.cmake │ │ ├── FindEigen.cmake │ │ └── FindEigen.cmake~ │ ├── cfg │ │ └── local_sensing_node.cfg │ ├── include │ │ ├── FOV_Checker │ │ │ ├── FOV_Checker.cpp │ │ │ └── FOV_Checker.h │ │ └── ikd-Tree │ │ │ ├── ikd_Tree.cpp │ │ │ └── ikd_Tree.h │ ├── package.xml │ ├── params │ │ └── camera.yaml │ └── src │ │ ├── AlignError.h │ │ ├── ceres_extensions.h │ │ ├── csv_convert.py │ │ ├── cuda_exception.cuh │ │ ├── depth_render.cu │ │ ├── depth_render.cuh │ │ ├── device_image.cuh │ │ ├── empty.cpp │ │ ├── empty.h │ │ ├── euroc.cpp │ │ ├── helper_math.h │ │ ├── pcl_render_node.cpp │ │ └── pointcloud_render_node.cpp │ ├── mockamap │ ├── CMakeLists.txt │ ├── config │ │ └── rviz.rviz │ ├── include │ │ ├── maps.hpp │ │ └── perlinnoise.hpp │ ├── launch │ │ ├── maze2d.launch │ │ ├── maze3d.launch │ │ ├── mockamap.launch │ │ ├── perlin3d.launch │ │ └── post2d.launch │ ├── package.xml │ └── src │ │ ├── .clang-format │ │ ├── ces_randommap.cpp │ │ ├── maps.cpp │ │ ├── mockamap.cpp │ │ └── perlinnoise.cpp │ ├── random_map_generator │ ├── Apps │ │ ├── color_map_for_pointcloud.cpp │ │ ├── dynamic_obstacle.cpp │ │ └── random_map_gene_node.cpp │ ├── CMakeLists.txt │ ├── config │ │ ├── config.yaml │ │ └── rrt_corridor.yaml │ ├── include │ │ ├── bvp │ │ │ ├── obvp_solver.hpp │ │ │ └── root_finder.hpp │ │ ├── random_map_generator │ │ │ └── random_map_generator.hpp │ │ └── tinycolormap.hpp │ ├── launch │ │ ├── color_map.launch │ │ └── random_map.launch │ ├── package.xml │ └── rviz │ │ └── default.rviz │ ├── so3_.zip │ ├── so3_controller │ ├── CMakeLists.txt │ ├── config │ │ └── so3_controller.yaml │ ├── include │ │ └── so3_controller │ │ │ └── so3_controller.hpp │ ├── nodelet_plugin.xml │ ├── package.xml │ └── src │ │ └── so3_controller_nodelet.cpp │ └── so3_quadrotor │ ├── CMakeLists.txt │ ├── include │ └── so3_quadrotor │ │ ├── geometry_utils.hpp │ │ └── quadrotor_dynamics.hpp │ ├── nodelet_plugin.xml │ ├── package.xml │ └── src │ └── so3_quadrotor_nodelet.cpp └── rog_map ├── Apps ├── dynamic_obstacle_test.cpp ├── path_search_test.cpp ├── rog_test_with_bag.cpp ├── rogmap_test_node.cpp └── viz_real_bag.cpp ├── CMakeLists.txt ├── config ├── default.rviz ├── rog.yaml ├── rog_back.yaml ├── viz_bag.yaml └── viz_real.rviz ├── example ├── example_astar_search.cpp └── rolling_map_test.cpp ├── include ├── ikd_tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── 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