├── .gitignore ├── LICENSE ├── README.md ├── config ├── calibration.ini ├── doc │ ├── pose_init.png │ └── system_architecture.png └── localization.ini ├── launch └── ELiMaLoc.launch └── src ├── app └── localization │ ├── ekf_localization │ ├── CMakeLists.txt │ ├── include │ │ ├── ekf_algorithm.hpp │ │ ├── ekf_localization.hpp │ │ └── ekf_localization_config.hpp │ ├── launch │ │ └── ekf_localization.launch │ ├── package.xml │ ├── rviz │ │ └── ekf_localization_rviz.rviz │ └── src │ │ ├── ekf_algorithm.cpp │ │ └── ekf_localization.cpp │ ├── localization_interface │ ├── localization_functions.hpp │ └── localization_struct.hpp │ └── pcm_matching │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ ├── pcm_matching.hpp │ ├── pcm_matching_config.hpp │ ├── registration.hpp │ └── voxel_hash_map.hpp │ ├── launch │ └── pcm_matching.launch │ ├── package.xml │ └── src │ ├── pcm_matching.cpp │ ├── registration.cpp │ └── voxel_hash_map.cpp └── bsw └── system └── ini_parser ├── convert_UTF.h ├── 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