├── README.md ├── img └── header.jpg └── src ├── CMakeLists.txt ├── global_path_planner ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg │ └── rrt_planner.yaml ├── include │ └── global_path_planner │ │ ├── BoundedPQueue.h │ │ ├── KDTree.h │ │ ├── Point.h │ │ ├── rrtBase.h │ │ ├── rrtOctomap.h │ │ ├── rrtStarOctomap.h │ │ └── utils.h ├── launch │ ├── rrt_interactive.launch │ ├── rrt_star_interactive.launch │ └── save_octomap.launch ├── octo_maps │ ├── cylinder.bt │ └── maze.bt ├── package.xml ├── rviz │ ├── global_plan.rviz │ ├── local_plan.rviz │ └── rrt_interactive.rviz └── src │ ├── rrt_interactive_node.cpp │ └── rrt_star_interactive_node.cpp ├── loam_interface ├── CMakeLists.txt ├── launch │ └── loam_interface.launch ├── package.xml └── src │ ├── gazebointerface.cpp │ └── loamInterface.cpp ├── local_planner ├── CMakeLists.txt ├── launch │ └── local_planner.launch ├── package.xml ├── paths │ ├── correspondences.txt │ ├── pathList.ply │ ├── path_generator.m │ ├── paths.ply │ └── startPaths.ply └── src │ ├── localPlanner.cpp │ └── pathFollower.cpp ├── sensor_scan_generation ├── CMakeLists.txt ├── launch │ └── sensor_scan_generation.launch ├── package.xml └── src │ └── sensorScanGeneration.cpp ├── terrain_analysis ├── CMakeLists.txt ├── launch │ └── terrain_analysis.launch ├── package.xml └── src │ └── terrainAnalysis.cpp ├── terrain_analysis_ext ├── CMakeLists.txt ├── launch │ └── terrain_analysis_ext.launch ├── package.xml └── src │ └── terrainAnalysisExt.cpp ├── vehicle_simulator ├── CMakeLists.txt ├── launch │ ├── global_navigation.launch │ ├── local_navigation.launch │ ├── system_campus.launch │ ├── system_forest.launch │ ├── system_garage.launch │ ├── system_indoor.launch │ ├── system_real_robot.launch │ ├── system_tunnel.launch │ └── vehicle_simulator.launch ├── log │ ├── metrics_2025-10-1-19-10-36.txt │ ├── metrics_2025-10-1-20-58-30.txt │ ├── metrics_2025-10-1-21-16-40.txt │ ├── metrics_2025-10-2-11-50-16.txt │ ├── metrics_2025-10-2-12-21-5.txt │ ├── metrics_2025-10-2-18-48-33.txt │ ├── metrics_2025-10-2-19-1-8.txt │ ├── metrics_2025-10-2-19-12-57.txt │ ├── metrics_2025-10-2-19-16-32.txt │ ├── metrics_2025-10-2-19-17-28.txt │ ├── metrics_2025-10-2-19-7-31.txt │ ├── metrics_2025-10-2-20-45-33.txt │ ├── metrics_2025-10-3-15-41-45.txt │ ├── metrics_2025-10-3-15-45-47.txt │ ├── metrics_2025-10-3-16-35-23.txt │ ├── metrics_2025-10-3-16-9-11.txt │ ├── metrics_2025-10-4-10-18-11.txt │ ├── metrics_2025-10-4-10-19-9.txt │ ├── metrics_2025-10-4-10-53-18.txt │ ├── metrics_2025-10-4-10-7-10.txt │ ├── metrics_2025-10-5-14-33-18.txt │ ├── metrics_2025-10-5-14-44-21.txt │ ├── metrics_2025-10-5-14-49-23.txt │ ├── metrics_2025-10-5-14-49-49.txt │ ├── metrics_2025-10-7-18-11-23.txt │ ├── metrics_2025-10-7-18-12-0.txt │ ├── metrics_2025-10-7-18-12-22.txt │ ├── metrics_2025-10-7-18-27-58.txt │ ├── metrics_2025-10-7-18-36-8.txt │ ├── metrics_2025-10-7-18-38-21.txt │ ├── metrics_2025-10-7-19-0-20.txt │ ├── metrics_2025-10-7-19-11-56.txt │ ├── metrics_2025-10-7-19-21-12.txt │ ├── metrics_2025-10-7-19-22-4.txt │ ├── metrics_2025-10-7-19-24-43.txt │ ├── metrics_2025-10-7-19-33-12.txt │ ├── metrics_2025-10-7-19-34-55.txt │ ├── metrics_2025-10-7-19-4-16.txt │ ├── metrics_2025-10-7-19-5-52.txt │ ├── metrics_2025-10-7-19-54-26.txt │ ├── metrics_2025-10-7-19-9-49.txt │ ├── metrics_2025-10-8-13-0-25.txt │ ├── metrics_2025-10-8-13-28-7.txt │ ├── metrics_2025-10-8-13-58-17.txt │ ├── metrics_2025-10-8-14-16-55.txt │ ├── metrics_2025-10-8-14-17-49.txt │ ├── metrics_2025-10-8-14-2-34.txt │ ├── metrics_2025-10-8-14-2-7.txt │ ├── metrics_2025-10-8-14-22-56.txt │ ├── metrics_2025-10-8-14-25-20.txt │ ├── metrics_2025-10-8-14-26-52.txt │ ├── metrics_2025-10-8-14-34-39.txt │ ├── metrics_2025-10-8-14-35-39.txt │ ├── metrics_2025-10-8-14-4-55.txt │ ├── metrics_2025-10-8-14-40-44.txt │ ├── metrics_2025-10-8-14-5-31.txt │ ├── metrics_2025-9-19-21-28-21.txt │ ├── metrics_2025-9-19-21-31-0.txt │ ├── metrics_2025-9-19-21-44-30.txt │ ├── metrics_2025-9-20-14-53-52.txt │ ├── metrics_2025-9-20-14-58-18.txt │ ├── metrics_2025-9-20-15-37-17.txt │ ├── metrics_2025-9-20-15-37-45.txt │ ├── metrics_2025-9-25-13-5-22.txt │ ├── metrics_2025-9-25-13-5-49.txt │ ├── metrics_2025-9-25-13-6-10.txt │ ├── metrics_2025-9-26-14-42-36.txt │ ├── metrics_2025-9-26-17-15-34.txt │ ├── metrics_2025-9-26-20-55-15.txt │ ├── metrics_2025-9-26-20-55-40.txt │ ├── metrics_2025-9-26-21-44-14.txt │ ├── metrics_2025-9-26-21-7-5.txt │ ├── metrics_2025-9-26-22-3-20.txt │ ├── metrics_2025-9-26-22-30-5.txt │ ├── metrics_2025-9-29-10-44-18.txt │ ├── metrics_2025-9-29-10-56-35.txt │ ├── metrics_2025-9-29-11-0-3.txt │ ├── metrics_2025-9-29-11-2-12.txt │ ├── metrics_2025-9-29-14-31-8.txt │ ├── metrics_2025-9-29-14-43-46.txt │ ├── metrics_2025-9-29-16-34-24.txt │ ├── metrics_2025-9-29-18-55-54.txt │ ├── metrics_2025-9-29-20-50-1.txt │ ├── metrics_2025-9-29-21-26-22.txt │ ├── metrics_2025-9-29-21-32-22.txt │ ├── metrics_2025-9-29-21-40-42.txt │ ├── metrics_2025-9-29-21-43-26.txt │ ├── metrics_2025-9-29-21-44-45.txt │ ├── metrics_2025-9-29-21-45-38.txt │ ├── metrics_2025-9-29-21-46-8.txt │ ├── metrics_2025-9-29-22-12-34.txt │ ├── metrics_2025-9-29-22-20-31.txt │ ├── metrics_2025-9-29-22-28-43.txt │ ├── metrics_2025-9-29-23-17-58.txt │ ├── metrics_2025-9-30-11-33-53.txt │ ├── metrics_2025-9-30-11-39-18.txt │ ├── metrics_2025-9-30-9-33-7.txt │ ├── metrics_2025-9-30-9-48-49.txt │ ├── metrics_2025-9-30-9-56-36.txt │ ├── metrics_2025-9-30-9-58-59.txt │ ├── readme.txt │ ├── trajectory_2025-10-1-19-10-36.txt │ ├── trajectory_2025-10-1-20-58-30.txt │ ├── trajectory_2025-10-1-21-16-40.txt │ ├── trajectory_2025-10-2-11-50-16.txt │ ├── trajectory_2025-10-2-12-21-5.txt │ ├── trajectory_2025-10-2-18-48-33.txt │ ├── trajectory_2025-10-2-19-1-8.txt │ ├── trajectory_2025-10-2-19-12-57.txt │ ├── trajectory_2025-10-2-19-16-32.txt │ ├── trajectory_2025-10-2-19-17-28.txt │ ├── trajectory_2025-10-2-19-7-31.txt │ ├── trajectory_2025-10-2-20-45-33.txt │ ├── trajectory_2025-10-3-15-41-45.txt │ ├── trajectory_2025-10-3-15-45-47.txt │ ├── trajectory_2025-10-3-16-35-23.txt │ ├── trajectory_2025-10-3-16-9-11.txt │ ├── trajectory_2025-10-4-10-18-11.txt │ ├── trajectory_2025-10-4-10-19-9.txt │ ├── trajectory_2025-10-4-10-53-18.txt │ ├── trajectory_2025-10-4-10-7-10.txt │ ├── trajectory_2025-10-5-14-33-18.txt │ ├── trajectory_2025-10-5-14-44-21.txt │ ├── trajectory_2025-10-5-14-49-23.txt │ ├── trajectory_2025-10-5-14-49-49.txt │ ├── trajectory_2025-10-7-18-11-23.txt │ ├── trajectory_2025-10-7-18-12-0.txt │ ├── trajectory_2025-10-7-18-12-22.txt │ ├── trajectory_2025-10-7-18-27-58.txt │ ├── trajectory_2025-10-7-18-36-8.txt │ ├── trajectory_2025-10-7-18-38-21.txt │ ├── trajectory_2025-10-7-19-0-20.txt │ ├── trajectory_2025-10-7-19-11-56.txt │ ├── trajectory_2025-10-7-19-21-12.txt │ ├── trajectory_2025-10-7-19-22-4.txt │ ├── trajectory_2025-10-7-19-24-43.txt │ ├── trajectory_2025-10-7-19-33-12.txt │ ├── trajectory_2025-10-7-19-34-55.txt │ ├── trajectory_2025-10-7-19-4-16.txt │ ├── trajectory_2025-10-7-19-5-52.txt │ ├── trajectory_2025-10-7-19-54-26.txt │ ├── trajectory_2025-10-7-19-9-49.txt │ ├── trajectory_2025-10-8-13-0-25.txt │ ├── trajectory_2025-10-8-13-28-7.txt │ ├── trajectory_2025-10-8-13-58-17.txt │ ├── trajectory_2025-10-8-14-16-55.txt │ ├── trajectory_2025-10-8-14-17-49.txt │ ├── trajectory_2025-10-8-14-2-34.txt │ ├── trajectory_2025-10-8-14-2-7.txt │ ├── trajectory_2025-10-8-14-22-56.txt │ ├── trajectory_2025-10-8-14-25-20.txt │ ├── trajectory_2025-10-8-14-26-52.txt │ ├── trajectory_2025-10-8-14-34-39.txt │ ├── trajectory_2025-10-8-14-35-39.txt │ ├── trajectory_2025-10-8-14-4-55.txt │ ├── trajectory_2025-10-8-14-40-44.txt │ ├── trajectory_2025-10-8-14-5-31.txt │ ├── trajectory_2025-9-19-21-28-21.txt │ ├── trajectory_2025-9-19-21-31-0.txt │ ├── trajectory_2025-9-19-21-44-30.txt │ ├── trajectory_2025-9-20-14-53-52.txt │ ├── trajectory_2025-9-20-14-58-18.txt │ ├── trajectory_2025-9-20-15-37-17.txt │ ├── trajectory_2025-9-20-15-37-45.txt │ ├── trajectory_2025-9-25-13-5-22.txt │ ├── trajectory_2025-9-25-13-5-49.txt │ ├── trajectory_2025-9-25-13-6-10.txt │ ├── trajectory_2025-9-26-14-42-36.txt │ ├── trajectory_2025-9-26-17-15-34.txt │ ├── trajectory_2025-9-26-20-55-15.txt │ ├── trajectory_2025-9-26-20-55-40.txt │ ├── trajectory_2025-9-26-21-44-14.txt │ ├── trajectory_2025-9-26-21-7-5.txt │ ├── trajectory_2025-9-26-22-3-20.txt │ ├── trajectory_2025-9-26-22-30-5.txt │ ├── trajectory_2025-9-29-10-44-18.txt │ ├── trajectory_2025-9-29-10-56-35.txt │ ├── trajectory_2025-9-29-11-0-3.txt │ ├── trajectory_2025-9-29-11-2-12.txt │ ├── trajectory_2025-9-29-14-31-8.txt │ ├── trajectory_2025-9-29-14-43-46.txt │ ├── trajectory_2025-9-29-16-34-24.txt │ ├── trajectory_2025-9-29-18-55-54.txt │ ├── trajectory_2025-9-29-20-50-1.txt │ ├── trajectory_2025-9-29-21-26-22.txt │ ├── trajectory_2025-9-29-21-32-22.txt │ ├── trajectory_2025-9-29-21-40-42.txt │ ├── trajectory_2025-9-29-21-43-26.txt │ ├── trajectory_2025-9-29-21-44-45.txt │ ├── trajectory_2025-9-29-21-45-38.txt │ ├── trajectory_2025-9-29-21-46-8.txt │ ├── trajectory_2025-9-29-22-12-34.txt │ ├── trajectory_2025-9-29-22-20-31.txt │ ├── trajectory_2025-9-29-22-28-43.txt │ ├── trajectory_2025-9-29-23-17-58.txt │ ├── trajectory_2025-9-30-11-33-53.txt │ ├── trajectory_2025-9-30-11-39-18.txt │ ├── trajectory_2025-9-30-9-33-7.txt │ ├── trajectory_2025-9-30-9-48-49.txt │ ├── trajectory_2025-9-30-9-56-36.txt │ └── trajectory_2025-9-30-9-58-59.txt ├── package.xml ├── rviz │ ├── test.rviz │ └── vehicle_simulator.rviz ├── src │ └── vehicleSimulator.cpp ├── urdf │ ├── camera.urdf.xacro │ ├── lidar.urdf.xacro │ └── robot.urdf.xacro └── world │ ├── campus.world │ ├── cylinder.world │ ├── forest.world │ ├── garage.world │ ├── indoor.world │ ├── maze.world │ └── tunnel.world ├── velodyne_simulator ├── LICENSE ├── README.md ├── velodyne_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── example.launch │ ├── meshes │ │ ├── HDL32E_base.dae │ │ ├── HDL32E_base.stl │ │ ├── HDL32E_scan.dae │ │ ├── HDL32E_scan.stl │ │ ├── VLP16_base_1.dae │ │ ├── VLP16_base_1.stl │ │ ├── VLP16_base_2.dae │ │ ├── VLP16_base_2.stl │ │ ├── VLP16_scan.dae │ │ └── VLP16_scan.stl │ ├── package.xml │ ├── rviz │ │ └── example.rviz │ ├── urdf │ │ ├── HDL-32E.urdf.xacro │ │ ├── VLP-16.urdf.xacro │ │ └── example.urdf.xacro │ └── world │ │ └── example.world ├── velodyne_gazebo_plugins │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── velodyne_gazebo_plugins │ │ │ └── GazeboRosVelodyneLaser.h │ ├── package.xml │ └── src │ │ └── GazeboRosVelodyneLaser.cpp └── velodyne_simulator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── visualization_tools ├── CMakeLists.txt ├── launch └── visualization_tools.launch ├── package.xml ├── scripts └── realTimePlot.py └── src ├── visualizationTools.cpp └── visualize_history_path.cpp /README.md: 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