├── .gitignore ├── README.md ├── img ├── all_items.jpg ├── collision_avoidance.gif ├── go2_items.jpg ├── go2_sensors.jpg ├── imu_calibration.gif ├── ps3_controller.jpg ├── rviz_control_panel.jpg ├── rviz_full.jpg ├── rviz_full_with_route_planner.jpg ├── stand_up.gif └── station_items.jpg ├── src ├── base_autonomy │ ├── local_planner │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── common │ │ │ │ ├── motor_crc.h │ │ │ │ └── ros2_sport_client.h │ │ │ └── nlohmann │ │ │ │ ├── adl_serializer.hpp │ │ │ │ ├── byte_container_with_subtype.hpp │ │ │ │ ├── detail │ │ │ │ ├── abi_macros.hpp │ │ │ │ ├── conversions │ │ │ │ │ ├── from_json.hpp │ │ │ │ │ ├── to_chars.hpp │ │ │ │ │ └── to_json.hpp │ │ │ │ ├── exceptions.hpp │ │ │ │ ├── hash.hpp │ │ │ │ ├── input │ │ │ │ │ ├── binary_reader.hpp │ │ │ │ │ ├── input_adapters.hpp │ │ │ │ │ ├── json_sax.hpp │ │ │ │ │ ├── lexer.hpp │ │ │ │ │ ├── parser.hpp │ │ │ │ │ └── position_t.hpp │ │ │ │ ├── iterators │ │ │ │ │ ├── internal_iterator.hpp │ │ │ │ │ ├── iter_impl.hpp │ │ │ │ │ ├── iteration_proxy.hpp │ │ │ │ │ ├── iterator_traits.hpp │ │ │ │ │ ├── json_reverse_iterator.hpp │ │ │ │ │ └── primitive_iterator.hpp │ │ │ │ ├── json_custom_base_class.hpp │ │ │ │ ├── json_pointer.hpp │ │ │ │ ├── json_ref.hpp │ │ │ │ ├── macro_scope.hpp │ │ │ │ ├── macro_unscope.hpp │ │ │ │ ├── meta │ │ │ │ │ ├── call_std │ │ │ │ │ │ ├── begin.hpp │ │ │ │ │ │ └── end.hpp │ │ │ │ │ ├── cpp_future.hpp │ │ │ │ │ ├── detected.hpp │ │ │ │ │ ├── identity_tag.hpp │ │ │ │ │ ├── is_sax.hpp │ │ │ │ │ ├── std_fs.hpp │ │ │ │ │ ├── type_traits.hpp │ │ │ │ │ └── void_t.hpp │ │ │ │ ├── output │ │ │ │ │ ├── binary_writer.hpp │ │ │ │ │ ├── output_adapters.hpp │ │ │ │ │ └── serializer.hpp │ │ │ │ ├── string_concat.hpp │ │ │ │ ├── string_escape.hpp │ │ │ │ └── value_t.hpp │ │ │ │ ├── json.hpp │ │ │ │ ├── json_fwd.hpp │ │ │ │ ├── ordered_map.hpp │ │ │ │ └── thirdparty │ │ │ │ └── hedley │ │ │ │ ├── hedley.hpp │ │ │ │ └── hedley_undef.hpp │ │ ├── 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 │ │ ├── diagnostics.yaml │ │ ├── launch │ │ │ ├── system_real_robot.launch │ │ │ ├── system_real_robot_with_route_planner.launch │ │ │ ├── system_simulation.launch │ │ │ ├── system_simulation_with_route_planner.launch │ │ │ └── vehicle_simulator.launch │ │ ├── log │ │ │ └── readme.txt │ │ ├── mesh │ │ │ └── unity │ │ │ │ └── readme.txt │ │ ├── package.xml │ │ ├── rviz │ │ │ └── vehicle_simulator.rviz │ │ └── src │ │ │ ├── sim_image_repub.cpp │ │ │ └── vehicleSimulator.cpp │ ├── visualization_tools │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── visualization_tools.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ └── realTimePlot.py │ │ ├── src │ │ │ └── visualizationTools.cpp │ │ └── visualization_tools │ │ │ └── __init__.py │ └── waypoint_example │ │ ├── CMakeLists.txt │ │ ├── data │ │ ├── boundary.ply │ │ └── waypoints.ply │ │ ├── launch │ │ └── waypoint_example.launch │ │ ├── package.xml │ │ └── src │ │ └── waypointExample.cpp ├── route_planner │ ├── boundary_handler │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── default.yaml │ │ ├── include │ │ │ └── boundary_handler │ │ │ │ ├── graph_extractor.h │ │ │ │ ├── intersection.h │ │ │ │ └── point_struct.h │ │ ├── launch │ │ │ └── boundary_handler.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── default.rviz │ │ └── src │ │ │ └── graph_extractor.cpp │ ├── far_planner │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── default.yaml │ │ │ └── matterport.yaml │ │ ├── data │ │ │ ├── boundary.ply │ │ │ ├── boundary_graph.vgh │ │ │ ├── indoor.vgh │ │ │ └── trajectory.txt │ │ ├── include │ │ │ └── far_planner │ │ │ │ ├── contour_detector.h │ │ │ │ ├── contour_graph.h │ │ │ │ ├── dynamic_graph.h │ │ │ │ ├── far_planner.h │ │ │ │ ├── graph_msger.h │ │ │ │ ├── graph_planner.h │ │ │ │ ├── grid.h │ │ │ │ ├── intersection.h │ │ │ │ ├── map_handler.h │ │ │ │ ├── node_struct.h │ │ │ │ ├── planner_visualizer.h │ │ │ │ ├── point_struct.h │ │ │ │ ├── scan_handler.h │ │ │ │ ├── terrain_planner.h │ │ │ │ ├── time_measure.h │ │ │ │ └── utility.h │ │ ├── launch │ │ │ └── far_planner.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ ├── default.rviz │ │ │ └── matterport.rviz │ │ └── src │ │ │ ├── contour_detector.cpp │ │ │ ├── contour_graph.cpp │ │ │ ├── dynamic_graph.cpp │ │ │ ├── far_planner.cpp │ │ │ ├── graph_msger.cpp │ │ │ ├── graph_planner.cpp │ │ │ ├── map_handler.cpp │ │ │ ├── planner_visualizer.cpp │ │ │ ├── scan_handler.cpp │ │ │ ├── terrain_planner.cpp │ │ │ └── utility.cpp │ ├── graph_decoder │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── default.yaml │ │ ├── decoder.rviz │ │ ├── include │ │ │ └── graph_decoder │ │ │ │ ├── decoder_node.h │ │ │ │ └── point_struct.h │ │ ├── launch │ │ │ └── decoder.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── decoder.rviz │ │ └── src │ │ │ └── decoder_node.cpp │ └── visibility_graph_msg │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── Graph.msg │ │ └── Node.msg │ │ └── package.xml ├── slam │ └── point_lio_unilidar │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── Log │ │ ├── guide.md │ │ ├── imu.txt │ │ ├── imu_pbp.txt │ │ ├── mat_out.txt │ │ ├── plot.py │ │ ├── plot_imu.py │ │ ├── plot_out.py │ │ └── pos_log.txt │ │ ├── README.md │ │ ├── config │ │ ├── avia.yaml │ │ ├── horizon.yaml │ │ ├── ouster64.yaml │ │ ├── unilidar.yaml │ │ ├── utlidar.yaml │ │ └── velody16.yaml │ │ ├── doc │ │ ├── demo.png │ │ ├── icon.png │ │ └── video.png │ │ ├── include │ │ ├── FOV_Checker │ │ │ ├── FOV_Checker.cpp │ │ │ └── FOV_Checker.h │ │ ├── IKFoM │ │ │ ├── .gitignore │ │ │ ├── IKFoM_toolkit │ │ │ │ ├── esekfom │ │ │ │ │ ├── esekfom.hpp │ │ │ │ │ └── util.hpp │ │ │ │ └── mtk │ │ │ │ │ ├── build_manifold.hpp │ │ │ │ │ ├── src │ │ │ │ │ ├── SubManifold.hpp │ │ │ │ │ ├── mtkmath.hpp │ │ │ │ │ └── vectview.hpp │ │ │ │ │ ├── startIdx.hpp │ │ │ │ │ └── types │ │ │ │ │ ├── S2.hpp │ │ │ │ │ ├── SEn.hpp │ │ │ │ │ ├── SOn.hpp │ │ │ │ │ ├── vect.hpp │ │ │ │ │ └── wrapped_cv_mat.hpp │ │ │ ├── LICENSE │ │ │ └── README.md │ │ ├── common_lib.h │ │ ├── ikd-Tree │ │ │ ├── README.md │ │ │ ├── ikd_Tree.cpp │ │ │ └── ikd_Tree.h │ │ └── so3_math.h │ │ ├── launch │ │ ├── gdb_debug_example.launch │ │ ├── mapping_avia.launch │ │ ├── mapping_horizon.launch │ │ ├── mapping_ouster64.launch │ │ ├── mapping_unilidar.launch │ │ ├── mapping_utlidar.launch │ │ └── mapping_velody16.launch │ │ ├── package.xml │ │ ├── rviz_cfg │ │ ├── .gitignore │ │ ├── loam_livox.rviz │ │ ├── loam_livox2.rviz │ │ ├── loam_unilidar_default.rviz │ │ └── loam_unilidar_display.rviz │ │ └── src │ │ ├── Estimator.cpp │ │ ├── Estimator.h │ │ ├── IMU_Processing.hpp │ │ ├── laserMapping.cpp │ │ ├── parameters.cpp │ │ ├── parameters.h │ │ ├── preprocess.cpp │ │ └── preprocess.h └── utilities │ ├── ROS-TCP-Endpoint │ ├── CHANGELOG.md │ ├── CODE_OF_CONDUCT.md │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── launch │ │ └── endpoint.py │ ├── package.xml │ ├── requirements.txt │ ├── resource │ │ └── ros_tcp_endpoint │ ├── ros_tcp_endpoint │ │ ├── __init__.py │ │ ├── client.py │ │ ├── communication.py │ │ ├── default_server_endpoint.py │ │ ├── exceptions.py │ │ ├── publisher.py │ │ ├── server.py │ │ ├── service.py │ │ ├── subscriber.py │ │ ├── tcp_sender.py │ │ ├── thread_pauser.py │ │ └── unity_service.py │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── calibrate_imu │ ├── CMakeLists.txt │ ├── include │ │ ├── common │ │ │ ├── motor_crc.h │ │ │ └── ros2_sport_client.h │ │ └── nlohmann │ │ │ ├── adl_serializer.hpp │ │ │ ├── byte_container_with_subtype.hpp │ │ │ ├── detail │ │ │ ├── abi_macros.hpp │ │ │ ├── conversions │ │ │ │ ├── from_json.hpp │ │ │ │ ├── to_chars.hpp │ │ │ │ └── to_json.hpp │ │ │ ├── exceptions.hpp │ │ │ ├── hash.hpp │ │ │ ├── input │ │ │ │ ├── binary_reader.hpp │ │ │ │ ├── input_adapters.hpp │ │ │ │ ├── json_sax.hpp │ │ │ │ ├── lexer.hpp │ │ │ │ ├── parser.hpp │ │ │ │ └── position_t.hpp │ │ │ ├── iterators │ │ │ │ ├── internal_iterator.hpp │ │ │ │ ├── iter_impl.hpp │ │ │ │ ├── iteration_proxy.hpp │ │ │ │ ├── iterator_traits.hpp │ │ │ │ ├── json_reverse_iterator.hpp │ │ │ │ └── primitive_iterator.hpp │ │ │ ├── json_custom_base_class.hpp │ │ │ ├── json_pointer.hpp │ │ │ ├── json_ref.hpp │ │ │ ├── macro_scope.hpp │ │ │ ├── macro_unscope.hpp │ │ │ ├── meta │ │ │ │ ├── call_std │ │ │ │ │ ├── begin.hpp │ │ │ │ │ └── end.hpp │ │ │ │ ├── cpp_future.hpp │ │ │ │ ├── detected.hpp │ │ │ │ ├── identity_tag.hpp │ │ │ │ ├── is_sax.hpp │ │ │ │ ├── std_fs.hpp │ │ │ │ ├── type_traits.hpp │ │ │ │ └── void_t.hpp │ │ │ ├── output │ │ │ │ ├── binary_writer.hpp │ │ │ │ ├── output_adapters.hpp │ │ │ │ └── serializer.hpp │ │ │ ├── string_concat.hpp │ │ │ ├── string_escape.hpp │ │ │ └── value_t.hpp │ │ │ ├── json.hpp │ │ │ ├── json_fwd.hpp │ │ │ ├── ordered_map.hpp │ │ │ └── thirdparty │ │ │ └── hedley │ │ │ ├── hedley.hpp │ │ │ └── hedley_undef.hpp │ ├── package.xml │ └── src │ │ └── calibrate_imu.cpp │ ├── goalpoint_rviz_plugin │ ├── CMakeLists.txt │ ├── include │ │ └── goalpoint_tool.hpp │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ └── goalpoint_tool.cpp │ ├── teleop_rviz_plugin │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── drive_widget.cpp │ │ ├── drive_widget.h │ │ ├── teleop_panel.cpp │ │ └── teleop_panel.h │ ├── teleop_rviz_plugin_plus │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── drive_widget.cpp │ │ ├── drive_widget.h │ │ ├── teleop_panel.cpp │ │ └── teleop_panel.h │ ├── transform_sensors │ ├── package.xml │ ├── resource │ │ └── transform_sensors │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── transform_sensors │ │ ├── __init__.py │ │ └── transform_everything.py │ ├── unitree_pkgs │ ├── go2_h264_repub │ │ ├── CMakeLists.txt │ │ ├── go2_h264_repub │ │ ├── package.xml │ │ └── src │ │ │ └── go2_h264_repub.cpp │ ├── go2_sport_api │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── common │ │ │ │ ├── motor_crc.h │ │ │ │ └── ros2_sport_client.h │ │ │ └── nlohmann │ │ │ │ ├── adl_serializer.hpp │ │ │ │ ├── byte_container_with_subtype.hpp │ │ │ │ ├── detail │ │ │ │ ├── abi_macros.hpp │ │ │ │ ├── conversions │ │ │ │ │ ├── from_json.hpp │ │ │ │ │ ├── to_chars.hpp │ │ │ │ │ └── to_json.hpp │ │ │ │ ├── exceptions.hpp │ │ │ │ ├── hash.hpp │ │ │ │ ├── input │ │ │ │ │ ├── binary_reader.hpp │ │ │ │ │ ├── input_adapters.hpp │ │ │ │ │ ├── json_sax.hpp │ │ │ │ │ ├── lexer.hpp │ │ │ │ │ ├── parser.hpp │ │ │ │ │ └── position_t.hpp │ │ │ │ ├── iterators │ │ │ │ │ ├── internal_iterator.hpp │ │ │ │ │ ├── iter_impl.hpp │ │ │ │ │ ├── iteration_proxy.hpp │ │ │ │ │ ├── iterator_traits.hpp │ │ │ │ │ ├── json_reverse_iterator.hpp │ │ │ │ │ └── primitive_iterator.hpp │ │ │ │ ├── json_custom_base_class.hpp │ │ │ │ ├── json_pointer.hpp │ │ │ │ ├── json_ref.hpp │ │ │ │ ├── macro_scope.hpp │ │ │ │ ├── macro_unscope.hpp │ │ │ │ ├── meta │ │ │ │ │ ├── call_std │ │ │ │ │ │ ├── begin.hpp │ │ │ │ │ │ └── end.hpp │ │ │ │ │ ├── cpp_future.hpp │ │ │ │ │ ├── detected.hpp │ │ │ │ │ ├── identity_tag.hpp │ │ │ │ │ ├── is_sax.hpp │ │ │ │ │ ├── std_fs.hpp │ │ │ │ │ ├── type_traits.hpp │ │ │ │ │ └── void_t.hpp │ │ │ │ ├── output │ │ │ │ │ ├── binary_writer.hpp │ │ │ │ │ ├── output_adapters.hpp │ │ │ │ │ └── serializer.hpp │ │ │ │ ├── string_concat.hpp │ │ │ │ ├── string_escape.hpp │ │ │ │ └── value_t.hpp │ │ │ │ ├── json.hpp │ │ │ │ ├── json_fwd.hpp │ │ │ │ ├── ordered_map.hpp │ │ │ │ └── thirdparty │ │ │ │ └── hedley │ │ │ │ ├── hedley.hpp │ │ │ │ └── hedley_undef.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── common │ │ │ ├── motor_crc.cpp │ │ │ └── ros2_sport_client.cpp │ │ │ └── vel_ctrl_repub.cpp │ ├── unitree_api │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── Request.msg │ │ │ ├── RequestHeader.msg │ │ │ ├── RequestIdentity.msg │ │ │ ├── RequestLease.msg │ │ │ ├── RequestPolicy.msg │ │ │ ├── Response.msg │ │ │ ├── ResponseHeader.msg │ │ │ └── ResponseStatus.msg │ │ └── package.xml │ └── unitree_go │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── AudioData.msg │ │ ├── BmsCmd.msg │ │ ├── BmsState.msg │ │ ├── Error.msg │ │ ├── Go2FrontVideoData.msg │ │ ├── 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