├── .gitignore ├── CMakeLists.txt ├── CMakelist.txt ├── README.md ├── custom_description ├── .DS_Store ├── CMakeLists.txt ├── LICENSE ├── README.md ├── description │ ├── .DS_Store │ ├── common_properties.urdf.xacro │ ├── create │ │ ├── meshes │ │ │ ├── create_1.dae │ │ │ ├── create_1.tga │ │ │ └── create_2.dae │ │ └── urdf │ │ │ ├── create_2.urdf.xacro │ │ │ ├── create_2_gazebo.urdf.xacro │ │ │ ├── create_2_with_both_wall_sensor.urdf.xacro │ │ │ ├── create_2_with_right_wall_sensor.urdf.xacro │ │ │ ├── create_base.urdf.xacro │ │ │ └── create_base_gazebo.urdf.xacro │ ├── kinect.urdf.xacro │ ├── kobuki │ │ └── urdf │ │ │ ├── kobuki.urdf.xacro │ │ │ ├── kobuki_gazebo.urdf.xacro │ │ │ ├── kobuki_sonar_4.xacro │ │ │ ├── kobuki_sonar_kinect.urdf.xacro │ │ │ ├── kobuki_standalone.urdf.xacro │ │ │ ├── kobuki_standalone_kinect.urdf.xacro │ │ │ ├── kobuki_standalone_lidar.urdf.xacro │ │ │ ├── kobuki_standalone_right_wall_sensor.urdf.xacro │ │ │ ├── kobuki_standalone_sonar.urdf.xacro │ │ │ └── real_kobuki_sonar.xacro │ ├── lidar.urdf.xacro │ ├── meshes │ │ ├── .DS_Store │ │ ├── ._blender │ │ ├── ._max_sonar_ez4.dae │ │ ├── blender │ │ │ ├── ._max_sonar_ez4.blend │ │ │ └── max_sonar_ez4.blend │ │ ├── mall │ │ │ ├── 11Raytrace.tga │ │ │ ├── 13Raytrace.tga │ │ │ ├── 19Raytrace.tga │ │ │ ├── 21Raytrace.tga │ │ │ ├── 22Raytrace.tga │ │ │ ├── 24Raytrace.tga │ │ │ ├── Color_02.jpg │ │ │ ├── ggaggg.jpg │ │ │ ├── mall.dae │ │ │ ├── mall_collision.dae │ │ │ ├── mall_with_things.dae │ │ │ ├── mall_without_glass.dae │ │ │ ├── tile2.png │ │ │ ├── tile2.png.001.png │ │ │ ├── tile4.jpg │ │ │ ├── tile5.jpg │ │ │ ├── tile6.jpg │ │ │ └── tile6backup.jpg │ │ ├── max_sonar_ez4.dae │ │ ├── sensors │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ └── stacks │ │ │ ├── circles │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ ├── plate_0_logo.dae │ │ │ ├── plate_0_logo.tga │ │ │ ├── plate_1_logo.dae │ │ │ ├── plate_1_logo.tga │ │ │ ├── plate_2_logo.dae │ │ │ └── plate_2_logo.tga │ │ │ └── hexagons │ │ │ ├── images │ │ │ ├── 1f_pole.jpg │ │ │ ├── 1f_stack.jpg │ │ │ ├── 2f_pole.jpg │ │ │ ├── 2f_stack.jpg │ │ │ ├── 3f_pole.jpg │ │ │ ├── 3f_stack.jpg │ │ │ ├── 3f_stack1.jpg │ │ │ ├── kinect_pole.jpg │ │ │ └── kinect_pole_old.jpg │ │ │ ├── plate_bottom.dae │ │ │ ├── plate_middle.dae │ │ │ ├── plate_top.dae │ │ │ ├── pole_bottom.dae │ │ │ ├── pole_kinect.dae │ │ │ ├── pole_middle.dae │ │ │ └── pole_top.dae │ ├── range_sensor.urdf.xacro │ └── sweeper │ │ ├── meshes │ │ └── car1.dae │ │ └── urdf │ │ ├── sweeper.urdf.xacro │ │ ├── sweeper_base.urdf.xacro │ │ └── sweeper_base_gazebo.urdf.xacro ├── include │ └── custom_description │ │ ├── range_sensor_helper_ros.h │ │ ├── vfh_algorithm.h │ │ └── vfh_node.h ├── kinect_vfh.rviz ├── launch.sh ├── launch │ ├── .DS_Store │ ├── driveRobot.launch │ ├── example.launch │ ├── robot.launch.xml │ ├── sim_create.launch │ ├── sim_kinect_vfh.launch │ ├── sim_kobuki_kinect.launch │ ├── sim_kobuki_lidar.launch │ ├── sim_kobuki_nav.launch │ ├── sim_kobuki_sonar.launch │ ├── sim_kobuki_sonar_vfh.launch │ ├── sim_sweeper.launch │ └── view.launch ├── maps │ ├── .DS_Store │ ├── ._.DS_Store │ ├── ._blank.pgm │ ├── blank.pgm │ └── blank.yaml ├── msg │ └── Histogram.msg ├── nav.rviz ├── package.xml ├── param │ ├── base_local_planner_params.yaml │ ├── cmd_vel_mux_safe.yaml │ ├── costmap_common_params.yaml │ ├── dummy.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── global_planner_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ ├── navfn_global_planner_params.yaml │ └── velocity_mux.yaml ├── real.rviz ├── script │ ├── showHist.py │ └── testVerifyShape.py ├── sim_create.rviz ├── sim_create_follow_edge.rviz ├── sim_sweeper.rviz ├── simulation.rviz ├── simulation_kinect.rviz ├── src │ ├── follow_edge_node.cpp │ ├── keyControl.cpp │ ├── range_sensor_helper_ros.cpp │ ├── vfh_algorithm.cc │ └── vfh_node.cpp └── worlds │ ├── .DS_Store │ ├── ._playground.world │ ├── 2room.world │ ├── bigBox.world │ ├── bigOffice.world │ ├── bigplace.world │ ├── bigplace.worldbackup │ ├── cafe.world │ ├── empty.world │ ├── emptyRoom.world │ ├── loop1.world │ ├── loop2.world │ ├── mall.world │ └── playground.world ├── grid_map-master ├── .gitignore ├── LICENSE ├── README.md ├── grid_map │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── grid_map_core │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ └── grid_map_core-extras.cmake │ ├── doc │ │ ├── grid_map_conventions.pdf │ │ ├── grid_map_conventions.png │ │ ├── grid_map_layers.pdf │ │ ├── grid_map_layers.png │ │ ├── iterators │ │ │ ├── circle_iterator.gif │ │ │ ├── circle_iterator_preview.gif │ │ │ ├── ellipse_iterator.gif │ │ │ ├── ellipse_iterator_preview.gif │ │ │ ├── grid_map_iterator.gif │ │ │ ├── grid_map_iterator_preview.gif │ │ │ ├── line_iterator.gif │ │ │ ├── line_iterator_preview.gif │ │ │ ├── polygon_iterator.gif │ │ │ ├── polygon_iterator_preview.gif │ │ │ ├── spiral_iterator.gif │ │ │ ├── spiral_iterator_preview.gif │ │ │ ├── submap_iterator.gif │ │ │ └── submap_iterator_preview.gif │ │ ├── move_method.gif │ │ └── setposition_method.gif │ ├── include │ │ └── grid_map_core │ │ │ ├── BufferRegion.hpp │ │ │ ├── GridMap.hpp │ │ │ ├── GridMapMath.hpp │ │ │ ├── Polygon.hpp │ │ │ ├── SubmapGeometry.hpp │ │ │ ├── TypeDefs.hpp │ │ │ ├── eigen_plugins │ │ │ ├── DenseBasePlugin.hpp │ │ │ ├── Functors.hpp │ │ │ └── FunctorsPlugin.hpp │ │ │ ├── grid_map_core.hpp │ │ │ ├── gtest_eigen.hpp │ │ │ └── iterators │ │ │ ├── CircleIterator.hpp │ │ │ ├── EllipseIterator.hpp │ │ │ ├── GridMapIterator.hpp │ │ │ ├── LineIterator.hpp │ │ │ ├── PolygonIterator.hpp │ │ │ ├── SpiralIterator.hpp │ │ │ ├── SubmapIterator.hpp │ │ │ └── iterators.hpp │ ├── package.xml │ ├── src │ │ ├── BufferRegion.cpp │ │ ├── GridMap.cpp │ │ ├── GridMapMath.cpp │ │ ├── Polygon.cpp │ │ ├── SubmapGeometry.cpp │ │ └── iterators │ │ │ ├── CircleIterator.cpp │ │ │ ├── EllipseIterator.cpp │ │ │ ├── GridMapIterator.cpp │ │ │ ├── LineIterator.cpp │ │ │ ├── PolygonIterator.cpp │ │ │ ├── SpiralIterator.cpp │ │ │ └── SubmapIterator.cpp │ └── test │ │ ├── EigenPluginsTest.cpp │ │ ├── EllipseIteratorTest.cpp │ │ ├── GridMapIteratorTest.cpp │ │ ├── GridMapMathTest.cpp │ │ ├── GridMapTest.cpp │ │ ├── LineIteratorTest.cpp │ │ ├── PolygonIteratorTest.cpp │ │ ├── PolygonTest.cpp │ │ ├── SubmapIteratorTest.cpp │ │ └── test_grid_map_core.cpp ├── grid_map_costmap_2d │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── grid_map_costmap_2d │ │ │ ├── Costmap2DConverter.hpp │ │ │ └── grid_map_costmap_2d.hpp │ ├── package.xml │ ├── rostest │ │ ├── CMakeLists.txt │ │ ├── Readme.md │ │ └── costmap_2d_ros │ │ │ ├── costmap_2d_ros.cpp │ │ │ ├── costmap_2d_ros.hpp │ │ │ └── costmap_2d_ros.test │ └── test │ │ ├── Costmap2DConverterTest.cpp │ │ └── test_grid_map_costmap_2d.cpp ├── grid_map_cv │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── grid_map_cv │ │ │ ├── GridMapCvConverter.hpp │ │ │ ├── GridMapCvProcessing.hpp │ │ │ └── grid_map_cv.hpp │ ├── package.xml │ ├── src │ │ └── GridMapCvProcessing.cpp │ └── test │ │ ├── GridMapCvProcessingTest.cpp │ │ ├── GridMapCvTest.cpp │ │ └── test_grid_map_cv.cpp ├── grid_map_demos │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── grid_map_loader_demo.yaml │ │ ├── image_to_gridmap_demo.yaml │ │ ├── iterators_demo.yaml │ │ ├── move_demo.yaml │ │ ├── opencv_demo.yaml │ │ ├── resolution_change_demo.yaml │ │ ├── simple_demo.yaml │ │ └── tutorial_demo.yaml │ ├── data │ │ └── grid_map.bag │ ├── doc │ │ ├── image_to_grid_map_demo_result.png │ │ └── opencv_demo_result.gif │ ├── include │ │ └── grid_map_demos │ │ │ ├── ImageToGridmapDemo.hpp │ │ │ └── IteratorsDemo.hpp │ ├── launch │ │ ├── grid_map_loader_demo.launch │ │ ├── image_to_gridmap_demo.launch │ │ ├── iterators_demo.launch │ │ ├── move_demo.launch │ │ ├── opencv_demo.launch │ │ ├── resolution_change_demo.launch │ │ ├── simple_demo.launch │ │ └── tutorial_demo.launch │ ├── package.xml │ ├── rviz │ │ ├── grid_map_demo.rviz │ │ └── grid_map_iterators_demo.rviz │ ├── scripts │ │ ├── example_image.png │ │ └── image_publisher.py │ └── src │ │ ├── ImageToGridmapDemo.cpp │ │ ├── IteratorsDemo.cpp │ │ ├── image_to_gridmap_demo_node.cpp │ │ ├── iterator_benchmark.cpp │ │ ├── iterators_demo_node.cpp │ │ ├── move_demo_node.cpp │ │ ├── opencv_demo_node.cpp │ │ ├── resolution_change_demo_node.cpp │ │ ├── simple_demo_node.cpp │ │ └── tutorial_demo_node.cpp ├── grid_map_filters │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── filter_plugins.xml │ ├── include │ │ └── filters │ │ │ ├── DeletionFilter.hpp │ │ │ ├── MinFilter.hpp │ │ │ ├── ThresholdFilter.hpp │ │ │ └── WeightedSumFilter.hpp │ ├── package.xml │ └── src │ │ ├── DeletionFilter.cpp │ │ ├── MinFilter.cpp │ │ ├── ThresholdFilter.cpp │ │ └── WeightedSumFilter.cpp ├── grid_map_loader │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── grid_map_loader │ │ │ └── GridMapLoader.hpp │ ├── package.xml │ └── src │ │ ├── GridMapLoader.cpp │ │ └── grid_map_loader_node.cpp ├── grid_map_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── GridMap.msg │ │ └── GridMapInfo.msg │ ├── package.xml │ └── srv │ │ ├── GetGridMap.srv │ │ ├── GetGridMapInfo.srv │ │ └── ProcessFile.srv ├── grid_map_pcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── grid_map_pcl │ │ │ ├── GridMapPclConverter.hpp │ │ │ └── grid_map_pcl.hpp │ ├── package.xml │ └── src │ │ └── GridMapPclConverter.cpp ├── grid_map_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── grid_map_ros │ │ │ ├── GridMapMsgHelpers.hpp │ │ │ ├── GridMapRosConverter.hpp │ │ │ ├── PolygonRosConverter.hpp │ │ │ ├── grid_map_ros.hpp │ │ │ └── message_traits.hpp │ ├── package.xml │ ├── src │ │ ├── GridMapMsgHelpers.cpp │ │ ├── GridMapRosConverter.cpp │ │ └── PolygonRosConverter.cpp │ └── test │ │ ├── GridMapRosTest.cpp │ │ └── test_grid_map_ros.cpp ├── grid_map_rviz_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── doc │ │ ├── grid_map_rviz_plugin.png │ │ └── grid_map_rviz_plugin_example.png │ ├── icons │ │ └── classes │ │ │ └── GridMap.png │ ├── include │ │ └── grid_map_rviz_plugin │ │ │ ├── GridMapDisplay.hpp │ │ │ ├── GridMapVisual.hpp │ │ │ └── modified │ │ │ ├── frame_manager.h │ │ │ └── message_filter_display.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── GridMapDisplay.cpp │ │ └── GridMapVisual.cpp └── grid_map_visualization │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── doc │ ├── grid_cells.jpg │ ├── grid_cells_preview.jpg │ ├── occupancy_grid.jpg │ ├── occupancy_grid_preview.jpg │ ├── point_cloud.jpg │ ├── point_cloud_preview.jpg │ ├── vectors.jpg │ └── vectors_preview.jpg │ ├── include │ └── grid_map_visualization │ │ ├── GridMapVisualization.hpp │ │ ├── GridMapVisualizationHelpers.hpp │ │ └── visualizations │ │ ├── FlatPointCloudVisualization.hpp │ │ ├── GridCellsVisualization.hpp │ │ ├── MapRegionVisualization.hpp │ │ ├── OccupancyGridVisualization.hpp │ │ ├── PointCloudVisualization.hpp │ │ ├── VectorVisualization.hpp │ │ ├── VisualizationBase.hpp │ │ └── VisualizationFactory.hpp │ ├── package.xml │ └── src │ ├── GridMapVisualization.cpp │ ├── GridMapVisualizationHelpers.cpp │ ├── grid_map_visualization_node.cpp │ └── visualizations │ ├── FlatPointCloudVisualization.cpp │ ├── GridCellsVisualization.cpp │ ├── MapRegionVisualization.cpp │ ├── OccupancyGridVisualization.cpp │ ├── PointCloudVisualization.cpp │ ├── VectorVisualization.cpp │ ├── VisualizationBase.cpp │ └── VisualizationFactory.cpp └── move_control ├── CMakeLists.txt ├── include └── move_control │ ├── astar_planner.h │ ├── continuous_sensor_helper_ros.h │ ├── laser_map_updater.h │ ├── map_global_planner.h │ ├── map_provider.h │ ├── map_updater.h │ ├── range_map_updater.h │ ├── rrt_planner.h │ ├── steerer.h │ └── vfh.h ├── launch └── testMap.launch ├── msg └── Histogram.msg ├── nav.rviz ├── package.xml ├── script └── showHist.py ├── setup.py └── src ├── astar_planner.cpp ├── laser_map_updater.cpp ├── map_provider.cpp ├── nav_graph_node.cpp ├── nav_node.cpp ├── nav_only_vfh_node.cpp ├── range_map_updater.cpp ├── rrt_planner.cpp ├── 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