├── README.md ├── find-object ├── .cproject ├── .project ├── .travis.yml ├── CMakeLists.txt ├── FindObjectConfig.cmake.in ├── FindObjectConfigVersion.cmake.in ├── LICENSE ├── README.md ├── Version.h.in ├── app │ ├── CMakeLists.txt │ ├── Find-Object.icns │ ├── Find-Object.ico │ ├── Find-Object.ifx │ ├── Find-Object.rc │ ├── TcpServerPool.h │ └── main.cpp ├── bin │ ├── .gitignore │ ├── box.png │ ├── box_in_scene.png │ └── multi-scene.jpg ├── build │ └── .gitignore ├── cmake_uninstall.cmake.in ├── example │ ├── CMakeLists.txt │ └── main.cpp ├── include │ └── find_object │ │ ├── .gitignore │ │ ├── Camera.h │ │ ├── DetectionInfo.h │ │ ├── FindObject.h │ │ ├── FindObjectExp.h │ │ ├── JsonWriter.h │ │ ├── MainWindow.h │ │ ├── ObjWidget.h │ │ ├── QtOpenCV.h │ │ ├── Settings.h │ │ ├── TcpServer.h │ │ └── utilite │ │ ├── UDestroyer.h │ │ ├── ULogger.h │ │ ├── UMutex.h │ │ └── UWin32.h ├── launch │ ├── find_object_2d.launch │ ├── find_object_2d_gui.launch │ ├── find_object_3d.launch │ ├── find_object_3d_kinect2.launch │ ├── start_find_object_2d.launch │ └── start_find_object_3d_session.launch ├── msg │ └── ObjectsStamped.msg ├── package.xml ├── saved_pictures │ ├── cube_session.bin │ └── cube_session2.bin ├── src │ ├── AboutDialog.cpp │ ├── AboutDialog.h │ ├── AddObjectDialog.cpp │ ├── AddObjectDialog.h │ ├── CMakeLists.txt │ ├── Camera.cpp │ ├── CameraTcpServer.cpp │ ├── CameraTcpServer.h │ ├── FindObject.cpp │ ├── ImageDropWidget.cpp │ ├── ImageDropWidget.h │ ├── JsonWriter.cpp │ ├── KeypointItem.cpp │ ├── KeypointItem.h │ ├── MainWindow.cpp │ ├── ObjSignature.h │ ├── ObjWidget.cpp │ ├── ParametersToolBox.cpp │ ├── ParametersToolBox.h │ ├── QtOpenCV.cpp │ ├── RectItem.cpp │ ├── RectItem.h │ ├── Settings.cpp │ ├── TcpServer.cpp │ ├── Vocabulary.cpp │ ├── Vocabulary.h │ ├── json │ │ ├── json-forwards.h │ │ ├── json.h │ │ └── jsoncpp.cpp │ ├── resources.qrc │ ├── resources │ │ ├── Find-Object.png │ │ ├── TheWorkingGroup_video_pause.ico │ │ ├── TheWorkingGroup_video_play.ico │ │ └── TheWorkingGroup_video_stop.ico │ ├── ros │ │ ├── CameraROS.cpp │ │ ├── CameraROS.h │ │ ├── FindObjectROS.cpp │ │ ├── FindObjectROS.h │ │ ├── find_object_2d_node.cpp │ │ ├── print_objects_detected_node.cpp │ │ └── tf_example_node.cpp │ ├── rtabmap │ │ ├── PdfPlot.cpp │ │ └── PdfPlot.h │ ├── ui │ │ ├── aboutDialog.ui │ │ ├── addObjectDialog.ui │ │ └── mainWindow.ui │ └── utilite │ │ ├── UConversion.cpp │ │ ├── UConversion.h │ │ ├── UDirectory.cpp │ │ ├── UDirectory.h │ │ ├── UFile.cpp │ │ ├── UFile.h │ │ ├── ULogger.cpp │ │ ├── UPlot.cpp │ │ ├── UPlot.h │ │ └── UStl.h └── tools │ ├── CMakeLists.txt │ ├── similarity │ ├── CMakeLists.txt │ └── main.cpp │ ├── tcpClient │ ├── CMakeLists.txt │ ├── TcpClient.cpp │ ├── TcpClient.h │ └── main.cpp │ ├── tcpImagesServer │ ├── CMakeLists.txt │ ├── ImagesTcpServer.cpp │ ├── ImagesTcpServer.h │ └── main.cpp │ ├── tcpRequest │ ├── CMakeLists.txt │ ├── TcpResponse.cpp │ ├── TcpResponse.h │ └── main.cpp │ └── tcpService │ ├── CMakeLists.txt │ └── main.cpp ├── gazebo-pkgs ├── Dockerfile ├── LICENSE ├── README.md ├── TODO.md ├── gazebo_grasp_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── gazebo_grasp_plugin │ │ │ ├── GazeboGraspFix.h │ │ │ └── GazeboGraspGripper.h │ ├── msgs │ │ ├── CMakeLists.txt │ │ └── grasp_event.proto │ ├── package.xml │ └── src │ │ ├── GazeboGraspFix.cpp │ │ └── GazeboGraspGripper.cpp ├── gazebo_grasp_plugin_ros │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ └── GazeboGraspEvent.msg │ ├── package.xml │ └── src │ │ └── grasp_event_republisher.cpp ├── gazebo_state_plugins │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── GazeboMapPublisher.yaml │ │ ├── GazeboObjectInfo.yaml │ │ └── WorldPlugins.yaml │ ├── include │ │ └── gazebo_state_plugins │ │ │ ├── GazeboMapPublisher.h │ │ │ └── GazeboObjectInfo.h │ ├── launch │ │ └── plugin_loader.launch │ ├── package.xml │ ├── src │ │ ├── GazeboMapPublisher.cpp │ │ └── GazeboObjectInfo.cpp │ └── test │ │ └── object_info_request.cpp ├── gazebo_test_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── FakeObjectRecognizer.yaml │ │ └── ObjectTFBroadcaster.yaml │ ├── include │ │ └── gazebo_test_tools │ │ │ ├── FakeObjectRecognizer.h │ │ │ └── gazebo_cube_spawner.h │ ├── launch │ │ ├── fake_object_recognizer.launch │ │ ├── gazebo_fake_object_recognition.launch │ │ ├── object_tf_broadcaster.launch │ │ └── spawn_and_recognize_cube.launch │ ├── package.xml │ ├── src │ │ ├── FakeObjectRecognizer.cpp │ │ ├── SetGazeboPhysicsClient.cpp │ │ ├── cube_spawner.cpp │ │ ├── cube_spawner_node.cpp │ │ └── fake_object_recognizer_node.cpp │ ├── srv │ │ └── RecognizeGazeboObject.srv │ └── test │ │ └── fake_object_recognizer_cmd.cpp ├── gazebo_version_helpers │ ├── CMakeLists.txt │ ├── include │ │ └── gazebo_version_helpers │ │ │ └── GazeboVersionHelpers.h │ ├── package.xml │ └── src │ │ └── GazeboVersionHelpers.cpp └── gazebo_world_plugin_loader │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ └── WorldPluginsTemplate.config │ ├── include │ └── gazebo_world_plugin_loader │ │ └── GazeboPluginLoader.h │ ├── launch │ └── plugin_loader_template.launch │ ├── package.xml │ └── src │ └── GazeboPluginLoader.cpp ├── general-message-pkgs ├── Dockerfile ├── LICENSE ├── README.md ├── object_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── Object.msg │ │ └── ObjectPose.msg │ ├── package.xml │ └── srv │ │ ├── ObjectInfo.srv │ │ └── RegisterObject.srv ├── object_msgs_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── ObjectTFBroadcaster.yaml │ ├── include │ │ └── object_msgs_tools │ │ │ ├── ObjectFunctions.h │ │ │ └── ObjectTFBroadcaster.h │ ├── launch │ │ └── object_tf_broadcaster.launch │ ├── package.xml │ └── src │ │ ├── ObjectFunctions.cpp │ │ ├── ObjectTFBroadcaster.cpp │ │ ├── object_tf_broadcaster_node.cpp │ │ └── register_object_client.cpp └── path_navigation_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ ├── PathExecution.action │ └── TransformPathExecution.action │ └── package.xml ├── icl_phri_ur5 ├── .gitignore ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── icl_phri_robotiq_control │ ├── CMakeLists.txt │ ├── bin │ │ ├── CModelSimpleController.py │ │ ├── CModelStatusListener.py │ │ ├── __init__.py │ │ ├── average_filter.py │ │ ├── robotiq_action_client.py │ │ ├── robotiq_ctrl.py │ │ ├── tf_message_filter.py │ │ └── wrench_proc.py │ ├── include │ │ └── icl_phri_robotiq_control │ │ │ └── gripper_action_interface.h │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── .gripper_action_interface.cpp.swp │ │ ├── gripper_action_interface.cpp │ │ └── icl_phri_robotiq_control │ │ ├── __init__.py │ │ └── robotiq_utils.py ├── icl_phri_ur5_control │ ├── CMakeLists.txt │ ├── bin │ │ ├── __init__.py │ │ ├── demo_moveit.py │ │ ├── fts_calib │ │ │ ├── calib.py │ │ │ └── poses.txt │ │ ├── handover_demo.py │ │ ├── ji │ │ │ ├── myo_ctrl.py │ │ │ └── test_demo.py │ │ ├── leveling_ik.py │ │ ├── lv.py │ │ ├── moveit_tutorial.py │ │ ├── myo_ctrl.py │ │ ├── naive_leveling.py │ │ ├── naive_leveling.py.orig │ │ ├── rotate_ee.py │ │ ├── test_move.py │ │ └── ur_kin_py.pyd │ ├── include │ │ └── icl_phri_ur5_control │ │ │ └── naive_leveling.h │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── icl_phri_ur5_control │ │ └── __init__.py │ │ ├── leveling_node.cpp │ │ └── naive_leveling.cpp ├── icl_phri_ur5_gripper_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── moveit_bringup.launch │ │ ├── robotiq_bringup.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_moveit_bringup.launch │ │ └── ur5_with_gripper.launch │ ├── node │ │ └── gripper_joint_state_publisher.py │ ├── package.xml │ └── scenes │ │ ├── icl_scene.dae │ │ └── lab_setup.scene ├── icl_phri_ur5_gripper_gazebo │ ├── CMakeLists.txt │ ├── config │ │ ├── arm_controller_ur5.yaml │ │ ├── gripper_controller_robotiq.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ └── icl_phri_ur5_gripper.launch │ ├── package.xml │ └── worlds │ │ └── myrobot2.world ├── icl_phri_ur5_gripper_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── rgbd.yaml │ │ ├── sensors_kinect.yaml │ │ └── ur5_gripper.srdf │ ├── default_warehouse_mongo_db │ │ ├── WiredTiger │ │ ├── WiredTiger.lock │ │ ├── WiredTiger.turtle │ │ ├── WiredTiger.wt │ │ ├── WiredTigerLAS.wt │ │ ├── _mdb_catalog.wt │ │ ├── collection-0--2638161663506557711.wt │ │ ├── collection-0--6251344717891171645.wt │ │ ├── collection-0--7749955385422255201.wt │ │ ├── collection-0-7843182063726482517.wt │ │ ├── collection-11--6251344717891171645.wt │ │ ├── collection-14--6251344717891171645.wt │ │ ├── collection-17--6251344717891171645.wt │ │ ├── collection-19--6251344717891171645.wt │ │ ├── collection-2--6251344717891171645.wt │ │ ├── collection-2--7749955385422255201.wt │ │ ├── collection-22--6251344717891171645.wt │ │ ├── collection-25--6251344717891171645.wt │ │ ├── collection-28--6251344717891171645.wt │ │ ├── collection-3--2638161663506557711.wt │ │ ├── collection-5--6251344717891171645.wt │ │ ├── collection-6--2638161663506557711.wt │ │ ├── collection-8--6251344717891171645.wt │ │ ├── diagnostic.data │ │ │ ├── metrics.2018-02-20T00-01-18Z-00000 │ │ │ ├── metrics.2018-02-20T00-01-57Z-00000 │ │ │ ├── metrics.2018-02-20T00-04-38Z-00000 │ │ │ ├── metrics.2018-02-20T00-04-51Z-00000 │ │ │ ├── metrics.2018-02-20T00-06-12Z-00000 │ │ │ ├── metrics.2018-02-20T00-09-19Z-00000 │ │ │ ├── metrics.2018-02-20T00-13-00Z-00000 │ │ │ ├── metrics.2018-02-20T00-14-13Z-00000 │ │ │ ├── metrics.2018-02-20T00-15-35Z-00000 │ │ │ ├── metrics.2018-02-20T00-31-46Z-00000 │ │ │ ├── metrics.2018-02-20T00-32-57Z-00000 │ │ │ ├── metrics.2018-02-20T00-33-27Z-00000 │ │ │ ├── metrics.2018-02-20T01-13-07Z-00000 │ │ │ ├── metrics.2018-02-20T01-21-52Z-00000 │ │ │ ├── metrics.2018-02-20T01-23-13Z-00000 │ │ │ ├── metrics.2018-02-20T23-22-46Z-00000 │ │ │ ├── metrics.2018-02-20T23-26-08Z-00000 │ │ │ ├── metrics.2018-02-20T23-37-18Z-00000 │ │ │ ├── metrics.2018-02-20T23-41-25Z-00000 │ │ │ ├── metrics.2018-02-20T23-43-29Z-00000 │ │ │ ├── metrics.2018-02-20T23-44-33Z-00000 │ │ │ ├── metrics.2018-02-21T00-12-17Z-00000 │ │ │ ├── metrics.2018-02-21T00-41-36Z-00000 │ │ │ ├── metrics.2018-02-21T00-44-12Z-00000 │ │ │ ├── metrics.2018-02-21T00-45-21Z-00000 │ │ │ ├── metrics.2018-02-21T00-45-53Z-00000 │ │ │ ├── metrics.2018-02-21T01-13-14Z-00000 │ │ │ ├── metrics.2018-02-21T01-18-56Z-00000 │ │ │ ├── metrics.2018-02-21T01-23-37Z-00000 │ │ │ ├── metrics.2018-02-21T01-24-43Z-00000 │ │ │ ├── metrics.2018-02-21T01-26-41Z-00000 │ │ │ ├── metrics.2018-02-23T17-36-47Z-00000 │ │ │ ├── metrics.2018-02-23T18-20-14Z-00000 │ │ │ ├── metrics.2018-02-23T19-26-01Z-00000 │ │ │ ├── metrics.2018-02-23T19-32-16Z-00000 │ │ │ ├── metrics.2018-02-23T19-35-17Z-00000 │ │ │ ├── metrics.2018-02-23T19-47-21Z-00000 │ │ │ ├── metrics.2018-02-23T20-10-21Z-00000 │ │ │ ├── metrics.2018-02-23T20-22-46Z-00000 │ │ │ ├── metrics.2018-02-23T20-23-44Z-00000 │ │ │ ├── metrics.2018-02-23T20-36-07Z-00000 │ │ │ ├── metrics.2018-02-23T22-45-46Z-00000 │ │ │ ├── metrics.2018-02-26T21-57-22Z-00000 │ │ │ ├── metrics.2018-02-26T22-25-37Z-00000 │ │ │ ├── metrics.2018-02-26T22-27-38Z-00000 │ │ │ ├── metrics.2018-02-26T22-47-54Z-00000 │ │ │ ├── metrics.2018-02-27T00-05-02Z-00000 │ │ │ ├── metrics.2018-02-28T19-19-28Z-00000 │ │ │ ├── metrics.2018-02-28T19-24-20Z-00000 │ │ │ ├── metrics.2018-02-28T19-26-48Z-00000 │ │ │ ├── metrics.2018-02-28T19-29-01Z-00000 │ │ │ ├── metrics.2018-02-28T19-31-29Z-00000 │ │ │ ├── metrics.2018-02-28T19-32-43Z-00000 │ │ │ ├── metrics.2018-02-28T19-35-10Z-00000 │ │ │ ├── metrics.2018-02-28T19-37-42Z-00000 │ │ │ ├── metrics.2018-02-28T19-39-12Z-00000 │ │ │ ├── metrics.2018-02-28T19-41-16Z-00000 │ │ │ ├── metrics.2018-02-28T19-42-28Z-00000 │ │ │ ├── metrics.2018-02-28T19-51-01Z-00000 │ │ │ ├── metrics.2018-02-28T19-52-37Z-00000 │ │ │ ├── metrics.2018-02-28T19-55-11Z-00000 │ │ │ ├── metrics.2018-02-28T19-57-39Z-00000 │ │ │ ├── metrics.2018-02-28T19-59-37Z-00000 │ │ │ ├── metrics.2018-02-28T20-00-35Z-00000 │ │ │ ├── metrics.2018-03-09T18-00-11Z-00000 │ │ │ ├── metrics.2018-03-16T03-07-55Z-00000 │ │ │ ├── metrics.2018-03-16T03-14-50Z-00000 │ │ │ ├── metrics.2018-03-16T03-15-38Z-00000 │ │ │ ├── metrics.2018-03-16T03-17-33Z-00000 │ │ │ ├── metrics.2018-03-16T03-18-16Z-00000 │ │ │ ├── metrics.2018-03-16T03-19-06Z-00000 │ │ │ ├── metrics.2018-03-16T03-20-38Z-00000 │ │ │ ├── metrics.2018-03-16T03-21-03Z-00000 │ │ │ ├── metrics.2018-03-16T03-25-41Z-00000 │ │ │ ├── metrics.2018-03-16T03-28-07Z-00000 │ │ │ ├── metrics.2018-03-16T03-34-02Z-00000 │ │ │ ├── metrics.2018-03-16T03-42-37Z-00000 │ │ │ ├── metrics.2018-03-16T14-11-21Z-00000 │ │ │ ├── metrics.2018-03-26T15-04-17Z-00000 │ │ │ ├── metrics.2018-03-26T16-33-41Z-00000 │ │ │ ├── metrics.2018-03-26T18-04-33Z-00000 │ │ │ ├── metrics.2018-03-26T18-06-32Z-00000 │ │ │ ├── metrics.2018-03-26T18-24-53Z-00000 │ │ │ ├── metrics.2018-03-26T18-44-55Z-00000 │ │ │ ├── metrics.2018-03-26T20-33-53Z-00000 │ │ │ ├── metrics.2018-03-28T18-35-21Z-00000 │ │ │ ├── metrics.2018-03-28T19-49-27Z-00000 │ │ │ ├── metrics.2018-03-28T19-50-59Z-00000 │ │ │ ├── metrics.2018-04-10T23-16-19Z-00000 │ │ │ ├── metrics.2018-04-11T03-28-46Z-00000 │ │ │ ├── metrics.2018-04-11T03-37-21Z-00000 │ │ │ ├── metrics.2018-04-11T05-31-05Z-00000 │ │ │ ├── metrics.2018-04-11T06-38-32Z-00000 │ │ │ ├── metrics.2018-04-11T07-52-25Z-00000 │ │ │ ├── metrics.2018-04-11T07-53-02Z-00000 │ │ │ ├── metrics.2018-04-11T07-54-40Z-00000 │ │ │ ├── metrics.2018-04-11T08-29-24Z-00000 │ │ │ ├── metrics.2018-04-11T08-32-09Z-00000 │ │ │ ├── metrics.2018-04-11T15-46-22Z-00000 │ │ │ ├── metrics.2018-04-11T16-03-17Z-00000 │ │ │ ├── metrics.2018-04-11T16-03-55Z-00000 │ │ │ ├── metrics.2018-04-11T16-54-39Z-00000 │ │ │ ├── metrics.2018-04-11T20-11-17Z-00000 │ │ │ ├── metrics.2018-04-13T14-38-36Z-00000 │ │ │ ├── metrics.2018-04-13T14-46-32Z-00000 │ │ │ ├── metrics.2018-04-13T17-36-22Z-00000 │ │ │ ├── metrics.2018-04-13T17-52-46Z-00000 │ │ │ ├── metrics.2018-04-13T20-21-18Z-00000 │ │ │ ├── metrics.2018-04-13T20-24-21Z-00000 │ │ │ ├── metrics.2018-04-14T20-05-03Z-00000 │ │ │ ├── metrics.2018-04-14T20-23-32Z-00000 │ │ │ ├── metrics.2018-04-16T14-08-46Z-00000 │ │ │ ├── metrics.2018-04-16T19-35-40Z-00000 │ │ │ ├── metrics.2018-04-17T14-15-49Z-00000 │ │ │ ├── metrics.2018-04-17T18-52-57Z-00000 │ │ │ ├── metrics.2018-04-17T18-59-38Z-00000 │ │ │ ├── metrics.2018-04-17T19-21-53Z-00000 │ │ │ ├── metrics.2018-04-17T19-23-18Z-00000 │ │ │ ├── metrics.2018-04-17T19-26-16Z-00000 │ │ │ ├── metrics.2018-04-17T19-27-53Z-00000 │ │ │ ├── metrics.2018-04-17T19-28-36Z-00000 │ │ │ ├── metrics.2018-04-17T19-30-04Z-00000 │ │ │ └── metrics.2018-04-17T19-34-15Z-00000 │ │ ├── index-1--2638161663506557711.wt │ │ ├── index-1--6251344717891171645.wt │ │ ├── index-1--7749955385422255201.wt │ │ ├── index-1-7843182063726482517.wt │ │ ├── index-10--6251344717891171645.wt │ │ ├── index-12--6251344717891171645.wt │ │ ├── index-13--6251344717891171645.wt │ │ ├── index-15--6251344717891171645.wt │ │ ├── index-16--6251344717891171645.wt │ │ ├── index-18--6251344717891171645.wt │ │ ├── index-2--2638161663506557711.wt │ │ ├── index-2-7843182063726482517.wt │ │ ├── index-20--6251344717891171645.wt │ │ ├── index-21--6251344717891171645.wt │ │ ├── index-23--6251344717891171645.wt │ │ ├── index-24--6251344717891171645.wt │ │ ├── index-26--6251344717891171645.wt │ │ ├── index-27--6251344717891171645.wt │ │ ├── index-29--6251344717891171645.wt │ │ ├── index-3--6251344717891171645.wt │ │ ├── index-3--7749955385422255201.wt │ │ ├── index-4--2638161663506557711.wt │ │ ├── index-4--6251344717891171645.wt │ │ ├── index-5--2638161663506557711.wt │ │ ├── index-6--6251344717891171645.wt │ │ ├── index-7--2638161663506557711.wt │ │ ├── index-7--6251344717891171645.wt │ │ ├── index-8--2638161663506557711.wt │ │ ├── index-9--6251344717891171645.wt │ │ ├── journal │ │ │ ├── WiredTigerLog.0000000123 │ │ │ ├── WiredTigerLog.0000000124 │ │ │ ├── WiredTigerLog.0000000125 │ │ │ └── WiredTigerLog.0000000126 │ │ ├── mongod.lock │ │ ├── sizeStorer.wt │ │ └── storage.bson │ ├── frames.gv │ ├── frames.pdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_gripper_moveit_controller_manager.launch.xml │ │ ├── ur5_gripper_moveit_planning_execution.launch │ │ ├── ur5_gripper_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── icl_phri_ur5_robotiq_arg140_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── launch │ │ ├── test_robotiq_arg_2f_140_model.launch │ │ └── ur5_gripper_upload.launch │ ├── meshes │ │ ├── icl_scene.dae │ │ ├── icl_setup.scene │ │ ├── robotiq_arg2f_140_finger_tip--.stl │ │ ├── robotiq_arg2f_140_finger_tip.dae │ │ ├── robotiq_arg2f_140_finger_tip.stl │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_finger_with_tip.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link_coarse.stl │ │ └── robotiq_arg2f_base_link_fine.stl │ ├── package.xml │ ├── robots │ │ ├── robotiq_arg140.transmission.xacro │ │ ├── robotiq_arg140_description.urdf.xacro │ │ ├── robotiq_arg140_description_macro.xacro │ │ ├── ur5_robotiq_140.xacro │ │ ├── ur5_robotiq_140_joint_limited.xacro │ │ ├── ur5_robotiq_140_joint_limited_new.xacro │ │ └── ur5_robotiq_140_old.xacro │ ├── urdf │ │ ├── robotiq_arg2f.xacro │ │ ├── robotiq_arg2f_140_model.xacro │ │ ├── robotiq_arg2f_140_model_macro.xacro │ │ ├── robotiq_arg2f_finger_tips.xacro │ │ └── robotiq_arg2f_transmission.xacro │ └── visualize.rviz ├── icl_phri_ur5_ros_control │ ├── CMakeLists.txt │ └── package.xml └── readme.md ├── roboticsgroup_gazebo_plugins ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── roboticsgroup_gazebo_plugins │ │ ├── disable_link_plugin.h │ │ └── mimic_joint_plugin.h ├── package.xml └── src │ ├── disable_link_plugin.cpp │ └── mimic_joint_plugin.cpp ├── robotiq ├── .gitignore ├── .travis.yml ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── robotiq │ ├── CMakeLists.txt │ └── package.xml ├── robotiq_2f_140_gripper_visualization │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── test_2f_140_model.launch │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ │ └── visual │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ └── robotiq_arg2f_coupling.stl │ ├── package.xml │ ├── urdf │ │ ├── robotiq_arg2f.xacro │ │ ├── robotiq_arg2f_140_model.xacro │ │ ├── robotiq_arg2f_140_model_macro.xacro │ │ └── robotiq_arg2f_transmission.xacro │ └── visualize.rviz ├── robotiq_2f_85_gripper_visualization │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── test_2f_85_model.launch │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ └── robotiq_arg2f_base_link.stl │ │ └── visual │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ └── robotiq_gripper_coupling.stl │ ├── package.xml │ ├── urdf │ │ ├── robotiq_arg2f.xacro │ │ ├── robotiq_arg2f_85_model.xacro │ │ ├── robotiq_arg2f_85_model_macro.xacro │ │ └── robotiq_arg2f_transmission.xacro │ └── visualize.rviz ├── robotiq_2f_c2_gripper_visualization │ ├── CMakeLists.txt │ ├── launch │ │ └── test_robotiq_c2_model.launch │ ├── meshes │ │ └── robotiq_c2 │ │ │ ├── collision │ │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ │ ├── robotiq_85_gripper_base.dae │ │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ │ └── robotiq_85_gripper_joint_3_R.dae │ │ │ └── visual │ │ │ ├── adapter_plate.dae │ │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ │ ├── robotiq_85_gripper_base.dae │ │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ │ └── robotiq_85_gripper_joint_3_R.dae │ ├── package.xml │ ├── urdf │ │ ├── robotiq_c2_model.urdf │ │ ├── robotiq_c2_model.xacro │ │ └── robotiq_c2_model_macro.xacro │ └── visualize.rviz ├── robotiq_2f_gripper_action_server │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_2f_gripper_action_server │ │ │ └── robotiq_2f_gripper_action_server.h │ ├── launch │ │ └── robotiq_2f_gripper_action_server.launch │ ├── package.xml │ └── src │ │ ├── robotiq_2f_gripper_action_server.cpp │ │ ├── robotiq_2f_gripper_action_server_client_test.cpp │ │ └── robotiq_2f_gripper_action_server_node.cpp ├── robotiq_2f_gripper_control │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_2f_gripper_control │ │ │ └── robotiq_2f_gripper_ethercat_client.h │ ├── launch │ │ └── robotiq_2f_gripper_ethercat.launch │ ├── mainpage.dox │ ├── msg │ │ ├── Robotiq2FGripper_robot_input.msg │ │ └── Robotiq2FGripper_robot_output.msg │ ├── nodes │ │ ├── Robotiq2FGripperRtuNode.py │ │ ├── Robotiq2FGripperSimpleController.py │ │ ├── Robotiq2FGripperStatusListener.py │ │ └── Robotiq2FGripperTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_2f_gripper_control │ │ ├── __init__.py │ │ ├── baseRobotiq2FGripper.py │ │ ├── robotiq_2f_gripper_ctrl.py │ │ ├── robotiq_2f_gripper_ethercat_client.cpp │ │ └── robotiq_2f_gripper_ethercat_node.cpp ├── robotiq_3f_gripper_articulated_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ └── robotiq_gripper_empty_world.launch │ └── package.xml ├── robotiq_3f_gripper_articulated_gazebo_plugins │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_3f_gripper_articulated_gazebo_plugins │ │ │ └── RobotiqHandPlugin.h │ ├── package.xml │ └── src │ │ └── RobotiqHandPlugin.cpp ├── robotiq_3f_gripper_articulated_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Robotiq3FGripperRobotInput.msg │ │ └── Robotiq3FGripperRobotOutput.msg │ └── package.xml ├── robotiq_3f_gripper_control │ ├── CMakeLists.txt │ ├── cfg │ │ └── Robotiq3FGripper.cfg │ ├── include │ │ └── robotiq_3f_gripper_control │ │ │ ├── robotiq_3f_gripper_api.h │ │ │ ├── robotiq_3f_gripper_can_client.h │ │ │ ├── robotiq_3f_gripper_client_base.h │ │ │ ├── robotiq_3f_gripper_diagnostics.h │ │ │ ├── robotiq_3f_gripper_ethercat_client.h │ │ │ ├── robotiq_3f_gripper_hw_interface.h │ │ │ └── robotiq_3f_gripper_ros.h │ ├── launch │ │ ├── robotiq_3f_gripper_can.launch │ │ └── robotiq_3f_gripper_ethercat.launch │ ├── mainpage.dox │ ├── nodes │ │ ├── Robotiq3FGripperSimpleController.py │ │ ├── Robotiq3FGripperStatusListener.py │ │ └── Robotiq3FGripperTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── robotiq_3f_gripper_can_node.cpp │ │ ├── robotiq_3f_gripper_control │ │ ├── __init__.py │ │ ├── baseRobotiq3FGripper.py │ │ ├── robotiq_3f_gripper_api.cpp │ │ ├── robotiq_3f_gripper_can_client.cpp │ │ ├── robotiq_3f_gripper_diagnostics.cpp │ │ ├── robotiq_3f_gripper_ethercat_client.cpp │ │ ├── robotiq_3f_gripper_hw_interface.cpp │ │ └── robotiq_3f_gripper_ros.cpp │ │ └── robotiq_3f_gripper_ethercat_node.cpp ├── robotiq_3f_gripper_joint_state_publisher │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── robotiq_3f_gripper_joint_states.cpp ├── robotiq_3f_gripper_visualization │ ├── CMakeLists.txt │ ├── cfg │ │ ├── robotiq-3f-gripper_articulated.urdf │ │ ├── robotiq-3f-gripper_articulated.xacro │ │ ├── robotiq-3f-gripper_articulated_macro.xacro │ │ ├── robotiq-3f-gripper_finger_articulated_macro.xacro │ │ ├── robotiq-3f-gripper_mesh.urdf │ │ ├── robotiq-3f-gripper_mesh.xacro │ │ ├── robotiq-3f-gripper_mesh.xml │ │ ├── robotiq-3f-gripper_mesh_macro.xacro │ │ └── robotiq_hand_macro.urdf.xacro │ ├── launch │ │ └── robotiq_gripper_upload.launch │ ├── mainpage.dox │ ├── meshes │ │ ├── robotiq-3f-gripper │ │ │ ├── collision │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ │ └── visual │ │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ │ ├── GRIPPER_OPEN.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ └── robotiq-3f-gripper_articulated │ │ │ ├── collision │ │ │ ├── link_0.STL │ │ │ ├── link_1.STL │ │ │ ├── link_2.STL │ │ │ ├── link_3.STL │ │ │ └── palm.STL │ │ │ └── visual │ │ │ ├── link_0.dae │ │ │ ├── link_1.dae │ │ │ ├── link_2.dae │ │ │ ├── link_3.dae │ │ │ └── palm.dae │ └── package.xml ├── robotiq_3f_rviz │ ├── CMakeLists.txt │ ├── icons │ │ └── classes │ │ │ └── Robotiq3FingerPanel.png │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── panel.ui │ │ └── robotiq_3f_rviz.cpp ├── robotiq_ethercat │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── robotiq_ethercat │ │ │ └── ethercat_manager.h │ ├── package.xml │ └── src │ │ └── ethercat_manager.cpp ├── robotiq_ft_sensor │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_ft_sensor │ │ │ ├── rq_int.h │ │ │ ├── rq_sensor_com.h │ │ │ └── rq_sensor_state.h │ ├── launch │ │ ├── rviz_sesion.rviz │ │ └── visualize_ft300.launch │ ├── meshes │ │ ├── collision │ │ │ ├── mountings │ │ │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ │ ├── robotiq_ft300.STL │ │ │ └── robotiq_fts150.stl │ │ └── visual │ │ │ ├── mountings │ │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ │ ├── robotiq_ft300.STL │ │ │ └── robotiq_fts150.stl │ ├── msg │ │ └── ft_sensor.msg │ ├── nodes │ │ ├── rq_sensor.cpp │ │ └── rq_test_sensor.cpp │ ├── package.xml │ ├── src │ │ ├── rq_sensor_com.cpp │ │ └── rq_sensor_state.cpp │ ├── srv │ │ └── sensor_accessor.srv │ └── urdf │ │ ├── examples_of_macros │ │ └── example_use_robotiq_ft300.xacro │ │ ├── robotiq_ft300.urdf.xacro │ │ └── robotiq_fts150.urdf.xacro ├── robotiq_modbus_rtu │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_modbus_rtu │ │ ├── __init__.py │ │ └── comModbusRtu.py └── robotiq_modbus_tcp │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ └── robotiq_modbus_tcp │ ├── __init__.py │ └── comModbusTcp.py ├── ros_controllers ├── .gitignore ├── .travis.yml ├── README.md ├── ackermann_steering_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── ackermann_steering_controller_plugins.xml │ ├── include │ │ └── ackermann_steering_controller │ │ │ ├── ackermann_steering_controller.h │ │ │ └── odometry.h │ ├── package.xml │ ├── src │ │ ├── ackermann_steering_controller.cpp │ │ └── odometry.cpp │ └── test │ │ ├── ackermann_steering_controller_default_odom_frame_test │ │ ├── ackermann_steering_controller_default_odom_frame.test │ │ └── ackermann_steering_controller_default_odom_frame_test.cpp │ │ ├── ackermann_steering_controller_fail_test │ │ ├── ackermann_steering_bot_wrong.yaml │ │ ├── ackermann_steering_controller_fail_test.cpp │ │ └── ackermann_steering_controller_wrong.test │ │ ├── ackermann_steering_controller_limits_test │ │ ├── ackermann_steering_bot_limits.yaml │ │ ├── ackermann_steering_controller_limits.test │ │ └── ackermann_steering_controller_limits_test.cpp │ │ ├── ackermann_steering_controller_nan_test │ │ ├── ackermann_steering_controller_nan.test │ │ └── ackermann_steering_controller_nan_test.cpp │ │ ├── ackermann_steering_controller_no_steer_test │ │ ├── ackermann_steering_bot_no_steer.yaml │ │ └── ackermann_steering_controller_no_steer.test │ │ ├── ackermann_steering_controller_no_wheel_test │ │ ├── ackermann_steering_bot_no_wheel.yaml │ │ └── ackermann_steering_controller_no_wheel.test │ │ ├── ackermann_steering_controller_odom_frame_test │ │ ├── ackermann_steering_controller_odom_frame.test │ │ └── ackermann_steering_controller_odom_frame_test.cpp │ │ ├── ackermann_steering_controller_odom_tf_test │ │ ├── ackermann_steering_controller_odom_tf.test │ │ └── ackermann_steering_controller_odom_tf_test.cpp │ │ ├── ackermann_steering_controller_open_loop_test │ │ ├── ackermann_steering_bot_open_loop.yaml │ │ └── ackermann_steering_controller_open_loop.test │ │ ├── ackermann_steering_controller_radius_param_fail_test │ │ └── ackermann_steering_controller_radius_param_fail.test │ │ ├── ackermann_steering_controller_radius_param_test │ │ └── ackermann_steering_controller_radius_param.test │ │ ├── ackermann_steering_controller_separation_param_test │ │ └── ackermann_steering_controller_separation_param.test │ │ ├── ackermann_steering_controller_test │ │ ├── ackermann_steering_controller.test │ │ └── ackermann_steering_controller_test.cpp │ │ ├── ackermann_steering_controller_timeout_test │ │ ├── ackermann_steering_bot_timeout.yaml │ │ ├── ackermann_steering_controller_timeout.test │ │ └── ackermann_steering_controller_timeout_test.cpp │ │ └── common │ │ ├── config │ │ ├── ackermann_steering_bot_controllers.yaml │ │ └── ackermann_steering_bot_hw_sim.yaml │ │ ├── include │ │ ├── ackermann_steering_bot.h │ │ └── test_common.h │ │ ├── launch │ │ ├── ackermann_steering_common.launch │ │ └── view_ackermann_steering_bot.launch │ │ ├── rviz │ │ └── display.rviz │ │ ├── src │ │ └── ackermann_steering_bot.cpp │ │ └── urdf │ │ ├── ackermann_steering_bot.xacro │ │ ├── ackermann_steering_bot_sphere_wheels.xacro │ │ ├── wheel.xacro │ │ └── wheel_sphere.xacro ├── diff_drive_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ └── DiffDriveController.cfg │ ├── diff_drive_controller_plugins.xml │ ├── include │ │ └── diff_drive_controller │ │ │ ├── diff_drive_controller.h │ │ │ ├── odometry.h │ │ │ └── speed_limiter.h │ ├── package.xml │ ├── src │ │ ├── diff_drive_controller.cpp │ │ ├── odometry.cpp │ │ └── speed_limiter.cpp │ └── test │ │ ├── diff_drive_bad_urdf.test │ │ ├── diff_drive_common.launch │ │ ├── diff_drive_controller.test │ │ ├── diff_drive_controller_limits.test │ │ ├── diff_drive_controller_nan.test │ │ ├── diff_drive_default_cmd_vel_out.test │ │ ├── diff_drive_default_cmd_vel_out_test.cpp │ │ ├── diff_drive_default_odom_frame.test │ │ ├── diff_drive_default_odom_frame_test.cpp │ │ ├── diff_drive_default_wheel_joint_controller_state.test │ │ ├── diff_drive_default_wheel_joint_controller_state_test.cpp │ │ ├── diff_drive_dyn_reconf.test │ │ ├── diff_drive_dyn_reconf_test.cpp │ │ ├── diff_drive_fail_test.cpp │ │ ├── diff_drive_left_right_multipliers.test │ │ ├── diff_drive_limits_test.cpp │ │ ├── diff_drive_multiple_cmd_vel_publishers.test │ │ ├── diff_drive_multiple_cmd_vel_publishers_test.cpp │ │ ├── diff_drive_multipliers.test │ │ ├── diff_drive_nan_test.cpp │ │ ├── diff_drive_odom_frame.test │ │ ├── diff_drive_odom_frame_test.cpp │ │ ├── diff_drive_odom_tf.test │ │ ├── diff_drive_odom_tf_test.cpp │ │ ├── diff_drive_open_loop.test │ │ ├── diff_drive_pub_cmd_vel_out.test │ │ ├── diff_drive_pub_cmd_vel_out_test.cpp │ │ ├── diff_drive_publish_wheel_joint_controller_state.test │ │ ├── diff_drive_publish_wheel_joint_controller_state_test.cpp │ │ ├── diff_drive_radius_param.test │ │ ├── diff_drive_radius_param_fail.test │ │ ├── diff_drive_radius_sphere.test │ │ ├── diff_drive_separation_param.test │ │ ├── diff_drive_test.cpp │ │ ├── diff_drive_timeout.test │ │ ├── diff_drive_timeout_test.cpp │ │ ├── diff_drive_wrong.test │ │ ├── diffbot.cpp │ │ ├── diffbot.h │ │ ├── diffbot.xacro │ │ ├── diffbot_bad.xacro │ │ ├── diffbot_controllers.yaml │ │ ├── diffbot_left_right_multipliers.yaml │ │ ├── diffbot_limits.yaml │ │ ├── diffbot_multipliers.yaml │ │ ├── diffbot_open_loop.yaml │ │ ├── diffbot_sphere_wheels.xacro │ │ ├── diffbot_square_wheels.xacro │ │ ├── diffbot_timeout.yaml │ │ ├── diffbot_wrong.yaml │ │ ├── skid_steer_common.launch │ │ ├── skid_steer_controller.test │ │ ├── skid_steer_no_wheels.test │ │ ├── skidsteerbot.cpp │ │ ├── skidsteerbot.xacro │ │ ├── skidsteerbot_controllers.yaml │ │ ├── skidsteerbot_no_wheels.yaml │ │ ├── sphere_wheel.xacro │ │ ├── square_wheel.xacro │ │ ├── test_common.h │ │ ├── view_diffbot.launch │ │ ├── view_skidsteerbot.launch │ │ └── wheel.xacro ├── effort_controllers │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── effort_controllers_plugins.xml │ ├── include │ │ └── effort_controllers │ │ │ ├── joint_effort_controller.h │ │ │ ├── joint_group_effort_controller.h │ │ │ ├── joint_group_position_controller.h │ │ │ ├── joint_position_controller.h │ │ │ └── joint_velocity_controller.h │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── joint_effort_controller.cpp │ │ ├── joint_group_effort_controller.cpp │ │ ├── joint_group_position_controller.cpp │ │ ├── joint_position_controller.cpp │ │ └── joint_velocity_controller.cpp │ └── test │ │ ├── effort_position_controller.test │ │ ├── simple_bot.xacro │ │ ├── simple_bot_controllers.yaml │ │ ├── simple_bot_goto_position.cpp │ │ ├── simple_bot_hw.cpp │ │ └── simple_bot_hw.launch ├── force_torque_sensor_controller │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── force_torque_sensor_controller.launch │ ├── force_torque_sensor_controller.yaml │ ├── force_torque_sensor_plugin.xml │ ├── include │ │ └── force_torque_sensor_controller │ │ │ └── force_torque_sensor_controller.h │ ├── package.xml │ └── src │ │ └── force_torque_sensor_controller.cpp ├── forward_command_controller │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── forward_command_controller │ │ │ ├── forward_command_controller.h │ │ │ └── forward_joint_group_command_controller.h │ ├── mainpage.dox │ └── package.xml ├── gripper_action_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── gripper_action_controller │ │ │ ├── gripper_action_controller.h │ │ │ ├── gripper_action_controller_impl.h │ │ │ └── hardware_interface_adapter.h │ ├── package.xml │ ├── ros_control_plugins.xml │ └── src │ │ └── gripper_action_controller.cpp ├── imu_sensor_controller │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── imu_sensor_controller.launch │ ├── imu_sensor_controller.yaml │ ├── imu_sensor_plugin.xml │ ├── include │ │ └── imu_sensor_controller │ │ │ └── imu_sensor_controller.h │ ├── package.xml │ └── src │ │ └── imu_sensor_controller.cpp ├── joint_state_controller │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── joint_state_controller │ │ │ └── joint_state_controller.h │ ├── joint_state_controller.launch │ ├── joint_state_controller.yaml │ ├── joint_state_plugin.xml │ ├── package.xml │ ├── rosdoc.yaml │ ├── src │ │ └── joint_state_controller.cpp │ └── test │ │ ├── joint_state_controller.test │ │ ├── joint_state_controller_extra_joints_ko.yaml │ │ ├── joint_state_controller_extra_joints_ok.yaml │ │ ├── joint_state_controller_ko.yaml │ │ ├── joint_state_controller_ok.yaml │ │ └── joint_state_controller_test.cpp ├── joint_trajectory_controller │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── images │ │ ├── new_trajectory.png │ │ ├── new_trajectory.svg │ │ ├── trajectory_replacement_future.png │ │ ├── trajectory_replacement_future.svg │ │ ├── trajectory_replacement_now.png │ │ ├── trajectory_replacement_now.svg │ │ ├── trajectory_replacement_past.png │ │ └── trajectory_replacement_past.svg │ ├── include │ │ ├── joint_trajectory_controller │ │ │ ├── hardware_interface_adapter.h │ │ │ ├── hold_trajectory_builder.h │ │ │ ├── init_joint_trajectory.h │ │ │ ├── joint_trajectory_controller.h │ │ │ ├── joint_trajectory_controller_impl.h │ │ │ ├── joint_trajectory_msg_utils.h │ │ │ ├── joint_trajectory_segment.h │ │ │ ├── stop_trajectory_builder.h │ │ │ ├── tolerances.h │ │ │ └── trajectory_builder.h │ │ └── trajectory_interface │ │ │ ├── pos_vel_acc_state.h │ │ │ ├── quintic_spline_segment.h │ │ │ └── trajectory_interface.h │ ├── mainpage.dox │ ├── package.xml │ ├── ros_control_plugins.xml │ ├── rosdoc.yaml │ ├── src │ │ └── joint_trajectory_controller.cpp │ └── test │ │ ├── hold_trajectory_builder_test.cpp │ │ ├── init_joint_trajectory_test.cpp │ │ ├── joint_partial_trajectory_controller.test │ │ ├── joint_partial_trajectory_controller_test.cpp │ │ ├── joint_trajectory_controller.test │ │ ├── joint_trajectory_controller_stopramp.test │ │ ├── joint_trajectory_controller_test.cpp │ │ ├── joint_trajectory_controller_vel.test │ │ ├── joint_trajectory_controller_wrapping.test │ │ ├── joint_trajectory_controller_wrapping_test.cpp │ │ ├── joint_trajectory_msg_utils_test.cpp │ │ ├── joint_trajectory_segment_test.cpp │ │ ├── quintic_spline_segment_test.cpp │ │ ├── rrbot.cpp │ │ ├── rrbot.xacro │ │ ├── rrbot_controllers.yaml │ │ ├── rrbot_controllers_stopramp.yaml │ │ ├── rrbot_partial_controllers.yaml │ │ ├── rrbot_vel_controllers.yaml │ │ ├── rrbot_wrapping.cpp │ │ ├── rrbot_wrapping_controllers.yaml │ │ ├── stop_trajectory_builder_test.cpp │ │ ├── test_common.cpp │ │ ├── test_common.h │ │ ├── tolerances.test │ │ ├── tolerances.yaml │ │ ├── tolerances_test.cpp │ │ ├── trajectory_builder_test.cpp │ │ └── trajectory_interface_test.cpp ├── position_controllers │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── position_controllers │ │ │ ├── joint_group_position_controller.h │ │ │ └── joint_position_controller.h │ ├── mainpage.dox │ ├── package.xml │ ├── position_controllers_plugins.xml │ └── src │ │ ├── joint_group_position_controller.cpp │ │ └── joint_position_controller.cpp ├── ros_controllers │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── rqt_joint_trajectory_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin.xml │ ├── resource │ │ ├── double_editor.ui │ │ ├── joint_trajectory_controller.ui │ │ ├── off.svg │ │ ├── on.svg │ │ ├── scope.png │ │ └── scope.svg │ ├── rosdoc.yaml │ ├── scripts │ │ └── rqt_joint_trajectory_controller │ ├── setup.py │ └── src │ │ └── rqt_joint_trajectory_controller │ │ ├── __init__.py │ │ ├── double_editor.py │ │ ├── joint_limits_urdf.py │ │ ├── joint_trajectory_controller.py │ │ └── update_combo.py └── velocity_controllers │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── velocity_controllers │ │ ├── joint_group_velocity_controller.h │ │ ├── joint_position_controller.h │ │ └── joint_velocity_controller.h │ ├── mainpage.dox │ ├── package.xml │ ├── src │ ├── joint_group_velocity_controller.cpp │ ├── joint_position_controller.cpp │ └── joint_velocity_controller.cpp │ └── velocity_controllers_plugins.xml ├── universal_robot ├── .gitignore ├── .travis.yml ├── README.md ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── universal_robots │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur10_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_e_moveit_controller_manager.launch.xml │ │ ├── ur10_e_moveit_planning_execution.launch │ │ ├── ur10_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur10_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_moveit_controller_manager.launch.xml │ │ ├── ur10_moveit_planning_execution.launch │ │ ├── ur10_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur3_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_e_moveit_controller_manager.launch.xml │ │ ├── ur3_e_moveit_planning_execution.launch │ │ ├── ur3_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur3_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_moveit_controller_manager.launch.xml │ │ ├── ur3_moveit_planning_execution.launch │ │ ├── ur3_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur5_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_e_moveit_controller_manager.launch.xml │ │ ├── ur5_e_moveit_planning_execution.launch │ │ ├── ur5_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur5_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ ├── ur5_upload.launch │ │ ├── view_ur10.launch │ │ ├── view_ur3.launch │ │ └── view_ur5.launch │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── model.pdf │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_camera.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro ├── ur_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── URDriver.cfg │ ├── package.xml │ ├── prog │ ├── prog_reset │ ├── setup.py │ ├── src │ │ └── ur_driver │ │ │ ├── __init__.py │ │ │ ├── deserialize.py │ │ │ ├── deserializeRT.py │ │ │ ├── driver.py │ │ │ ├── io_interface.py │ │ │ ├── testRT_comm.py │ │ │ └── test_comm.py │ ├── test_io.py │ └── test_move.py ├── ur_e_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur10e_upload.launch │ │ ├── ur3e_upload.launch │ │ ├── ur5e_upload.launch │ │ ├── view_ur10e.launch │ │ ├── view_ur3e.launch │ │ └── view_ur5e.launch │ ├── meshes │ │ ├── ur10e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5e │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10e.urdf.xacro │ │ ├── ur10e_joint_limited_robot.urdf.xacro │ │ ├── ur10e_robot.urdf.xacro │ │ ├── ur3e.urdf.xacro │ │ ├── ur3e_joint_limited_robot.urdf.xacro │ │ ├── ur3e_robot.urdf.xacro │ │ ├── ur5e.urdf.xacro │ │ ├── ur5e_joint_limited_robot.urdf.xacro │ │ └── ur5e_robot.urdf.xacro ├── ur_e_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10e.yaml │ │ ├── arm_controller_ur3e.yaml │ │ ├── arm_controller_ur5e.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10e.launch │ │ ├── ur10e_joint_limited.launch │ │ ├── ur3e.launch │ │ ├── ur3e_joint_limited.launch │ │ ├── ur5e.launch │ │ └── ur5e_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ └── ur5_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ ├── __init__.py │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotModeDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ ├── SetPayload.srv │ └── SetSpeedSliderFraction.srv ├── ur5_with_robotiq_gripper ├── README.md ├── icl_robotiq_2f_gripper_action_server │ ├── CMakeLists.txt │ ├── include │ │ └── icl_robotiq_2f_gripper_action_server │ │ │ └── robotiq_2f_gripper_action_server.h │ ├── launch │ │ └── robotiq_2f_gripper_action_server.launch │ ├── package.xml │ └── src │ │ ├── robotiq_2f_gripper_action_server.cpp │ │ └── robotiq_2f_gripper_action_server_node.cpp ├── icl_ur5_setup_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── activate_gripper.launch │ │ ├── old │ │ │ ├── moveit_bringup.launch │ │ │ ├── robotiq_bringup.launch │ │ │ ├── ur5_moveit_bringup.launch │ │ │ └── ur5_with_gripper.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_fts.launch │ │ ├── ur5_fts_gripper.launch │ │ └── ur5_gripper.launch │ ├── node │ │ └── gripper_joint_state_publisher.py │ ├── package.xml │ └── scenes │ │ ├── icl_scene.dae │ │ └── lab_setup.scene ├── icl_ur5_setup_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── launch │ │ ├── test_robotiq_arg_2f_140_model.launch │ │ └── ur5_gripper_upload.launch │ ├── meshes │ │ ├── icl_scene.dae │ │ ├── icl_setup.scene │ │ ├── robotiq_arg2f_140_finger_tip--.stl │ │ ├── robotiq_arg2f_140_finger_tip.dae │ │ ├── robotiq_arg2f_140_finger_tip.stl │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_finger_with_tip.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link_coarse.stl │ │ ├── robotiq_arg2f_base_link_fine.stl │ │ └── robotiq_fts150.stl │ ├── package.xml │ ├── robots │ │ ├── ur5_robotiq_140.xacro │ │ ├── ur5_robotiq_140_joint_limited.xacro │ │ └── ur5_robotiq_140_joint_limited_depth.xacro │ ├── urdf │ │ ├── robotiq_arg2f.xacro │ │ ├── robotiq_arg2f_140_model.xacro │ │ ├── robotiq_arg2f_140_model_macro.xacro │ │ ├── robotiq_arg2f_finger_tips.xacro │ │ ├── robotiq_arg2f_transmission.xacro │ │ └── robotiq_fts300.urdf.xacro │ └── visualize.rviz ├── icl_ur5_setup_gazebo │ ├── CMakeLists.txt │ ├── config │ │ ├── arm_controller_ur5.yaml │ │ ├── gripper_controller_robotiq.yaml │ │ └── joint_state_controller.yaml │ ├── custom_model │ │ └── custom_box.dae │ ├── launch │ │ ├── controller_utils.launch │ │ ├── icl_ur5_gripper.launch │ │ └── spawn_cube.launch │ ├── package.xml │ └── worlds │ │ ├── icl_ur5_setup.world │ │ ├── sim_world.world │ │ ├── sim_world2.world │ │ ├── sim_world3.world │ │ ├── sim_world4.world │ │ ├── sim_world5.world │ │ ├── sim_world6.world │ │ ├── sim_world7.world │ │ ├── sim_world8.world │ │ └── sim_world9.world ├── icl_ur5_setup_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── controllers_sim.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── rgbd.yaml │ │ ├── sensors_kinect.yaml │ │ ├── ur5_gripper.srdf │ │ └── ur5_gripper_sim.srdf │ ├── frames.gv │ ├── frames.pdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_gripper_moveit_controller_manager.launch.xml │ │ ├── ur5_gripper_moveit_planning_execution.launch │ │ ├── ur5_gripper_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── img │ └── simulation.png └── scripts │ ├── CMakeLists.txt │ ├── find_object.py │ ├── package.xml │ ├── test_grasp.py │ ├── test_vision.py │ └── vision_grasp.py ├── ur_modern_driver ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ ├── ur10_controllers.yaml │ ├── ur3_controllers.yaml │ └── ur5_controllers.yaml ├── include │ └── ur_modern_driver │ │ ├── do_output.h │ │ ├── robot_state.h │ │ ├── robot_state_RT.h │ │ ├── ur_communication.h │ │ ├── ur_driver.h │ │ ├── ur_hardware_interface.h │ │ └── ur_realtime_communication.h ├── launch │ ├── ur10_bringup.launch │ ├── ur10_bringup_compatible.launch │ ├── ur10_bringup_joint_limited.launch │ ├── ur10_ros_control.launch │ ├── ur3_bringup.launch │ ├── ur3_bringup_joint_limited.launch │ ├── ur3_ros_control.launch │ ├── ur5_bringup.launch │ ├── ur5_bringup_compatible.launch │ ├── ur5_bringup_joint_limited.launch │ ├── ur5_ros_control.launch │ └── ur_common.launch ├── package.xml ├── src │ ├── do_output.cpp │ ├── robot_state.cpp │ ├── robot_state_RT.cpp │ ├── 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