├── .rosinstall ├── .rosinstall.bak ├── LICENSE ├── README.md ├── mpc_ros ├── .gitignore ├── LICENSE ├── README.md ├── assets │ ├── document │ │ ├── example │ │ │ ├── CppAD_Ipopt.cpp │ │ │ └── CppAD_started.cpp │ │ ├── ipopt_install │ │ │ ├── ipopt_arm_install_tutorial.md │ │ │ └── ipopt_x86_install_tutorial.md │ │ ├── photo │ │ │ ├── HyphaROS_MPC_MiniCar_Simulation.jpg │ │ │ ├── HyphaROS_MiniCar_photo.jpg │ │ │ └── HyphaROS_logo.png │ │ └── udev │ │ │ ├── stm32base.rules │ │ │ └── udev_install.sh │ ├── dwa.csv │ ├── mpc.csv │ └── pure_pursuit.csv └── mpc_ros │ ├── CMakeLists.txt │ ├── cfg │ └── MPCPlanner.cfg │ ├── global_planner_plugin.xml │ ├── include │ ├── MPC.h │ ├── cppad │ │ ├── .cppad.hpp.swp │ │ ├── CMakeLists.txt │ │ ├── base_require.hpp │ │ ├── configure.hpp │ │ ├── configure.hpp.in │ │ ├── core │ │ │ ├── abort_recording.hpp │ │ │ ├── abs.hpp │ │ │ ├── abs_normal_fun.hpp │ │ │ ├── acosh.hpp │ │ │ ├── ad.hpp │ │ │ ├── ad_assign.hpp │ │ │ ├── ad_binary.hpp │ │ │ ├── ad_ctor.hpp │ │ │ ├── ad_fun.hpp │ │ │ ├── ad_io.hpp │ │ │ ├── ad_to_string.hpp │ │ │ ├── ad_valued.hpp │ │ │ ├── add.hpp │ │ │ ├── add_eq.hpp │ │ │ ├── arithmetic.hpp │ │ │ ├── asinh.hpp │ │ │ ├── atan2.hpp │ │ │ ├── atanh.hpp │ │ │ ├── atomic_base.hpp │ │ │ ├── azmul.hpp │ │ │ ├── base_complex.hpp │ │ │ ├── base_cond_exp.hpp │ │ │ ├── base_double.hpp │ │ │ ├── base_float.hpp │ │ │ ├── base_hash.hpp │ │ │ ├── base_limits.hpp │ │ │ ├── base_std_math.hpp │ │ │ ├── base_to_string.hpp │ │ │ ├── bender_quad.hpp │ │ │ ├── bool_fun.hpp │ │ │ ├── bool_valued.hpp │ │ │ ├── capacity_order.hpp │ │ │ ├── check_for_nan.hpp │ │ │ ├── checkpoint.hpp │ │ │ ├── compare.hpp │ │ │ ├── compound_assign.hpp │ │ │ ├── cond_exp.hpp │ │ │ ├── convert.hpp │ │ │ ├── cppad_assert.hpp │ │ │ ├── define.hpp │ │ │ ├── dependent.hpp │ │ │ ├── discrete.hpp │ │ │ ├── div.hpp │ │ │ ├── div_eq.hpp │ │ │ ├── drivers.hpp │ │ │ ├── epsilon.hpp │ │ │ ├── equal_op_seq.hpp │ │ │ ├── erf.hpp │ │ │ ├── expm1.hpp │ │ │ ├── for_hes_sparsity.hpp │ │ │ ├── for_jac_sparsity.hpp │ │ │ ├── for_one.hpp │ │ │ ├── for_sparse_hes.hpp │ │ │ ├── for_sparse_jac.hpp │ │ │ ├── for_two.hpp │ │ │ ├── forward.hpp │ │ │ ├── fun_check.hpp │ │ │ ├── fun_construct.hpp │ │ │ ├── fun_eval.hpp │ │ │ ├── hash_code.hpp │ │ │ ├── hessian.hpp │ │ │ ├── identical.hpp │ │ │ ├── independent.hpp │ │ │ ├── integer.hpp │ │ │ ├── jacobian.hpp │ │ │ ├── log1p.hpp │ │ │ ├── lu_ratio.hpp │ │ │ ├── mul.hpp │ │ │ ├── mul_eq.hpp │ │ │ ├── near_equal_ext.hpp │ │ │ ├── num_skip.hpp │ │ │ ├── numeric_limits.hpp │ │ │ ├── old_atomic.hpp │ │ │ ├── omp_max_thread.hpp │ │ │ ├── opt_val_hes.hpp │ │ │ ├── optimize.hpp │ │ │ ├── ordered.hpp │ │ │ ├── par_var.hpp │ │ │ ├── parallel_ad.hpp │ │ │ ├── pow.hpp │ │ │ ├── print_for.hpp │ │ │ ├── rev_hes_sparsity.hpp │ │ │ ├── rev_jac_sparsity.hpp │ │ │ ├── rev_one.hpp │ │ │ ├── rev_sparse_hes.hpp │ │ │ ├── rev_sparse_jac.hpp │ │ │ ├── rev_two.hpp │ │ │ ├── reverse.hpp │ │ │ ├── sign.hpp │ │ │ ├── sparse.hpp │ │ │ ├── sparse_hes.hpp │ │ │ ├── sparse_hessian.hpp │ │ │ ├── sparse_jac.hpp │ │ │ ├── sparse_jacobian.hpp │ │ │ ├── standard_math.hpp │ │ │ ├── std_math_98.hpp │ │ │ ├── sub.hpp │ │ │ ├── sub_eq.hpp │ │ │ ├── subgraph_jac_rev.hpp │ │ │ ├── subgraph_reverse.hpp │ │ │ ├── subgraph_sparsity.hpp │ │ │ ├── tape_link.hpp │ │ │ ├── test_vector.hpp │ │ │ ├── testvector.hpp │ │ │ ├── unary_minus.hpp │ │ │ ├── unary_plus.hpp │ │ │ ├── undef.hpp │ │ │ ├── user_ad.hpp │ │ │ ├── value.hpp │ │ │ ├── var2par.hpp │ │ │ ├── vec_ad.hpp │ │ │ └── zdouble.hpp │ │ ├── cppad.hpp │ │ ├── cppad │ │ │ ├── .cppad.hpp.swo │ │ │ ├── .cppad.hpp.swp │ │ │ ├── CMakeLists.txt │ │ │ ├── base_require.hpp │ │ │ ├── configure.hpp.in │ │ │ ├── core │ │ │ │ ├── abort_recording.hpp │ │ │ │ ├── abs.hpp │ │ │ │ ├── abs_normal_fun.hpp │ │ │ │ ├── acosh.hpp │ │ │ │ ├── ad.hpp │ │ │ │ ├── ad_assign.hpp │ │ │ │ ├── ad_binary.hpp │ │ │ │ ├── ad_ctor.hpp │ │ │ │ ├── ad_fun.hpp │ │ │ │ ├── ad_io.hpp │ │ │ │ ├── ad_to_string.hpp │ │ │ │ ├── ad_valued.hpp │ │ │ │ ├── add.hpp │ │ │ │ ├── add_eq.hpp │ │ │ │ ├── arithmetic.hpp │ │ │ │ ├── asinh.hpp │ │ │ │ ├── atan2.hpp │ │ │ │ ├── atanh.hpp │ │ │ │ ├── atomic_base.hpp │ │ │ │ ├── azmul.hpp │ │ │ │ ├── base_complex.hpp │ │ │ │ ├── base_cond_exp.hpp │ │ │ │ ├── base_double.hpp │ │ │ │ ├── base_float.hpp │ │ │ │ ├── base_hash.hpp │ │ │ │ ├── base_limits.hpp │ │ │ │ ├── base_std_math.hpp │ │ │ │ ├── base_to_string.hpp │ │ │ │ ├── bender_quad.hpp │ │ │ │ ├── bool_fun.hpp │ │ │ │ ├── bool_valued.hpp │ │ │ │ ├── capacity_order.hpp │ │ │ │ ├── check_for_nan.hpp │ │ │ │ ├── checkpoint.hpp │ │ │ │ ├── compare.hpp │ │ │ │ ├── compound_assign.hpp │ │ │ │ ├── cond_exp.hpp │ │ │ │ ├── convert.hpp │ │ │ │ ├── cppad_assert.hpp │ │ │ │ ├── define.hpp │ │ │ │ ├── dependent.hpp │ │ │ │ ├── discrete.hpp │ │ │ │ ├── div.hpp │ │ │ │ ├── div_eq.hpp │ │ │ │ ├── drivers.hpp │ │ │ │ ├── epsilon.hpp │ │ │ │ ├── equal_op_seq.hpp │ │ │ │ ├── erf.hpp │ │ │ │ ├── expm1.hpp │ │ │ │ ├── for_hes_sparsity.hpp │ │ │ │ ├── for_jac_sparsity.hpp │ │ │ │ ├── for_one.hpp │ │ │ │ ├── for_sparse_hes.hpp │ │ │ │ ├── for_sparse_jac.hpp │ │ │ │ ├── for_two.hpp │ │ │ │ ├── forward.hpp │ │ │ │ ├── fun_check.hpp │ │ │ │ ├── fun_construct.hpp │ │ │ │ ├── fun_eval.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── hessian.hpp │ │ │ │ ├── identical.hpp │ │ │ │ ├── independent.hpp │ │ │ │ ├── integer.hpp │ │ │ │ ├── jacobian.hpp │ │ │ │ ├── log1p.hpp │ │ │ │ ├── lu_ratio.hpp │ │ │ │ ├── mul.hpp │ │ │ │ ├── mul_eq.hpp │ │ │ │ ├── near_equal_ext.hpp │ │ │ │ ├── num_skip.hpp │ │ │ │ ├── numeric_limits.hpp │ │ │ │ ├── old_atomic.hpp │ │ │ │ ├── omp_max_thread.hpp │ │ │ │ ├── opt_val_hes.hpp │ │ │ │ ├── optimize.hpp │ │ │ │ ├── ordered.hpp │ │ │ │ ├── par_var.hpp │ │ │ │ ├── parallel_ad.hpp │ │ │ │ ├── pow.hpp │ │ │ │ ├── print_for.hpp │ │ │ │ ├── rev_hes_sparsity.hpp │ │ │ │ ├── rev_jac_sparsity.hpp │ │ │ │ ├── rev_one.hpp │ │ │ │ ├── rev_sparse_hes.hpp │ │ │ │ ├── rev_sparse_jac.hpp │ │ │ │ ├── rev_two.hpp │ │ │ │ ├── reverse.hpp │ │ │ │ ├── sign.hpp │ │ │ │ ├── sparse.hpp │ │ │ │ ├── sparse_hes.hpp │ │ │ │ ├── sparse_hessian.hpp │ │ │ │ ├── sparse_jac.hpp │ │ │ │ ├── sparse_jacobian.hpp │ │ │ │ ├── standard_math.hpp │ │ │ │ ├── std_math_98.hpp │ │ │ │ ├── sub.hpp │ │ │ │ ├── sub_eq.hpp │ │ │ │ ├── subgraph_jac_rev.hpp │ │ │ │ ├── subgraph_reverse.hpp │ │ │ │ ├── subgraph_sparsity.hpp │ │ │ │ ├── tape_link.hpp │ │ │ │ ├── test_vector.hpp │ │ │ │ ├── testvector.hpp │ │ │ │ ├── unary_minus.hpp │ │ │ │ ├── unary_plus.hpp │ │ │ │ ├── undef.hpp │ │ │ │ ├── user_ad.hpp │ │ │ │ ├── value.hpp │ │ │ │ ├── var2par.hpp │ │ │ │ ├── vec_ad.hpp │ │ │ │ └── zdouble.hpp │ │ │ ├── cppad.hpp │ │ │ ├── example │ │ │ │ ├── base_adolc.hpp │ │ │ │ ├── cppad_eigen.hpp │ │ │ │ ├── eigen_cholesky.hpp │ │ │ │ ├── eigen_mat_inv.hpp │ │ │ │ ├── eigen_mat_mul.hpp │ │ │ │ ├── eigen_plugin.hpp │ │ │ │ └── mat_mul.hpp │ │ │ ├── ipopt │ │ │ │ ├── solve.hpp │ │ │ │ ├── solve_callback.hpp │ │ │ │ └── solve_result.hpp │ │ │ ├── local │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── abs_op.hpp │ │ │ │ ├── acos_op.hpp │ │ │ │ ├── acosh_op.hpp │ │ │ │ ├── ad_tape.hpp │ │ │ │ ├── add_op.hpp │ │ │ │ ├── asin_op.hpp │ │ │ │ ├── asinh_op.hpp │ │ │ │ ├── atan_op.hpp │ │ │ │ ├── atanh_op.hpp │ │ │ │ ├── color_general.hpp │ │ │ │ ├── color_symmetric.hpp │ │ │ │ ├── comp_op.hpp │ │ │ │ ├── cond_op.hpp │ │ │ │ ├── cos_op.hpp │ │ │ │ ├── cosh_op.hpp │ │ │ │ ├── cppad_colpack.hpp │ │ │ │ ├── cskip_op.hpp │ │ │ │ ├── csum_op.hpp │ │ │ │ ├── declare_ad.hpp │ │ │ │ ├── discrete_op.hpp │ │ │ │ ├── div_op.hpp │ │ │ │ ├── erf_op.hpp │ │ │ │ ├── exp_op.hpp │ │ │ │ ├── expm1_op.hpp │ │ │ │ ├── for_hes_sweep.hpp │ │ │ │ ├── for_jac_sweep.hpp │ │ │ │ ├── forward0sweep.hpp │ │ │ │ ├── forward1sweep.hpp │ │ │ │ ├── forward2sweep.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── independent.hpp │ │ │ │ ├── is_pod.hpp.in │ │ │ │ ├── load_op.hpp │ │ │ │ ├── log1p_op.hpp │ │ │ │ ├── log_op.hpp │ │ │ │ ├── mul_op.hpp │ │ │ │ ├── op.hpp │ │ │ │ ├── op_code.hpp │ │ │ │ ├── optimize │ │ │ │ │ ├── cexp_info.hpp │ │ │ │ │ ├── csum_stacks.hpp │ │ │ │ │ ├── csum_variable.hpp │ │ │ │ │ ├── get_opt_op_info.hpp │ │ │ │ │ ├── hash_code.hpp │ │ │ │ │ ├── match_op.hpp │ │ │ │ │ ├── old2new.hpp │ │ │ │ │ ├── opt_op_info.hpp │ │ │ │ │ ├── optimize_run.hpp │ │ │ │ │ ├── record_csum.hpp │ │ │ │ │ ├── record_pv.hpp │ │ │ │ │ ├── record_vp.hpp │ │ │ │ │ ├── record_vv.hpp │ │ │ │ │ ├── size_pair.hpp │ │ │ │ │ └── usage.hpp │ │ │ │ ├── parameter_op.hpp │ │ │ │ ├── player.hpp │ │ │ │ ├── pod_vector.hpp │ │ │ │ ├── pow_op.hpp │ │ │ │ ├── print_op.hpp │ │ │ │ ├── prototype_op.hpp │ │ │ │ ├── recorder.hpp │ │ │ │ ├── rev_hes_sweep.hpp │ │ │ │ ├── rev_jac_sweep.hpp │ │ │ │ ├── reverse_sweep.hpp │ │ │ │ ├── set_get_in_parallel.hpp │ │ │ │ ├── sign_op.hpp │ │ │ │ ├── sin_op.hpp │ │ │ │ ├── sinh_op.hpp │ │ │ │ ├── sparse_binary_op.hpp │ │ │ │ ├── sparse_internal.hpp │ │ │ │ ├── sparse_list.hpp │ │ │ │ ├── sparse_pack.hpp │ │ │ │ ├── sparse_sizevec.hpp │ │ │ │ ├── sparse_unary_op.hpp │ │ │ │ ├── sqrt_op.hpp │ │ │ │ ├── std_set.hpp │ │ │ │ ├── store_op.hpp │ │ │ │ ├── sub_op.hpp │ │ │ │ ├── subgraph │ │ │ │ │ ├── arg_variable.hpp │ │ │ │ │ ├── entire_call.hpp │ │ │ │ │ ├── get_rev.hpp │ │ │ │ │ ├── info.hpp │ │ │ │ │ ├── init_rev.hpp │ │ │ │ │ └── sparsity.hpp │ │ │ │ ├── tan_op.hpp │ │ │ │ ├── tanh_op.hpp │ │ │ │ ├── user_state.hpp │ │ │ │ └── zmul_op.hpp │ │ │ ├── speed │ │ │ │ ├── det_33.hpp │ │ │ │ ├── det_by_lu.hpp │ │ │ │ ├── det_by_minor.hpp │ │ │ │ ├── det_grad_33.hpp │ │ │ │ ├── det_of_minor.hpp │ │ │ │ ├── mat_sum_sq.hpp │ │ │ │ ├── ode_evaluate.hpp │ │ │ │ ├── sparse_hes_fun.hpp │ │ │ │ ├── sparse_jac_fun.hpp │ │ │ │ └── uniform_01.hpp │ │ │ ├── utility.hpp │ │ │ ├── utility │ │ │ │ ├── check_numeric_type.hpp │ │ │ │ ├── check_simple_vector.hpp │ │ │ │ ├── elapsed_seconds.hpp │ │ │ │ ├── error_handler.hpp │ │ │ │ ├── index_sort.hpp │ │ │ │ ├── lu_factor.hpp │ │ │ │ ├── lu_invert.hpp │ │ │ │ ├── lu_solve.hpp │ │ │ │ ├── memory_leak.hpp │ │ │ │ ├── nan.hpp │ │ │ │ ├── near_equal.hpp │ │ │ │ ├── ode_err_control.hpp │ │ │ │ ├── ode_gear.hpp │ │ │ │ ├── ode_gear_control.hpp │ │ │ │ ├── omp_alloc.hpp │ │ │ │ ├── poly.hpp │ │ │ │ ├── pow_int.hpp │ │ │ │ ├── romberg_mul.hpp │ │ │ │ ├── romberg_one.hpp │ │ │ │ ├── rosen_34.hpp │ │ │ │ ├── runge_45.hpp │ │ │ │ ├── set_union.hpp │ │ │ │ ├── sparse_rc.hpp │ │ │ │ ├── sparse_rcv.hpp │ │ │ │ ├── speed_test.hpp │ │ │ │ ├── test_boolofvoid.hpp │ │ │ │ ├── thread_alloc.hpp │ │ │ │ ├── time_test.hpp │ │ │ │ ├── to_string.hpp │ │ │ │ ├── track_new_del.hpp │ │ │ │ └── vector.hpp │ │ │ └── wno_conversion.hpp │ │ ├── example │ │ │ ├── base_adolc.hpp │ │ │ ├── cppad_eigen.hpp │ │ │ ├── eigen_cholesky.hpp │ │ │ ├── eigen_mat_inv.hpp │ │ │ ├── eigen_mat_mul.hpp │ │ │ ├── eigen_plugin.hpp │ │ │ └── mat_mul.hpp │ │ ├── ipopt │ │ │ ├── solve.hpp │ │ │ ├── solve_callback.hpp │ │ │ └── solve_result.hpp │ │ ├── local │ │ │ ├── CMakeLists.txt │ │ │ ├── abs_op.hpp │ │ │ ├── acos_op.hpp │ │ │ ├── acosh_op.hpp │ │ │ ├── ad_tape.hpp │ │ │ ├── add_op.hpp │ │ │ ├── asin_op.hpp │ │ │ ├── asinh_op.hpp │ │ │ ├── atan_op.hpp │ │ │ ├── atanh_op.hpp │ │ │ ├── color_general.hpp │ │ │ ├── color_symmetric.hpp │ │ │ ├── comp_op.hpp │ │ │ ├── cond_op.hpp │ │ │ ├── cos_op.hpp │ │ │ ├── cosh_op.hpp │ │ │ ├── cppad_colpack.hpp │ │ │ ├── cskip_op.hpp │ │ │ ├── csum_op.hpp │ │ │ ├── declare_ad.hpp │ │ │ ├── discrete_op.hpp │ │ │ ├── div_op.hpp │ │ │ ├── erf_op.hpp │ │ │ ├── exp_op.hpp │ │ │ ├── expm1_op.hpp │ │ │ ├── for_hes_sweep.hpp │ │ │ ├── for_jac_sweep.hpp │ │ │ ├── forward0sweep.hpp │ │ │ ├── forward1sweep.hpp │ │ │ ├── forward2sweep.hpp │ │ │ ├── hash_code.hpp │ │ │ ├── independent.hpp │ │ │ ├── is_pod.hpp │ │ │ ├── is_pod.hpp.in │ │ │ ├── load_op.hpp │ │ │ ├── log1p_op.hpp │ │ │ ├── log_op.hpp │ │ │ ├── mul_op.hpp │ │ │ ├── op.hpp │ │ │ ├── op_code.hpp │ │ │ ├── optimize │ │ │ │ ├── cexp_info.hpp │ │ │ │ ├── csum_stacks.hpp │ │ │ │ ├── csum_variable.hpp │ │ │ │ ├── get_opt_op_info.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── match_op.hpp │ │ │ │ ├── old2new.hpp │ │ │ │ ├── opt_op_info.hpp │ │ │ │ ├── optimize_run.hpp │ │ │ │ ├── record_csum.hpp │ │ │ │ ├── record_pv.hpp │ │ │ │ ├── record_vp.hpp │ │ │ │ ├── record_vv.hpp │ │ │ │ ├── size_pair.hpp │ │ │ │ └── usage.hpp │ │ │ ├── parameter_op.hpp │ │ │ ├── player.hpp │ │ │ ├── pod_vector.hpp │ │ │ ├── pow_op.hpp │ │ │ ├── print_op.hpp │ │ │ ├── prototype_op.hpp │ │ │ ├── recorder.hpp │ │ │ ├── rev_hes_sweep.hpp │ │ │ ├── rev_jac_sweep.hpp │ │ │ ├── reverse_sweep.hpp │ │ │ ├── set_get_in_parallel.hpp │ │ │ ├── sign_op.hpp │ │ │ ├── sin_op.hpp │ │ │ ├── sinh_op.hpp │ │ │ ├── sparse_binary_op.hpp │ │ │ ├── sparse_internal.hpp │ │ │ ├── sparse_list.hpp │ │ │ ├── sparse_pack.hpp │ │ │ ├── sparse_sizevec.hpp │ │ │ ├── sparse_unary_op.hpp │ │ │ ├── sqrt_op.hpp │ │ │ ├── std_set.hpp │ │ │ ├── store_op.hpp │ │ │ ├── sub_op.hpp │ │ │ ├── subgraph │ │ │ │ ├── arg_variable.hpp │ │ │ │ ├── entire_call.hpp │ │ │ │ ├── get_rev.hpp │ │ │ │ ├── info.hpp │ │ │ │ ├── init_rev.hpp │ │ │ │ └── sparsity.hpp │ │ │ ├── tan_op.hpp │ │ │ ├── tanh_op.hpp │ │ │ ├── user_state.hpp │ │ │ └── zmul_op.hpp │ │ ├── speed │ │ │ ├── det_33.hpp │ │ │ ├── det_by_lu.hpp │ │ │ ├── det_by_minor.hpp │ │ │ ├── det_grad_33.hpp │ │ │ ├── det_of_minor.hpp │ │ │ ├── mat_sum_sq.hpp │ │ │ ├── ode_evaluate.hpp │ │ │ ├── sparse_hes_fun.hpp │ │ │ ├── sparse_jac_fun.hpp │ │ │ └── uniform_01.hpp │ │ ├── utility.hpp │ │ ├── utility │ │ │ ├── check_numeric_type.hpp │ │ │ ├── check_simple_vector.hpp │ │ │ ├── elapsed_seconds.hpp │ │ │ ├── error_handler.hpp │ │ │ ├── index_sort.hpp │ │ │ ├── lu_factor.hpp │ │ │ ├── lu_invert.hpp │ │ │ ├── lu_solve.hpp │ │ │ ├── memory_leak.hpp │ │ │ ├── nan.hpp │ │ │ ├── near_equal.hpp │ │ │ ├── ode_err_control.hpp │ │ │ ├── ode_gear.hpp │ │ │ ├── ode_gear_control.hpp │ │ │ ├── omp_alloc.hpp │ │ │ ├── poly.hpp │ │ │ ├── pow_int.hpp │ │ │ ├── romberg_mul.hpp │ │ │ ├── romberg_one.hpp │ │ │ ├── rosen_34.hpp │ │ │ ├── runge_45.hpp │ │ │ ├── set_union.hpp │ │ │ ├── sparse_rc.hpp │ │ │ ├── sparse_rcv.hpp │ │ │ ├── speed_test.hpp │ │ │ ├── test_boolofvoid.hpp │ │ │ ├── thread_alloc.hpp │ │ │ ├── time_test.hpp │ │ │ ├── to_string.hpp │ │ │ ├── track_new_del.hpp │ │ │ └── vector.hpp │ │ └── wno_conversion.hpp │ ├── global_planner.h │ ├── mpc_plannner.h │ ├── mpc_plannner_ros.h │ ├── navMpc.h │ └── trackRefTraj.h │ ├── launch │ ├── mpc_local_planner.launch │ ├── nav_gazebo.launch │ ├── record_odom_traj.launch │ ├── ref_trajectory_tracking_gazebo.launch │ └── s_map_mpc_local_planner.launch │ ├── map │ ├── big_s_world.pgm │ ├── big_s_world.yaml │ ├── map.pgm │ ├── map.yaml │ ├── sq_world.pgm │ └── sq_world.yaml │ ├── mpc_plugin.xml │ ├── package.xml │ ├── params │ ├── amcl_params.yaml │ ├── costmap_common_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── dwa_navigation.rviz │ ├── global_costmap_params.yaml │ ├── global_planner_params.yaml │ ├── local_costmap_params.yaml │ ├── mpc_last_params.yaml │ ├── mpc_local_epitrochoid_params.yaml │ ├── mpc_local_params.yaml │ ├── mpc_local_square_params.yaml │ ├── mpc_params.yaml │ ├── pure_pursuit_params.yaml │ ├── rviz_navigation.rviz │ └── total_rviz_navigation.rviz │ ├── rviz │ ├── hypharos_minicar_mapping.rviz │ ├── hypharos_minicar_racing.rviz │ └── rviz_navigation.rviz │ ├── script │ ├── base_control.py │ ├── dwa_trajectory_generation.py │ ├── mpc_trajectory_generation.py │ ├── odom_path_plotter.py │ └── teleop_keyboard.py │ ├── src │ ├── MPC.cpp │ ├── MPC_Node.cpp │ ├── Pure_Pursuit.cpp │ ├── global_planner │ │ └── global_planner.cpp │ ├── mpc_plannner.cpp │ ├── mpc_plannner_ros.cpp │ ├── navMPC.cpp │ ├── navMPCNode.cpp │ ├── trackRefTraj.cpp │ └── trackRefTrajNode.cpp │ └── worlds │ ├── big_s_world.world │ └── sq_world.world ├── mpc_ros_description ├── README.md ├── assets │ ├── ackermann_model.gif │ ├── bicycle_model.gif │ ├── diff_model.gif │ └── holonomic_model.gif └── mpc_ros_description │ ├── CMakeLists.txt │ ├── config │ ├── ctrl_ackermann_steering_controller.yaml │ ├── ctrl_gains.yaml │ ├── ctrl_joint_state_publisher.yaml │ └── ctrl_steer_bot_hardware_gazebo.yaml │ ├── launch │ ├── ackermann_model.launch │ ├── bicycle_model.launch │ ├── differential_model.launch │ ├── holonomic_model.launch │ └── models.launch │ ├── meshes │ ├── base.STL │ ├── base_plate.STL │ ├── body.STL │ ├── left_wheel.STL │ ├── lidar.STL │ └── right_wheel.STL │ ├── package.xml │ └── urdf │ ├── ackermann │ └── ackermann.urdf.xacro │ ├── bicycle │ └── bicycle_bot.urdf.xacro │ ├── common │ └── common_properties.xacro │ ├── diff │ ├── differential_bot.gazebo.xacro │ └── differential_bot.urdf.xacro │ └── holonomic │ ├── holonomic.gazebo.xacro │ └── holonomic.urdf.xacro ├── results ├── Slide.pptx └── finalreport.pdf ├── servingbot ├── README.md ├── img │ ├── Jetson_TX2_power_mode.png │ └── Mobile_Manpulator_Node.jpg ├── objects │ ├── 1.png │ ├── 11.png │ ├── 12.png │ ├── 2.png │ ├── 6.png │ └── 7.png └── serving_mobile │ ├── Manual │ ├── rplidar_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── launch │ │ └── rplidar.launch │ ├── package.xml │ ├── rplidar_A1.png │ ├── rplidar_A2.png │ ├── rviz │ │ └── rplidar.rviz │ ├── scripts │ │ ├── create_udev_rules.sh │ │ ├── delete_udev_rules.sh │ │ └── rplidar.rules │ ├── sdk │ │ ├── README.txt │ │ ├── include │ │ │ ├── rplidar.h │ │ │ ├── rplidar_cmd.h │ │ │ ├── rplidar_driver.h │ │ │ ├── rplidar_protocol.h │ │ │ └── rptypes.h │ │ └── src │ │ │ ├── arch │ │ │ ├── linux │ │ │ │ ├── arch_linux.h │ │ │ │ ├── net_serial.cpp │ │ │ │ ├── net_serial.h │ │ │ │ ├── thread.hpp │ │ │ │ ├── timer.cpp │ │ │ │ └── timer.h │ │ │ ├── macOS │ │ │ │ ├── arch_macOS.h │ │ │ │ ├── net_serial.cpp │ │ │ │ ├── net_serial.h │ │ │ │ ├── thread.hpp │ │ │ │ ├── timer.cpp │ │ │ │ └── timer.h │ │ │ └── win32 │ │ │ │ ├── arch_win32.h │ │ │ │ ├── net_serial.cpp │ │ │ │ ├── net_serial.h │ │ │ │ ├── timer.cpp │ │ │ │ ├── timer.h │ │ │ │ └── winthread.hpp │ │ │ ├── hal │ │ │ ├── abs_rxtx.h │ │ │ ├── event.h │ │ │ ├── locker.h │ │ │ ├── thread.cpp │ │ │ ├── thread.h │ │ │ └── util.h │ │ │ ├── rplidar_driver.cpp │ │ │ ├── rplidar_driver_serial.h │ │ │ └── sdkcommon.h │ └── src │ │ ├── client.cpp │ │ └── node.cpp │ ├── serving_mobile │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── serving_simuation │ ├── .travis.yml │ ├── LICENSE │ ├── README.md │ ├── servingbot_fake │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── servingbot_fake │ │ │ │ └── servingbot_fake.h │ │ ├── launch │ │ │ └── servingbot_fake.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── zetabank_fake.rviz │ │ └── src │ │ │ └── servingbot_fake.cpp │ └── servingbot_gazebo │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── servingbot_gazebo │ │ │ └── gazebo_ros_servingbot.h │ │ ├── launch │ │ ├── multi-servingbot_rl_world.launch │ │ ├── servingbot_rl_world.launch │ │ ├── servingbot_sq_world.launch │ │ └── single-servingbot_rl_world.launch │ │ ├── map │ │ ├── big_s_world.pgm │ │ ├── big_s_world.yaml │ │ ├── hitech1.pgm │ │ ├── hitech1.yaml │ │ ├── i_world.pgm │ │ ├── i_world.yaml │ │ ├── map.pgm │ │ ├── map.yaml │ │ ├── rl_map.pgm │ │ ├── rl_map.yaml │ │ ├── simul_map.pgm │ │ ├── simul_map.yaml │ │ ├── small_s_world.pgm │ │ ├── small_s_world.yaml │ │ ├── smap_slam.pgm │ │ ├── smap_slam.yaml │ │ ├── sq2.pgm │ │ ├── sq2.yaml │ │ ├── sq3.pgm │ │ ├── sq3.yaml │ │ ├── sq_world.pgm │ │ ├── sq_world.yaml │ │ ├── sq_world2.pgm │ │ ├── sq_world2.yaml │ │ ├── sq_world2_map.pgm │ │ ├── sq_world2_map.yaml │ │ ├── test_map.pgm │ │ ├── test_map.yaml │ │ ├── xl_s_world.pgm │ │ └── xl_s_world.yaml │ │ ├── models │ │ ├── actor_temp_world.world │ │ ├── big_s_world.world │ │ ├── empty.world │ │ ├── frontier.world │ │ ├── i_world.world │ │ ├── rl_world.world │ │ ├── s_world_test.world │ │ ├── servingbot_world │ │ │ ├── meshes │ │ │ │ ├── hexagon.dae │ │ │ │ └── wall.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── small_s_world.world │ │ ├── smap_world.world │ │ ├── sq_world.world │ │ ├── sq_world2.world │ │ ├── temp_world.world │ │ ├── turtlebot3_world.world │ │ └── xl_s_world.world │ │ ├── package.xml │ │ ├── rviz │ │ └── servingbot_gazebo_model.rviz │ │ └── src │ │ └── gazebo_ros_servingbot.cpp │ ├── servingbot_bringup │ ├── 99-servingbot-cdc.rules │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── camera_info │ │ └── servingbot_rpicamera.yaml │ ├── launch │ │ ├── includes │ │ │ └── description.launch.xml │ │ ├── servingbot_core.launch │ │ ├── servingbot_lidar.launch │ │ ├── servingbot_lidar_sick561.launch │ │ ├── servingbot_model.launch │ │ ├── servingbot_remote.launch │ │ ├── servingbot_robot _navi.launch │ │ ├── servingbot_robot.launch │ │ └── servingbot_sick_robot.launch │ ├── package.xml │ ├── scripts │ │ └── create_udev_rules │ └── src │ │ └── servingbot_diagnostics.cpp │ ├── servingbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── joint_names_servingbot.yaml │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base.STL │ │ ├── base_plate.STL │ │ ├── body.STL │ │ ├── left_wheel.STL │ │ ├── lidar.STL │ │ └── right_wheel.STL │ ├── model.rviz │ ├── package.xml │ ├── rviz │ │ └── model.rviz │ └── urdf │ │ ├── common_properties.xacro │ │ ├── rl_servingbot.gazebo.xacro │ │ ├── rl_servingbot.urdf │ │ ├── rl_servingbot.urdf.xacro │ │ ├── servingbot (copy).urdf │ │ ├── servingbot.gazebo.xacro │ │ ├── servingbot.urdf │ │ ├── servingbot.urdf (another copy).xacro │ │ ├── servingbot.urdf.xacro │ │ ├── servingbot3.gazebo.xacro │ │ ├── servingbot3.urdf.xacro │ │ ├── servingbot_rl.gazebo.xacro │ │ └── servingbot_rl.urdf.xacro │ ├── servingbot_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── msg │ │ ├── SensorState.msg │ │ ├── Sound.msg │ │ └── VersionInfo.msg │ └── package.xml │ ├── servingbot_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── move_base.launch │ │ ├── servingbot_navigation.launch │ │ ├── servingbot_navigation_all.launch │ │ └── servingbot_rl_test.launch │ ├── maps │ │ ├── map (copy).pgm │ │ ├── map.pgm │ │ ├── map.yaml │ │ ├── map_.pgm │ │ ├── map_.yaml │ │ ├── map___.pgm │ │ └── mymap │ │ │ ├── map'.pgm │ │ │ ├── map.pgm │ │ │ ├── map0.pgm │ │ │ ├── map1.pgm │ │ │ ├── map2.pgm │ │ │ ├── map3.pgm │ │ │ ├── map4.pgm │ │ │ ├── map5.pgm │ │ │ ├── map6.pgm │ │ │ ├── map7.pgm │ │ │ ├── map8.pgm │ │ │ └── map_before.pgm │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params_servingbot.yaml │ │ ├── dwa_local_planner_params_servingbot.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── rviz │ │ └── servingbot_navigation.rviz │ ├── servingbot_slam │ ├── CMakeLists.txt │ ├── bag │ │ └── bag_files.md │ ├── config │ │ └── servingbot_rplidar.lua │ ├── include │ │ └── servingbot_slam │ │ │ └── flat_world_imu_node.h │ ├── launch │ │ ├── servingbot_gmapping.launch │ │ ├── servingbot_sick_gmapping.launch │ │ └── servingbot_slam.launch │ ├── package.xml │ ├── rviz │ │ └── servingbot_gmapping.rviz │ └── src │ │ └── flat_world_imu_node.cpp │ ├── servingbot_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── servingbot_teleop_key.launch │ ├── nodes │ │ └── servingbot_teleop_key │ ├── package.xml │ ├── setup.py │ └── src │ │ └── servingbot_teleop │ │ └── __init__.py │ └── simple_navigation_goals_pose │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── simple_navigation_goals_pose (Auto).cpp │ ├── simple_navigation_goals_pose (Room).cpp │ └── simple_navigation_goals_pose.cpp ├── turtlebot3 ├── .github │ └── workflows │ │ ├── lint.yml │ │ └── ros-ci.yml ├── .gitignore ├── ISSUE_TEMPLATE.md ├── LICENSE ├── README.md ├── turtlebot3 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot3_bringup │ ├── 99-turtlebot3-cdc.rules │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── camera_info │ │ └── turtlebot3_rpicamera.yaml │ ├── launch │ │ ├── includes │ │ │ └── description.launch.xml │ │ ├── turtlebot3_core.launch │ │ ├── turtlebot3_lidar.launch │ │ ├── turtlebot3_model.launch │ │ ├── turtlebot3_realsense.launch │ │ ├── turtlebot3_remote.launch │ │ ├── turtlebot3_robot.launch │ │ └── turtlebot3_rpicamera.launch │ ├── package.xml │ ├── scripts │ │ └── create_udev_rules │ └── src │ │ └── turtlebot3_diagnostics.cpp ├── turtlebot3_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── meshes │ │ ├── bases │ │ │ ├── burger_base.stl │ │ │ ├── waffle_base.stl │ │ │ ├── waffle_base_for_open_manipulator.stl │ │ │ ├── waffle_pi_base.stl │ │ │ └── waffle_pi_base_for_open_manipulator.stl │ │ ├── sensors │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── lds.stl │ │ │ ├── r200.dae │ │ │ └── r200.jpg │ │ └── wheels │ │ │ ├── left_tire.stl │ │ │ └── right_tire.stl │ ├── package.xml │ ├── rviz │ │ └── model.rviz │ └── urdf │ │ ├── common_properties.xacro │ │ ├── turtlebot3_burger.gazebo.xacro │ │ ├── turtlebot3_burger.urdf.xacro │ │ ├── turtlebot3_burger_for_autorace.gazebo.xacro │ │ ├── turtlebot3_burger_for_autorace.urdf.xacro │ │ ├── turtlebot3_burger_for_autorace_2020.gazebo.xacro │ │ ├── turtlebot3_burger_for_autorace_2020.urdf.xacro │ │ ├── turtlebot3_waffle.gazebo.xacro │ │ ├── turtlebot3_waffle.urdf.xacro │ │ ├── turtlebot3_waffle_for_open_manipulator.urdf.xacro │ │ ├── turtlebot3_waffle_pi.gazebo.xacro │ │ ├── turtlebot3_waffle_pi.urdf.xacro │ │ ├── turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro │ │ └── turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro ├── turtlebot3_example │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ │ └── Turtlebot3.action │ ├── launch │ │ ├── interactive_markers.launch │ │ ├── turtlebot3_bumper.launch │ │ ├── turtlebot3_client.launch │ │ ├── turtlebot3_cliff.launch │ │ ├── turtlebot3_illumination.launch │ │ ├── turtlebot3_obstacle.launch │ │ ├── turtlebot3_pointop_key.launch │ │ └── turtlebot3_sonar.launch │ ├── nodes │ │ ├── turtlebot3_bumper │ │ ├── turtlebot3_client │ │ ├── turtlebot3_cliff │ │ ├── turtlebot3_illumination │ │ ├── turtlebot3_marker_server │ │ ├── turtlebot3_obstacle │ │ ├── turtlebot3_pointop_key │ │ ├── turtlebot3_server │ │ └── turtlebot3_sonar │ ├── package.xml │ ├── rviz │ │ └── turtlebot3_interactive.rviz │ ├── setup.py │ └── src │ │ └── turtlebot3_example │ │ └── __init__.py ├── turtlebot3_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── move_base.launch │ │ └── turtlebot3_navigation.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params_burger.yaml │ │ ├── costmap_common_params_waffle.yaml │ │ ├── costmap_common_params_waffle_pi.yaml │ │ ├── dwa_local_planner_params_burger.yaml │ │ ├── dwa_local_planner_params_waffle.yaml │ │ ├── dwa_local_planner_params_waffle_pi.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── rviz │ │ └── turtlebot3_navigation.rviz ├── turtlebot3_slam │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── bag │ │ └── bag_files.md │ ├── config │ │ ├── frontier_exploration.yaml │ │ ├── gmapping_params.yaml │ │ ├── karto_mapper_params.yaml │ │ ├── turtlebot3_lds_2d.lua │ │ └── turtlebot3_lds_2d_gazebo.lua │ ├── include │ │ └── turtlebot3_slam │ │ │ └── flat_world_imu_node.h │ ├── launch │ │ ├── turtlebot3_cartographer.launch │ │ ├── turtlebot3_frontier_exploration.launch │ │ ├── turtlebot3_gmapping.launch │ │ ├── turtlebot3_hector.launch │ │ ├── turtlebot3_karto.launch │ │ ├── turtlebot3_manipulation_slam.launch │ │ └── turtlebot3_slam.launch │ ├── package.xml │ ├── rviz │ │ ├── turtlebot3_cartographer.rviz │ │ ├── turtlebot3_frontier_exploration.rviz │ │ ├── turtlebot3_gmapping.rviz │ │ ├── turtlebot3_hector.rviz │ │ └── turtlebot3_karto.rviz │ └── src │ │ └── flat_world_imu_node.cpp └── turtlebot3_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ └── turtlebot3_teleop_key.launch │ ├── nodes │ └── turtlebot3_teleop_key │ ├── package.xml │ ├── setup.py │ └── src │ └── turtlebot3_teleop │ └── __init__.py ├── turtlebot3_msgs ├── .github │ └── workflows │ │ └── ros-ci.yml ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── msg │ ├── SensorState.msg │ ├── Sound.msg │ └── VersionInfo.msg └── package.xml └── turtlebot3_simulations ├── .github └── workflows │ └── ros-ci.yml ├── LICENSE ├── README.md ├── turtlebot3_fake ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── turtlebot3_fake │ │ └── turtlebot3_fake.h ├── launch │ └── turtlebot3_fake.launch ├── package.xml ├── rviz │ └── turtlebot3_fake.rviz └── src │ └── turtlebot3_fake.cpp ├── turtlebot3_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── turtlebot3_gazebo │ │ └── turtlebot3_drive.h ├── launch │ ├── multi_map_merge.launch │ ├── multi_turtlebot3.launch │ ├── multi_turtlebot3_slam.launch │ ├── turtlebot3_autorace.launch │ ├── turtlebot3_autorace_2020.launch │ ├── turtlebot3_autorace_mission.launch │ ├── turtlebot3_empty_world.launch │ ├── turtlebot3_gazebo_rviz.launch │ ├── turtlebot3_house.launch │ ├── turtlebot3_simulation.launch │ ├── turtlebot3_stage_1.launch │ ├── turtlebot3_stage_2.launch │ ├── turtlebot3_stage_3.launch │ ├── turtlebot3_stage_4.launch │ └── turtlebot3_world.launch ├── models │ ├── turtlebot3_autorace │ │ ├── course │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── course.material │ │ │ │ └── textures │ │ │ │ │ └── course.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_bar_down │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_bar_up │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_green │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_red │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_yellow │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_parking │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_parking.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_parking.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_stop │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_stop.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_stop.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── traffic_tunnel │ │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── tunnel.material │ │ │ └── textures │ │ │ │ └── tunnel.png │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── turtlebot3_autorace_2020 │ │ ├── checker │ │ │ ├── materials │ │ │ │ ├── checker.png │ │ │ │ ├── scripts │ │ │ │ │ └── checker.material │ │ │ │ └── textures │ │ │ │ │ └── checker.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── course │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── course.material │ │ │ │ └── textures │ │ │ │ │ └── course.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_bar_down │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar_down.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar_down.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_bar_up │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_bar_up.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_bar_up.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_construction │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_construction.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_construction.png │ │ │ │ │ └── traffic_construction_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_intersection │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_intersection.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_intersection.png │ │ │ │ │ └── traffic_intersection_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_left │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_is_left.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_left.png │ │ │ │ │ └── traffic_left_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_green │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_light_green.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_light_green.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_red │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_light_red.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_light.png │ │ │ │ │ └── traffic_light_red.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_light_yellow │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_light_yellow.material │ │ │ │ └── textures │ │ │ │ │ └── traffic_light_yellow.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_noentry │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_noentry.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_noentry.png │ │ │ │ │ └── traffic_noentry_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_parking │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_parking.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_parking.png │ │ │ │ │ └── traffic_parking_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_pl_left │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_pl_left.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_pl_left.png │ │ │ │ │ └── traffic_pl_left_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_right │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_right.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_right.png │ │ │ │ │ └── traffic_right_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── traffic_stop │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── traffic_stop.material │ │ │ │ └── textures │ │ │ │ │ ├── traffic_stop.png │ │ │ │ │ └── traffic_stop_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── traffic_tunnel │ │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── tunnel.material │ │ │ └── textures │ │ │ │ ├── tunnel.png │ │ │ │ └── tunnel_white_background.png │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── turtlebot3_burger │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_common_meshes │ │ ├── burger_base.dae │ │ ├── lds.dae │ │ ├── r200.dae │ │ ├── tire.dae │ │ ├── waffle_base.dae │ │ └── waffle_pi_base.dae │ ├── turtlebot3_house │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_plaza │ │ ├── goal_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_square │ │ ├── goal_box │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_waffle │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── turtlebot3_waffle_pi │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── turtlebot3_world │ │ ├── meshes │ │ ├── hexagon.dae │ │ └── wall.dae │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rviz │ ├── multi_turtlebot3_slam.rviz │ └── turtlebot3_gazebo_model.rviz ├── src │ └── turtlebot3_drive.cpp └── worlds │ ├── empty.world │ ├── turtlebot3_autorace.world │ ├── turtlebot3_autorace_2020.world │ ├── turtlebot3_house.world │ ├── turtlebot3_stage_1.world │ ├── turtlebot3_stage_2.world │ ├── turtlebot3_stage_3.world │ ├── turtlebot3_stage_4.world │ └── turtlebot3_world.world └── turtlebot3_simulations ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml /.rosinstall: 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