├── .gitignore ├── README.md ├── assets ├── demo_ROS2.webm ├── demo_iscas.webm ├── demo_multiple_mechine.webm ├── docs │ ├── picture_00.png │ ├── picture_01.png │ ├── picture_02.png │ ├── picture_03.png │ ├── picture_04.png │ ├── picture_05.png │ └── picture_06.png └── rosgraph.png ├── docs ├── multiple_mechine.md └── process.md ├── requirements.txt ├── run ├── bottle_20250327-125407.jpg └── bottle_20250327-132423.jpg ├── src ├── llm_robot │ ├── launch │ │ ├── llm_robot.launch.py │ │ └── test.launch.py │ ├── llm_robot │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-312.pyc │ │ │ ├── camera.cpython-310.pyc │ │ │ ├── camera.cpython-312.pyc │ │ │ ├── llm_nlp.cpython-310.pyc │ │ │ ├── llm_nlp.cpython-312.pyc │ │ │ ├── llm_robot.cpython-310.pyc │ │ │ ├── llm_turtle.cpython-312.pyc │ │ │ └── test.cpython-310.pyc │ │ ├── camera.py │ │ ├── llm_nlp.py │ │ ├── llm_robot.py │ │ ├── test.py │ │ └── test_requests.py │ ├── package.xml │ ├── resource │ │ └── llm_robot │ ├── setup.cfg │ └── setup.py ├── my_interfaces │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ └── Command.srv ├── robot_description │ ├── CMakeLists.txt │ ├── config │ │ └── qpbot_slam_2d.lua │ ├── launch │ │ ├── cartographer.launch.py │ │ ├── qpbot.launch.py │ │ └── robot_spawn.launch.py │ ├── map │ │ ├── ISCAS_Museum.pgm │ │ └── ISCAS_Museum.yaml │ ├── models │ │ ├── ISCAS_Museum │ │ │ ├── meshes │ │ │ │ ├── ISCASmuseum.mtl │ │ │ │ ├── ISCASmuseum.obj │ │ │ │ ├── zd_011.jpg │ │ │ │ ├── zd_021.jpg │ │ │ │ ├── zd_031.jpg │ │ │ │ ├── zd_041.jpg │ │ │ │ └── 轮胎贴图.jpg │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── ISCAS_groundplane │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── ISCAS_groundplane.material │ │ │ │ └── textures │ │ │ │ │ └── ISCAS_groundplane.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── meshes │ │ │ ├── .mayaSwatches │ │ │ │ └── uvtietu.jpg.swatch │ │ │ ├── base_link.dae │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── model.config │ │ │ ├── pitch_platform.dae │ │ │ ├── pitch_platform.mtl │ │ │ ├── pitch_platform.obj │ │ │ ├── realsense.dae │ │ │ ├── realsense.mtl │ │ │ ├── realsense.obj │ │ │ ├── rplidar.dae │ │ │ ├── rplidar.mtl │ │ │ ├── rplidar.obj │ │ │ ├── uvtietu.jpg │ │ │ ├── wheel.dae │ │ │ ├── wheel.jpg │ │ │ ├── wheel.mtl │ │ │ ├── wheel.obj │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ ├── xtion_pro_camera.mtl │ │ │ ├── xtion_pro_camera.obj │ │ │ ├── yaw_platform.dae │ │ │ ├── yaw_platform.mtl │ │ │ └── yaw_platform.obj │ │ └── sun │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── package.xml │ ├── rviz2 │ │ ├── cartographer.rviz │ │ └── qpbot.rviz │ ├── urdf │ │ ├── qpbot.xacro │ │ └── qpbot_components.xacro │ └── worlds │ │ └── ROS-Academy.world └── robot_navigation2 │ ├── CMakeLists.txt │ ├── launch │ ├── bringup_launch.py │ └── qpbot_nav2.launch.py │ ├── package.xml │ └── param │ └── qpbot_nav2.yaml ├── tools ├── rsync_with_board.sh └── set_env.sh └── 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