├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── feature_request.md │ └── support-issue.md ├── .gitignore ├── .travis.yml ├── Jenkinsfile ├── LICENSE.md ├── README.md ├── avoidance ├── CMakeLists.txt ├── include │ └── avoidance │ │ ├── avoidance_node.h │ │ ├── common.h │ │ ├── histogram.h │ │ ├── rviz_world_loader.h │ │ ├── transform_buffer.h │ │ └── usm.h ├── launch │ ├── avoidance_sitl_mavros.launch │ └── avoidance_sitl_stereo.launch ├── package.xml ├── resource │ └── px4_config.yaml ├── sim │ ├── models │ │ ├── distance_sensor │ │ │ ├── distance_sensor.sdf │ │ │ └── model.config │ │ ├── iris_realsense │ │ │ ├── iris_realsense.sdf │ │ │ └── model.config │ │ ├── lamp_with_lines │ │ │ ├── lamp_with_lines.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── line_model │ │ │ ├── line.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── powerline │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── powerline.dae │ │ └── stereo_camera_vertical │ │ │ ├── model.config │ │ │ └── stereo_camera_vertical.sdf │ └── worlds │ │ ├── boxes1.world │ │ ├── boxes1.yaml │ │ ├── boxes2.world │ │ ├── boxes2.yaml │ │ ├── boxes3.world │ │ ├── boxes3.yaml │ │ ├── boxes4.world │ │ ├── boxes4.yaml │ │ ├── boxes5.world │ │ ├── boxes5.yaml │ │ ├── boxes6.world │ │ ├── boxes6.yaml │ │ ├── moving_boxes.world │ │ ├── outdoor_village.world │ │ ├── outdoor_village_3.world │ │ ├── simple_obstacle.world │ │ ├── simple_obstacle.yaml │ │ ├── test_city_2.world │ │ ├── test_city_4.world │ │ ├── window.world │ │ └── window.yaml ├── src │ ├── avoidance_node.cpp │ ├── common.cpp │ ├── histogram.cpp │ ├── rviz_world_loader.cpp │ └── transform_buffer.cpp └── test │ ├── main.cpp │ ├── test_common.cpp │ ├── test_transform_buffer.cpp │ ├── test_usm.cpp │ └── test_usm.cpp.dot ├── dependencies.rosinstall ├── docs ├── lp_goal_height.png ├── lp_goal_rviz.png └── simulation_screenshot.png ├── global_planner ├── CMakeLists.txt ├── cfg │ └── GlobalPlannerNode.cfg ├── include │ └── global_planner │ │ ├── analysis.h │ │ ├── bezier.h │ │ ├── cell.h │ │ ├── common.h │ │ ├── common_ros.h │ │ ├── global_planner.h │ │ ├── global_planner_node.h │ │ ├── node.h │ │ ├── search_tools.h │ │ └── visitor.h ├── launch │ ├── global_planner_depth-camera.launch │ ├── global_planner_octomap.launch │ ├── global_planner_sitl_3cam.launch │ └── global_planner_stereo.launch ├── msg │ └── PathWithRiskMsg.msg ├── package.xml ├── resource │ ├── global_planner.rviz │ ├── parameter_file │ ├── px4_config.yaml │ ├── random_goals │ └── sample_output_from_mock_data ├── src │ ├── library │ │ ├── cell.cpp │ │ ├── global_planner.cpp │ │ └── node.cpp │ └── nodes │ │ ├── global_planner_node.cpp │ │ ├── global_planner_node_main.cpp │ │ ├── mock_data_node.cpp │ │ └── mock_data_node.h └── test │ ├── main.cpp │ └── test_example.cpp ├── local_planner ├── CMakeLists.txt ├── cfg │ ├── LocalPlannerNode.cfg │ └── vehicle.yaml ├── include │ └── local_planner │ │ ├── avoidance_output.h │ │ ├── candidate_direction.h │ │ ├── cost_parameters.h │ │ ├── local_planner.h │ │ ├── local_planner_nodelet.h │ │ ├── local_planner_visualization.h │ │ ├── planner_functions.h │ │ ├── star_planner.h │ │ ├── trajectory_simulator.h │ │ ├── tree_node.h │ │ └── waypoint_generator.h ├── launch │ ├── local_planner_aero.launch │ ├── local_planner_aeroD415.launch │ ├── local_planner_depth-camera.launch │ ├── local_planner_sitl_3cam.launch │ ├── local_planner_stereo.launch │ ├── log_replay.launch │ ├── mavros.launch │ └── rs_depthcloud.launch ├── nodelets.xml ├── package.xml ├── resource │ ├── custom_rosconsole.conf │ ├── local_planner.rviz │ ├── rqt_param_toggle.sh │ └── stereo_calib.json ├── src │ ├── nodes │ │ ├── local_planner.cpp │ │ ├── local_planner_node_main.cpp │ │ ├── local_planner_nodelet.cpp │ │ ├── local_planner_visualization.cpp │ │ ├── planner_functions.cpp │ │ ├── star_planner.cpp │ │ ├── tree_node.cpp │ │ ├── waypoint_generator.cpp │ │ └── waypoint_generator.cpp.dot │ └── utils │ │ └── trajectory_simulator.cpp └── test │ ├── main.cpp │ ├── test_example.cpp │ ├── test_local_planner.cpp │ ├── test_local_planner_nodelet.cpp │ ├── test_planner_functions.cpp │ ├── test_star_planner.cpp │ ├── test_trajectory_simulator.cpp │ ├── test_waypoint_generator.cpp │ └── valgrind_suppressions.sup ├── safe_landing_planner ├── CMakeLists.txt ├── cfg │ ├── SafeLandingPlannerNode.cfg │ ├── WaypointGeneratorNode.cfg │ ├── slpn.yaml │ └── wpgn.yaml ├── include │ └── safe_landing_planner │ │ ├── grid.hpp │ │ ├── safe_landing_planner.hpp │ │ ├── safe_landing_planner_node.hpp │ │ ├── safe_landing_planner_visualization.hpp │ │ ├── waypoint_generator.hpp │ │ └── waypoint_generator_node.hpp ├── launch │ ├── safe_landing_planner.launch │ ├── safe_landing_planner_launch.launch │ ├── safe_landing_planner_rosbag.launch │ └── safe_landing_planner_vtol.launch ├── msg │ └── SLPGridMsg.msg ├── package.xml ├── resource │ ├── lsd_realsense.rviz │ ├── realsense_params.sh │ ├── rqt_param_toggle.sh │ ├── safe_landing_planner.rviz │ 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