├── .gitignore ├── LICENSE ├── README.md ├── car_demo ├── README.md ├── car_demo │ ├── CMakeLists.txt │ ├── config │ │ ├── prius_path_tracker_ros_parameters.yaml │ │ ├── prius_pid_parameters.yaml │ │ └── reeds_shepp_planner_ros.yaml │ ├── include │ │ └── car_demo │ │ │ ├── PIDController.hpp │ │ │ ├── PriusControllerRos.hpp │ │ │ └── PriusProgressValidator.hpp │ ├── launch │ │ ├── demo_autonomous.launch │ │ └── demo_joystick.launch │ ├── models │ │ ├── cloverleaf_interchange │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── arrow.png │ │ │ │ │ ├── concrete.png │ │ │ │ │ ├── cross.png │ │ │ │ │ ├── grass.png │ │ │ │ │ └── road.png │ │ │ ├── meshes │ │ │ │ ├── cloverleaf.mtl │ │ │ │ └── cloverleaf.obj │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── construction_cone │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Construction_Cone_Diffuse.png │ │ │ ├── meshes │ │ │ │ └── construction_cone.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── dumpster │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── dumpster.material │ │ │ │ └── textures │ │ │ │ │ ├── Dumpster_Diffuse.png │ │ │ │ │ └── Dumpster_Spec.png │ │ │ ├── meshes │ │ │ │ └── dumpster.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── gas_station │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── gas_station.material │ │ │ │ └── textures │ │ │ │ │ ├── GasStation_Diffuse.png │ │ │ │ │ ├── GasStation_Normal.png │ │ │ │ │ └── GasStation_Spec.png │ │ │ ├── meshes │ │ │ │ └── gas_station.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── grey_wall │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── grey_wall.material │ │ │ │ └── textures │ │ │ │ │ └── grey_wall.png │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── house_1 │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── house_1.material │ │ │ │ └── textures │ │ │ │ │ ├── House_1_Diffuse.png │ │ │ │ │ ├── House_1_Normal.png │ │ │ │ │ └── House_1_Spec.png │ │ │ ├── meshes │ │ │ │ └── house_1.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── house_2 │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── house_2.material │ │ │ │ └── textures │ │ │ │ │ └── House_2_Diffuse.png │ │ │ ├── meshes │ │ │ │ └── house_2.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── house_3 │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── house_3.material │ │ │ │ └── textures │ │ │ │ │ └── House_3_Diffuse.png │ │ │ ├── meshes │ │ │ │ └── house_3.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── jersey_barrier │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── jersey_barrier.png │ │ │ │ │ ├── jersey_barrier_diffuse.png │ │ │ │ │ └── jersey_barrier_spec.png │ │ │ ├── meshes │ │ │ │ └── jersey_barrier.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── mcity │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── Asphalt.png │ │ │ │ │ ├── Brick.png │ │ │ │ │ ├── Buildings.png │ │ │ │ │ ├── Colors.png │ │ │ │ │ ├── Concrete_Ground.png │ │ │ │ │ ├── Crosswalk.png │ │ │ │ │ ├── Curb.png │ │ │ │ │ ├── Grass.png │ │ │ │ │ ├── Gravel.png │ │ │ │ │ ├── GuardRail.png │ │ │ │ │ ├── OverheadSignBase.png │ │ │ │ │ ├── OverheadSigns.png │ │ │ │ │ ├── RailroadGate.png │ │ │ │ │ ├── Road_Blank.png │ │ │ │ │ ├── Road_Blank_Light.png │ │ │ │ │ ├── Road_DoubleYellowLine.png │ │ │ │ │ ├── Road_DoubleYellowLine_Light.png │ │ │ │ │ ├── Road_SingleWhiteLine.png │ │ │ │ │ ├── StreetLamp_Short.png │ │ │ │ │ ├── StreetLamp_Tall.png │ │ │ │ │ ├── TrafficBarrel.png │ │ │ │ │ └── Tunnel.png │ │ │ ├── meshes │ │ │ │ ├── mcity.mtl │ │ │ │ └── mcity.obj │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── powerplant │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── __auto_.png │ │ │ │ │ ├── __auto_1.png │ │ │ │ │ ├── __auto_10.png │ │ │ │ │ ├── __auto_11.png │ │ │ │ │ ├── __auto_12.png │ │ │ │ │ ├── __auto_13.png │ │ │ │ │ ├── __auto_17.png │ │ │ │ │ ├── __auto_19.png │ │ │ │ │ ├── __auto_2.png │ │ │ │ │ ├── __auto_20.png │ │ │ │ │ ├── __auto_21.png │ │ │ │ │ ├── __auto_22.png │ │ │ │ │ ├── __auto_23.png │ │ │ │ │ ├── __auto_25.png │ │ │ │ │ ├── __auto_26.png │ │ │ │ │ ├── __auto_27.png │ │ │ │ │ ├── __auto_3.png │ │ │ │ │ ├── __auto_32.png │ │ │ │ │ ├── __auto_33.png │ │ │ │ │ ├── __auto_34.png │ │ │ │ │ ├── __auto_35.png │ │ │ │ │ ├── __auto_36.png │ │ │ │ │ ├── __auto_37.png │ │ │ │ │ ├── __auto_38.png │ │ │ │ │ ├── __auto_6.png │ │ │ │ │ ├── __auto_7.png │ │ │ │ │ ├── __auto_8.png │ │ │ │ │ └── __auto_9.png │ │ │ ├── meshes │ │ │ │ └── powerplant.dae │ │ │ ├── model-1_2.sdf │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── speed_limit_sign │ │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Speed_100.png │ │ │ │ ├── Speed_110.png │ │ │ │ ├── Speed_120.png │ │ │ │ ├── Speed_130.png │ │ │ │ ├── Speed_16.png │ │ │ │ ├── Speed_30.png │ │ │ │ ├── Speed_40.png │ │ │ │ ├── Speed_50.png │ │ │ │ ├── Speed_60.png │ │ │ │ ├── Speed_70.png │ │ │ │ ├── Speed_80.png │ │ │ │ ├── Speed_90.png │ │ │ │ ├── Speed_Spec.png │ │ │ │ ├── StopSign_Diffuse.png │ │ │ │ └── StopSign_Spec.png │ │ │ ├── meshes │ │ │ └── speed_limit_sign.dae │ │ │ ├── model-1_3.sdf │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── nodes │ │ └── joystick_translator │ ├── package.xml │ ├── plugins │ │ ├── PriusHybridPlugin.cc │ │ └── PriusHybridPlugin.hh │ ├── rviz │ │ ├── demo_autonomous.rviz │ │ └── demo_joystick.rviz │ ├── src │ │ ├── PIDController.cpp │ │ ├── PriusControllerRos.cpp │ │ └── prius_controller_node.cpp │ └── worlds │ │ ├── empty.world │ │ └── mcity.world ├── doc │ ├── car.gif │ ├── m545.gif │ └── spacebok_nav.gif ├── prius_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── Hybrid.png │ │ ├── Hybrid_Interior.png │ │ ├── Wheels3.png │ │ ├── hybrid_body.mtl │ │ ├── hybrid_body.obj │ │ ├── steering_wheel.mtl │ │ ├── steering_wheel.obj │ │ ├── wheel.mtl │ │ └── wheel.obj │ ├── package.xml │ └── urdf │ │ └── prius.urdf └── prius_msgs │ ├── CMakeLists.txt │ ├── include │ └── prius_msgs │ │ └── PriusControl.hpp │ ├── msg │ └── Control.msg │ └── package.xml ├── jenkins-pipeline ├── pure_pursuit_core ├── CMakeLists.txt ├── README.md ├── doc │ ├── controller_convention.pdf │ ├── controller_convention.png │ ├── controller_convention_back.pdf │ ├── controller_convention_back.png │ ├── path_conventions.pdf │ └── path_conventions.png ├── include │ └── pure_pursuit_core │ │ ├── Path.hpp │ │ ├── common.hpp │ │ ├── heading_control │ │ ├── AckermannSteeringController.hpp │ │ ├── HeadingController.hpp │ │ └── MobileBaseHeadingController.hpp │ │ ├── math.hpp │ │ ├── path_tracking │ │ ├── PathPreprocessor.hpp │ │ ├── PathTracker.hpp │ │ ├── ProgressValidator.hpp │ │ ├── SimplePathTracker.hpp │ │ └── Stopwatch.hpp │ │ ├── typedefs.hpp │ │ └── velocity_control │ │ ├── AdaptiveVelocityController.hpp │ │ ├── ConstantVelocityController.hpp │ │ └── LongitudinalVelocityController.hpp ├── package.xml ├── src │ ├── AckermannSteeringController.cpp │ ├── AdaptiveVelocityController.cpp │ ├── ConstantVelocityController.cpp │ ├── HeadingController.cpp │ ├── LongitudinalVelocityController.cpp │ ├── MobileBaseHeadingController.cpp │ ├── PathPreprocessor.cpp │ ├── PathTracker.cpp │ ├── ProgressValidator.cpp │ ├── SimplePathTracker.cpp │ ├── Stopwatch.cpp │ ├── common.cpp │ └── math.cpp └── test │ ├── AckermannSteeringControllerTest.cpp │ ├── GeometryTest.cpp │ ├── PathTest.cpp │ ├── test_helpers.cpp │ ├── test_helpers.hpp │ └── test_pure_pursuit.cpp ├── pure_pursuit_ros ├── CMakeLists.txt ├── README.md ├── config │ ├── PurePursuit.cfg │ ├── PurePursuitAdaptiveVel.cfg │ └── example.yaml ├── include │ └── pure_pursuit_ros │ │ ├── AckermannSteeringControllerRos.hpp │ │ ├── AdaptiveVelocityControllerRos.hpp │ │ ├── SimplePathTrackerRos.hpp │ │ └── loaders.hpp ├── launch │ └── standalone_example.launch ├── package.xml └── src │ ├── AckermannSteeringControllerRos.cpp │ ├── AdaptiveVelocityControllerRos.cpp │ ├── SimplePathTrackerRos.cpp │ ├── dd_standalone_example.cpp │ └── loaders.cpp ├── se2_approach_pose_planning ├── approach_pose_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ ├── Approach_pose_conventions.pdf │ │ ├── Approach_pose_conventions.png │ │ ├── all_approach_poses.png │ │ ├── approach_planning_footprint.png │ │ ├── both_criterions.png │ │ ├── driving_footprint.png │ │ ├── feasiblity_checking_convention.pdf │ │ ├── feasiblity_checking_convention.png │ │ └── reachability_criterion_only.png │ ├── include │ │ └── approach_pose_planner │ │ │ ├── ApproachPoseHeuristic.hpp │ │ │ ├── ApproachPosePlanner.hpp │ │ │ ├── ApproachStateValidator.hpp │ │ │ ├── LineOfSightApproachStateValidator.hpp │ │ │ ├── Parameters.hpp │ │ │ └── common.hpp │ ├── package.xml │ ├── src │ │ ├── ApproachPoseHeuristic.cpp │ │ ├── ApproachPosePlanner.cpp │ │ └── LineOfSightApproachStateValidator.cpp │ └── test │ │ ├── ApproachPosePlannerTest.cpp │ │ └── test_planning.cpp ├── approach_pose_planner_msgs │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ └── ApproachPoseRequestMsg.msg │ ├── package.xml │ └── srv │ │ └── RequestApproachPoseSrv.srv └── approach_pose_planner_ros │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── approach_pose_planner.yaml │ └── grid_map_generation.yaml │ ├── doc │ └── rviz_vis.png │ ├── include │ └── approach_pose_planner_ros │ │ ├── ApproachPosePlannerRos.hpp │ │ ├── Parameters.hpp │ │ ├── creators.hpp │ │ └── loaders.hpp │ ├── launch │ ├── approach_pose_planner_ros.launch │ └── generate_grid_map.launch │ ├── package.xml │ ├── rviz │ ├── default.rviz │ └── generate_grid_map.rviz │ ├── scripts │ └── generate_grid_map_node.py │ └── src │ ├── ApproachPosePlannerRos.cpp │ ├── approach_pose_planner_node.cpp │ ├── creators.cpp │ └── loaders.cpp ├── se2_grid_map_generator ├── CMakeLists.txt ├── README.md ├── config │ ├── default.yaml │ └── rviz │ │ └── default.rviz ├── data │ └── .gitkeep ├── include │ └── se2_grid_map_generator │ │ └── GridMapGenerator.hpp ├── launch │ └── se2_grid_map_generator.launch ├── package.xml └── src │ ├── GridMapGenerator.cpp │ └── se2_grid_map_generator_node.cpp ├── se2_grid_map_generator_msgs ├── CMakeLists.txt ├── msg │ ├── Circle2D.msg │ ├── CircularObstacle.msg │ ├── Polygon2D.msg │ ├── PolygonObstacle.msg │ └── Position2D.msg ├── package.xml └── srv │ ├── AddCircularObstacle.srv │ ├── AddNan.srv │ ├── AddPolygonObstacle.srv │ ├── ResetMap.srv │ ├── SaveMap.srv │ ├── SetUniformValue.srv │ └── UpdateMapPosition.srv ├── se2_navigation_msgs ├── CMakeLists.txt ├── README.md ├── include │ └── se2_navigation_msgs │ │ ├── ControllerCommand.hpp │ │ ├── Path.hpp │ │ └── PathSegment.hpp ├── msg │ ├── ControllerCommandMsg.msg │ ├── PathMsg.msg │ ├── PathRequestMsg.msg │ └── PathSegmentMsg.msg ├── package.xml └── srv │ ├── RequestCurrentStateSrv.srv │ ├── RequestPathSrv.srv │ └── SendControllerCommandSrv.srv ├── se2_planning ├── CMakeLists.txt ├── README.md ├── doc │ ├── collision_footprint_conventions.pdf │ └── collision_footprint_conventions.png ├── include │ └── se2_planning │ │ ├── GridMapLazyStateValidator.hpp │ │ ├── GridMapStateValidator.hpp │ │ ├── HeightMap.hpp │ │ ├── OmplPlanner.hpp │ │ ├── OmplReedsSheppPlanner.hpp │ │ ├── Planner.hpp │ │ ├── State.hpp │ │ ├── StateValidator.hpp │ │ ├── common.hpp │ │ └── ompl_planner_creators.hpp ├── package.xml ├── src │ ├── GridMapLazyStateValidator.cpp │ ├── GridMapStateValidator.cpp │ ├── HeightMap.cpp │ ├── OmplPlanner.cpp │ ├── OmplReedsSheppPlanner.cpp │ ├── State.cpp │ ├── StateValidator.cpp │ ├── ompl_planner_creators.cpp │ └── planning_benchmark.cpp └── test │ ├── GridMapLazyStateValidatorTest.cpp │ ├── GridMapStateValidatorTest.cpp │ ├── OmplReedsSheppPlannerTest.cpp │ ├── ompl_planner_creators_test.cpp │ ├── test_helpers.cpp │ ├── test_helpers.hpp │ └── test_planning.cpp ├── se2_planning_ros ├── CMakeLists.txt ├── README.md ├── config │ └── reeds_shepp_planner_ros_example.yaml ├── doc │ └── rviz_panel.png ├── include │ └── se2_planning_ros │ │ ├── OmplReedsSheppPlannerRos.hpp │ │ ├── PlannerRos.hpp │ │ ├── common.hpp │ │ └── loaders.hpp ├── launch │ └── se2_planner.launch ├── package.xml └── src │ ├── OmplReedsSheppPlannerRos.cpp │ ├── PlannerRos.cpp │ ├── common.cpp │ ├── loaders.cpp │ └── se2_planner_node.cpp ├── se2_planning_rviz ├── CMakeLists.txt ├── README.md ├── doc │ ├── adding_panel.gif │ └── panel.png ├── include │ └── se2_planning_rviz │ │ ├── EditButton.hpp │ │ ├── PlanningInteractiveMarkers.hpp │ │ ├── PlanningPanel.hpp │ │ └── PoseWidget.hpp ├── package.xml ├── plugin_description.xml ├── rviz │ └── default.rviz └── src │ ├── EditButton.cpp │ ├── PlanningInteractiveMarkers.cpp │ ├── PlanningPanel.cpp │ └── PoseWidget.cpp └── 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