├── .gitattributes ├── .mxproject ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F1xx │ │ │ └── Include │ │ │ ├── stm32f103xe.h │ │ │ ├── stm32f1xx.h │ │ │ └── system_stm32f1xx.h │ └── Include │ │ ├── arm_common_tables.h │ │ ├── arm_const_structs.h │ │ ├── arm_math.h │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armcc_V6.h │ │ ├── cmsis_gcc.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm3.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_cmFunc.h │ │ ├── core_cmInstr.h │ │ ├── core_cmSimd.h │ │ ├── core_sc000.h │ │ └── core_sc300.h └── STM32F1xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f1xx_hal.h │ ├── stm32f1xx_hal_cortex.h │ ├── stm32f1xx_hal_def.h │ ├── stm32f1xx_hal_dma.h │ ├── stm32f1xx_hal_dma_ex.h │ ├── stm32f1xx_hal_flash.h │ ├── stm32f1xx_hal_flash_ex.h │ ├── stm32f1xx_hal_gpio.h │ ├── stm32f1xx_hal_gpio_ex.h │ ├── stm32f1xx_hal_pwr.h │ ├── stm32f1xx_hal_rcc.h │ ├── stm32f1xx_hal_rcc_ex.h │ ├── stm32f1xx_hal_tim.h │ ├── stm32f1xx_hal_tim_ex.h │ └── stm32f1xx_hal_uart.h │ └── Src │ ├── stm32f1xx_hal.c │ ├── stm32f1xx_hal_cortex.c │ ├── stm32f1xx_hal_dma.c │ ├── stm32f1xx_hal_flash.c │ ├── stm32f1xx_hal_flash_ex.c │ ├── stm32f1xx_hal_gpio.c │ ├── stm32f1xx_hal_gpio_ex.c │ ├── stm32f1xx_hal_pwr.c │ ├── stm32f1xx_hal_rcc.c │ ├── stm32f1xx_hal_rcc_ex.c │ ├── stm32f1xx_hal_tim.c │ ├── stm32f1xx_hal_tim_ex.c │ └── stm32f1xx_hal_uart.c ├── Inc ├── dma.h ├── gpio.h ├── main.h ├── stm32f1xx_hal_conf.h ├── stm32f1xx_it.h ├── tim.h └── usart.h ├── MDK-ARM ├── JLinkLog.txt ├── JLinkSettings.ini ├── RTE │ └── _rosserial │ │ └── RTE_Components.h ├── mainpp.cpp ├── mainpp.h ├── rosserial.uvguix.Liao ├── rosserial.uvoptx ├── rosserial.uvprojx ├── rosserial │ ├── dma.crf │ ├── dma.d │ ├── dma.o │ ├── gpio.crf │ ├── gpio.d │ ├── gpio.o │ ├── main.crf │ ├── main.d │ ├── main.o │ ├── mainpp.crf │ ├── mainpp.d │ ├── mainpp.o │ ├── rosserial.axf │ ├── rosserial.build_log.htm │ ├── rosserial.htm │ ├── rosserial.lnp │ ├── rosserial.map │ ├── rosserial.sct │ ├── rosserial_rosserial.dep │ ├── startup_stm32f103xe.d │ ├── startup_stm32f103xe.o │ ├── stm32f1xx_hal.crf │ ├── stm32f1xx_hal.d │ ├── stm32f1xx_hal.o │ ├── stm32f1xx_hal_cortex.crf │ ├── stm32f1xx_hal_cortex.d │ ├── stm32f1xx_hal_cortex.o │ ├── stm32f1xx_hal_dma.crf │ ├── stm32f1xx_hal_dma.d │ ├── stm32f1xx_hal_dma.o │ ├── stm32f1xx_hal_flash.crf │ ├── stm32f1xx_hal_flash.d │ ├── stm32f1xx_hal_flash.o │ ├── stm32f1xx_hal_flash_ex.crf │ ├── stm32f1xx_hal_flash_ex.d │ ├── stm32f1xx_hal_flash_ex.o │ ├── stm32f1xx_hal_gpio.crf │ ├── stm32f1xx_hal_gpio.d │ ├── stm32f1xx_hal_gpio.o │ ├── stm32f1xx_hal_gpio_ex.crf │ ├── stm32f1xx_hal_gpio_ex.d │ ├── stm32f1xx_hal_gpio_ex.o │ ├── stm32f1xx_hal_msp.crf │ ├── stm32f1xx_hal_msp.d │ ├── stm32f1xx_hal_msp.o │ ├── stm32f1xx_hal_pwr.crf │ ├── stm32f1xx_hal_pwr.d │ ├── stm32f1xx_hal_pwr.o │ ├── stm32f1xx_hal_rcc.crf │ ├── stm32f1xx_hal_rcc.d │ ├── stm32f1xx_hal_rcc.o │ ├── stm32f1xx_hal_rcc_ex.crf │ ├── stm32f1xx_hal_rcc_ex.d │ ├── stm32f1xx_hal_rcc_ex.o │ ├── stm32f1xx_hal_tim.crf │ ├── stm32f1xx_hal_tim.d │ ├── stm32f1xx_hal_tim.o │ ├── stm32f1xx_hal_tim_ex.crf │ ├── stm32f1xx_hal_tim_ex.d │ ├── stm32f1xx_hal_tim_ex.o │ ├── stm32f1xx_hal_uart.crf │ ├── stm32f1xx_hal_uart.d │ ├── stm32f1xx_hal_uart.o │ ├── stm32f1xx_it.crf │ ├── stm32f1xx_it.d │ ├── stm32f1xx_it.o │ ├── system_stm32f1xx.crf │ ├── system_stm32f1xx.d │ ├── system_stm32f1xx.o │ ├── tim.crf │ ├── tim.d │ ├── tim.o │ ├── time.crf │ ├── time.d │ ├── time.o │ ├── usart.crf │ ├── usart.d │ └── usart.o ├── round.h ├── startup_stm32f103xe.lst └── startup_stm32f103xe.s ├── README.md ├── RosLibs ├── Makefile ├── STM32Hardware.h ├── actionlib │ ├── TestAction.h │ ├── TestActionFeedback.h │ ├── TestActionGoal.h │ ├── TestActionResult.h │ ├── TestFeedback.h │ ├── TestGoal.h │ ├── TestRequestAction.h │ ├── TestRequestActionFeedback.h │ ├── TestRequestActionGoal.h │ ├── TestRequestActionResult.h │ ├── TestRequestFeedback.h │ ├── TestRequestGoal.h │ ├── TestRequestResult.h │ ├── TestResult.h │ ├── TwoIntsAction.h │ ├── TwoIntsActionFeedback.h │ ├── TwoIntsActionGoal.h │ ├── TwoIntsActionResult.h │ ├── TwoIntsFeedback.h │ ├── TwoIntsGoal.h │ └── TwoIntsResult.h ├── actionlib_msgs │ ├── GoalID.h │ ├── GoalStatus.h │ └── GoalStatusArray.h ├── actionlib_tutorials │ ├── AveragingAction.h │ ├── AveragingActionFeedback.h │ ├── AveragingActionGoal.h │ ├── AveragingActionResult.h │ ├── AveragingFeedback.h │ ├── AveragingGoal.h │ ├── AveragingResult.h │ ├── FibonacciAction.h │ ├── FibonacciActionFeedback.h │ ├── FibonacciActionGoal.h │ ├── FibonacciActionResult.h │ ├── FibonacciFeedback.h │ ├── FibonacciGoal.h │ └── FibonacciResult.h ├── bond │ ├── Constants.h │ └── Status.h ├── control_msgs │ ├── FollowJointTrajectoryAction.h │ ├── FollowJointTrajectoryActionFeedback.h │ ├── FollowJointTrajectoryActionGoal.h │ ├── FollowJointTrajectoryActionResult.h │ ├── FollowJointTrajectoryFeedback.h │ ├── FollowJointTrajectoryGoal.h │ ├── FollowJointTrajectoryResult.h │ ├── GripperCommand.h │ ├── GripperCommandAction.h │ ├── GripperCommandActionFeedback.h │ ├── GripperCommandActionGoal.h │ ├── GripperCommandActionResult.h │ ├── GripperCommandFeedback.h │ ├── GripperCommandGoal.h │ ├── GripperCommandResult.h │ ├── JointControllerState.h │ ├── JointTolerance.h │ ├── JointTrajectoryAction.h │ ├── JointTrajectoryActionFeedback.h │ ├── JointTrajectoryActionGoal.h │ ├── JointTrajectoryActionResult.h │ ├── JointTrajectoryControllerState.h │ ├── JointTrajectoryFeedback.h │ ├── JointTrajectoryGoal.h │ ├── JointTrajectoryResult.h │ ├── PointHeadAction.h │ ├── PointHeadActionFeedback.h │ ├── PointHeadActionGoal.h │ ├── PointHeadActionResult.h │ ├── PointHeadFeedback.h │ ├── PointHeadGoal.h │ ├── PointHeadResult.h │ ├── QueryCalibrationState.h │ ├── QueryTrajectoryState.h │ ├── SingleJointPositionAction.h │ ├── SingleJointPositionActionFeedback.h │ ├── SingleJointPositionActionGoal.h │ ├── SingleJointPositionActionResult.h │ ├── SingleJointPositionFeedback.h │ ├── SingleJointPositionGoal.h │ └── SingleJointPositionResult.h ├── diagnostic_msgs │ ├── DiagnosticArray.h │ ├── DiagnosticStatus.h │ ├── KeyValue.h │ └── SelfTest.h ├── driver_base │ ├── ConfigString.h │ ├── ConfigValue.h │ └── SensorLevels.h ├── duration.cpp ├── dynamic_reconfigure │ ├── BoolParameter.h │ ├── Config.h │ ├── ConfigDescription.h │ ├── DoubleParameter.h │ ├── Group.h │ ├── GroupState.h │ ├── IntParameter.h │ ├── ParamDescription.h │ ├── Reconfigure.h │ ├── SensorLevels.h │ └── StrParameter.h ├── examples │ ├── ADC │ │ └── ADC.pde │ ├── Blink │ │ └── Blink.pde │ ├── BlinkM │ │ ├── BlinkM.pde │ │ └── BlinkM_funcs.h │ ├── Clapper │ │ └── Clapper.pde │ ├── HelloWorld │ │ └── HelloWorld.pde │ ├── IrRanger │ │ └── IrRanger.pde │ ├── Logging │ │ └── Logging.pde │ ├── Odom │ │ └── Odom.pde │ ├── ServiceClient │ │ ├── ServiceClient.pde │ │ └── client.py │ ├── ServiceServer │ │ └── ServiceServer.pde │ ├── ServoControl │ │ └── ServoControl.pde │ ├── Temperature │ │ └── Temperature.pde │ ├── TimeTF │ │ └── TimeTF.pde │ ├── Ultrasound │ │ └── Ultrasound.pde │ ├── button_example │ │ └── button_example.pde │ └── pubsub │ │ └── pubsub.pde ├── gazebo_msgs │ ├── ApplyBodyWrench.h │ ├── ApplyJointEffort.h │ ├── BodyRequest.h │ ├── ContactState.h │ ├── ContactsState.h │ ├── DeleteModel.h │ ├── GetJointProperties.h │ ├── GetLinkProperties.h │ ├── GetLinkState.h │ ├── GetModelProperties.h │ ├── GetModelState.h │ ├── GetPhysicsProperties.h │ ├── GetWorldProperties.h │ ├── JointRequest.h │ ├── LinkState.h │ ├── LinkStates.h │ ├── ModelState.h │ ├── ModelStates.h │ ├── ODEJointProperties.h │ ├── ODEPhysics.h │ ├── SetJointProperties.h │ ├── SetJointTrajectory.h │ ├── SetLinkProperties.h │ ├── SetLinkState.h │ ├── SetModelConfiguration.h │ ├── SetModelState.h │ ├── SetPhysicsProperties.h │ ├── SpawnModel.h │ └── WorldState.h ├── geometry_msgs │ ├── Accel.h │ ├── AccelStamped.h │ ├── AccelWithCovariance.h │ ├── AccelWithCovarianceStamped.h │ ├── Inertia.h │ ├── InertiaStamped.h │ ├── Point.h │ ├── Point32.h │ ├── PointStamped.h │ ├── Polygon.h │ ├── PolygonStamped.h │ ├── Pose.h │ ├── Pose2D.h │ ├── PoseArray.h │ ├── PoseStamped.h │ ├── PoseWithCovariance.h │ ├── PoseWithCovarianceStamped.h │ ├── Quaternion.h │ ├── QuaternionStamped.h │ ├── Transform.h │ ├── TransformStamped.h │ ├── Twist.h │ ├── TwistStamped.h │ ├── TwistWithCovariance.h │ ├── TwistWithCovarianceStamped.h │ ├── Vector3.h │ ├── Vector3Stamped.h │ ├── Wrench.h │ └── WrenchStamped.h ├── hector_mapping │ ├── HectorDebugInfo.h │ └── HectorIterData.h ├── hector_nav_msgs │ ├── GetDistanceToObstacle.h │ ├── GetNormal.h │ ├── GetRecoveryInfo.h │ ├── GetRobotTrajectory.h │ └── GetSearchPosition.h ├── laser_assembler │ ├── AssembleScans.h │ └── AssembleScans2.h ├── nav_msgs │ ├── GetMap.h │ ├── GetMapAction.h │ ├── GetMapActionFeedback.h │ ├── GetMapActionGoal.h │ ├── GetMapActionResult.h │ ├── GetMapFeedback.h │ ├── GetMapGoal.h │ ├── GetMapResult.h │ ├── GetPlan.h │ ├── GridCells.h │ ├── MapMetaData.h │ ├── OccupancyGrid.h │ ├── Odometry.h │ └── Path.h ├── nodelet │ ├── NodeletList.h │ ├── NodeletLoad.h │ └── NodeletUnload.h ├── pcl_msgs │ ├── ModelCoefficients.h │ ├── PointIndices.h │ ├── PolygonMesh.h │ └── Vertices.h ├── polled_camera │ └── GetPolledImage.h ├── riki_msgs │ ├── Battery.h │ ├── Imu.h │ ├── PID.h │ └── Velocities.h ├── ros.h ├── ros │ ├── duration.h │ ├── msg.h │ ├── node_handle.h │ ├── publisher.h │ ├── service_client.h │ ├── service_server.h │ ├── subscriber.h │ └── time.h ├── ros_arduino_msgs │ ├── CmdDiffVel.h │ ├── Encoders.h │ └── RawImu.h ├── roscpp │ ├── Empty.h │ ├── GetLoggers.h │ ├── Logger.h │ └── SetLoggerLevel.h ├── roscpp_tutorials │ └── TwoInts.h ├── rosgraph_msgs │ ├── Clock.h │ ├── Log.h │ └── TopicStatistics.h ├── rospy_tutorials │ ├── AddTwoInts.h │ ├── BadTwoInts.h │ ├── Floats.h │ └── HeaderString.h ├── rosserial_arduino │ ├── Adc.h │ └── Test.h ├── rosserial_msgs │ ├── Log.h │ ├── RequestMessageInfo.h │ ├── RequestParam.h │ ├── RequestServiceInfo.h │ └── TopicInfo.h ├── sensor_msgs │ ├── CameraInfo.h │ ├── ChannelFloat32.h │ ├── CompressedImage.h │ ├── FluidPressure.h │ ├── Illuminance.h │ ├── Image.h │ ├── Imu.h │ ├── JointState.h │ ├── Joy.h │ ├── JoyFeedback.h │ ├── JoyFeedbackArray.h │ ├── LaserEcho.h │ ├── LaserScan.h │ ├── MagneticField.h │ ├── MultiDOFJointState.h │ ├── MultiEchoLaserScan.h │ ├── NavSatFix.h │ ├── NavSatStatus.h │ ├── PointCloud.h │ ├── PointCloud2.h │ ├── PointField.h │ ├── Range.h │ ├── RegionOfInterest.h │ ├── RelativeHumidity.h │ ├── SetCameraInfo.h │ ├── Temperature.h │ └── TimeReference.h ├── shape_msgs │ ├── Mesh.h │ ├── MeshTriangle.h │ ├── Plane.h │ └── SolidPrimitive.h ├── smach_msgs │ ├── SmachContainerInitialStatusCmd.h │ ├── SmachContainerStatus.h │ └── SmachContainerStructure.h ├── std_msgs │ ├── Bool.h │ ├── Byte.h │ ├── ByteMultiArray.h │ ├── Char.h │ ├── ColorRGBA.h │ ├── Duration.h │ ├── Empty.h │ ├── Float32.h │ ├── Float32MultiArray.h │ ├── Float64.h │ ├── Float64MultiArray.h │ ├── Header.h │ ├── Int16.h │ ├── Int16MultiArray.h │ ├── Int32.h │ ├── Int32MultiArray.h │ ├── Int64.h │ ├── Int64MultiArray.h │ ├── Int8.h │ ├── Int8MultiArray.h │ ├── MultiArrayDimension.h │ ├── MultiArrayLayout.h │ ├── String.h │ ├── Time.h │ ├── UInt16.h │ ├── UInt16MultiArray.h │ ├── UInt32.h │ ├── UInt32MultiArray.h │ ├── UInt64.h │ ├── UInt64MultiArray.h │ ├── UInt8.h │ └── UInt8MultiArray.h ├── std_srvs │ └── Empty.h ├── stereo_msgs │ └── DisparityImage.h ├── tests │ ├── array_test │ │ └── array_test.pde │ ├── float64_test │ │ └── float64_test.pde │ └── time_test │ │ └── time_test.pde ├── tf │ ├── FrameGraph.h │ ├── tf.h │ ├── tfMessage.h │ └── transform_broadcaster.h ├── tf2_msgs │ ├── FrameGraph.h │ ├── LookupTransformAction.h │ ├── LookupTransformActionFeedback.h │ ├── LookupTransformActionGoal.h │ ├── LookupTransformActionResult.h │ ├── LookupTransformFeedback.h │ ├── LookupTransformGoal.h │ ├── LookupTransformResult.h │ ├── TF2Error.h │ └── TFMessage.h ├── theora_image_transport │ └── Packet.h ├── time.cpp ├── topic_tools │ ├── DemuxAdd.h │ ├── DemuxDelete.h │ ├── DemuxList.h │ ├── DemuxSelect.h │ ├── MuxAdd.h │ ├── MuxDelete.h │ ├── MuxList.h │ └── MuxSelect.h ├── trajectory_msgs │ ├── JointTrajectory.h │ ├── JointTrajectoryPoint.h │ ├── MultiDOFJointTrajectory.h │ └── MultiDOFJointTrajectoryPoint.h ├── turtle_actionlib │ ├── ShapeAction.h │ ├── ShapeActionFeedback.h │ ├── ShapeActionGoal.h │ ├── ShapeActionResult.h │ ├── ShapeFeedback.h │ ├── ShapeGoal.h │ ├── ShapeResult.h │ └── Velocity.h ├── turtlesim │ ├── Color.h │ ├── Kill.h │ ├── Pose.h │ ├── SetPen.h │ ├── Spawn.h │ ├── TeleportAbsolute.h │ └── TeleportRelative.h └── visualization_msgs │ ├── ImageMarker.h │ ├── InteractiveMarker.h │ ├── InteractiveMarkerControl.h │ ├── InteractiveMarkerFeedback.h │ ├── InteractiveMarkerInit.h │ ├── InteractiveMarkerPose.h │ ├── InteractiveMarkerUpdate.h │ ├── Marker.h │ ├── 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