├── .gitignore ├── 3rd_party ├── frontier_exploration │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── action │ │ └── ExploreTask.action │ ├── costmap_plugins.xml │ ├── include │ │ └── frontier_exploration │ │ │ ├── bounded_explore_layer.h │ │ │ ├── costmap_tools.h │ │ │ ├── frontier_search.h │ │ │ └── geometry_tools.h │ ├── launch │ │ ├── global_map.launch │ │ └── no_global_map.launch │ ├── msg │ │ └── Frontier.msg │ ├── package.xml │ ├── plugins │ │ └── bounded_explore_layer.cpp │ ├── src │ │ ├── explore_client.cpp │ │ ├── explore_server.cpp │ │ ├── frontier_search.cpp │ │ └── test │ │ │ ├── costmap_tools_tests.cpp │ │ │ ├── frontier_search_tests.cpp │ │ │ └── geometry_tools_tests.cpp │ └── srv │ │ ├── GetNextFrontier.srv │ │ └── UpdateBoundaryPolygon.srv ├── navigation │ ├── .gitignore │ ├── README.md │ ├── base_local_planner │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── blp_plugin.xml │ │ ├── cfg │ │ │ ├── BaseLocalPlanner.cfg │ │ │ └── LocalPlannerLimits.cfg │ │ ├── include │ │ │ └── base_local_planner │ │ │ │ ├── costmap_model.h │ │ │ │ ├── footprint_helper.h │ │ │ │ ├── goal_functions.h │ │ │ │ ├── latched_stop_rotate_controller.h │ │ │ │ ├── line_iterator.h │ │ │ │ ├── local_planner_limits.h │ │ │ │ ├── local_planner_util.h │ │ │ │ ├── map_cell.h │ │ │ │ ├── map_grid.h │ │ │ │ ├── map_grid_cost_function.h │ │ │ │ ├── map_grid_cost_point.h │ │ │ │ ├── map_grid_visualizer.h │ │ │ │ ├── obstacle_cost_function.h │ │ │ │ ├── odometry_helper_ros.h │ │ │ │ ├── oscillation_cost_function.h │ │ │ │ ├── planar_laser_scan.h │ │ │ │ ├── point_grid.h │ │ │ │ ├── prefer_forward_cost_function.h │ │ │ │ ├── simple_scored_sampling_planner.h │ │ │ │ ├── simple_trajectory_generator.h │ │ │ │ ├── trajectory.h │ │ │ │ ├── trajectory_cost_function.h │ │ │ │ ├── trajectory_inc.h │ │ │ │ ├── trajectory_planner.h │ │ │ │ ├── trajectory_planner_ros.h │ │ │ │ ├── trajectory_sample_generator.h │ │ │ │ ├── trajectory_search.h │ │ │ │ ├── velocity_iterator.h │ │ │ │ ├── voxel_grid_model.h │ │ │ │ └── world_model.h │ │ ├── msg │ │ │ └── Position2DInt.msg │ │ ├── package.xml │ │ ├── setup.py │ │ ├── src │ │ │ ├── costmap_model.cpp │ │ │ ├── footprint_helper.cpp │ │ │ ├── goal_functions.cpp │ │ │ ├── latched_stop_rotate_controller.cpp │ │ │ ├── local_planner_limits │ │ │ │ ├── .gitignore │ │ │ │ └── __init__.py │ │ │ ├── local_planner_util.cpp │ │ │ ├── map_cell.cpp │ │ │ ├── map_grid.cpp │ │ │ ├── map_grid_cost_function.cpp │ │ │ ├── map_grid_visualizer.cpp │ │ │ ├── obstacle_cost_function.cpp │ │ │ ├── odometry_helper_ros.cpp │ │ │ ├── oscillation_cost_function.cpp │ │ │ ├── point_grid.cpp │ │ │ ├── prefer_forward_cost_function.cpp │ │ │ ├── simple_scored_sampling_planner.cpp │ │ │ ├── simple_trajectory_generator.cpp │ │ │ ├── trajectory.cpp │ │ │ ├── trajectory_planner.cpp │ │ │ ├── trajectory_planner_ros.cpp │ │ │ └── voxel_grid_model.cpp │ │ └── test │ │ │ ├── footprint_helper_test.cpp │ │ │ ├── gtest_main.cpp │ │ │ ├── line_iterator_test.cpp │ │ │ ├── map_grid_test.cpp │ │ │ ├── trajectory_generator_test.cpp │ │ │ ├── utest.cpp │ │ │ ├── velocity_iterator_test.cpp │ │ │ └── wavefront_map_accessor.h │ ├── carrot_planner │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── bgp_plugin.xml │ │ ├── include │ │ │ └── carrot_planner │ │ │ │ └── carrot_planner.h │ │ ├── package.xml │ │ └── src │ │ │ └── carrot_planner.cpp │ ├── clear_costmap_recovery │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── ccr_plugin.xml │ │ ├── include │ │ │ └── clear_costmap_recovery │ │ │ │ └── clear_costmap_recovery.h │ │ ├── package.xml │ │ ├── src │ │ │ └── clear_costmap_recovery.cpp │ │ └── test │ │ │ ├── clear_tester.cpp │ │ │ ├── clear_tests.launch │ │ │ └── params.yaml │ ├── costmap_2d │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ ├── Costmap2D.cfg │ │ │ ├── GenericPlugin.cfg │ │ │ ├── InflationPlugin.cfg │ │ │ ├── ObstaclePlugin.cfg │ │ │ └── VoxelPlugin.cfg │ │ ├── costmap_plugins.xml │ │ ├── include │ │ │ └── costmap_2d │ │ │ │ ├── array_parser.h │ │ │ │ ├── cost_values.h │ │ │ │ ├── costmap_2d.h │ │ │ │ ├── costmap_2d_publisher.h │ │ │ │ ├── costmap_2d_ros.h │ │ │ │ ├── costmap_layer.h │ │ │ │ ├── costmap_math.h │ │ │ │ ├── footprint.h │ │ │ │ ├── inflation_layer.h │ │ │ │ ├── layer.h │ │ │ │ ├── layered_costmap.h │ │ │ │ ├── observation.h │ │ │ │ ├── observation_buffer.h │ │ │ │ ├── obstacle_layer.h │ │ │ │ ├── static_layer.h │ │ │ │ ├── testing_helper.h │ │ │ │ └── voxel_layer.h │ │ ├── launch │ │ │ ├── example.launch │ │ │ └── example_params.yaml │ │ ├── msg │ │ │ └── VoxelGrid.msg │ │ ├── package.xml │ │ ├── plugins │ │ │ ├── inflation_layer.cpp │ │ │ ├── obstacle_layer.cpp │ │ │ ├── static_layer.cpp │ │ │ └── voxel_layer.cpp │ │ ├── src │ │ │ ├── array_parser.cpp │ │ │ ├── costmap_2d.cpp │ │ │ ├── costmap_2d_cloud.cpp │ │ │ ├── costmap_2d_markers.cpp │ │ │ ├── costmap_2d_node.cpp │ │ │ ├── costmap_2d_publisher.cpp │ │ │ ├── costmap_2d_ros.cpp │ │ │ ├── costmap_layer.cpp │ │ │ ├── costmap_math.cpp │ │ │ ├── footprint.cpp │ │ │ ├── layer.cpp │ │ │ ├── layered_costmap.cpp │ │ │ └── observation_buffer.cpp │ │ └── test │ │ │ ├── TenByTen.pgm │ │ │ ├── TenByTen.yaml │ │ │ ├── array_parser_test.cpp │ │ │ ├── costmap_params.yaml │ │ │ ├── costmap_tester.cpp │ │ │ ├── footprint_tests.cpp │ │ │ ├── footprint_tests.launch │ │ │ ├── inflation_tests.cpp │ │ │ ├── inflation_tests.launch │ │ │ ├── module_tests.cpp │ │ │ ├── obstacle_tests.cpp │ │ │ ├── obstacle_tests.launch │ │ │ ├── simple_driving_test.xml │ │ │ ├── static_tests.cpp │ │ │ └── static_tests.launch │ ├── dwa_local_planner │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── blp_plugin.xml │ │ ├── cfg │ │ │ └── DWAPlanner.cfg │ │ ├── include │ │ │ └── dwa_local_planner │ │ │ │ ├── dwa_planner.h │ │ │ │ └── dwa_planner_ros.h │ │ ├── package.xml │ │ └── src │ │ │ ├── dwa_planner.cpp │ │ │ └── dwa_planner_ros.cpp │ ├── fake_localization │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── fake_localization.cpp │ │ ├── package.xml │ │ └── static_odom_broadcaster.py │ ├── map_server │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── map_server │ │ │ │ └── image_loader.h │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── crop_map │ │ │ └── crop_map.py │ │ ├── src │ │ │ ├── image_loader.cpp │ │ │ ├── main.cpp │ │ │ ├── map_saver.cpp │ │ │ └── map_server.dox │ │ └── test │ │ │ ├── consumer.py │ │ │ ├── rtest.cpp │ │ │ ├── rtest.xml │ │ │ ├── test_constants.cpp │ │ │ ├── test_constants.h │ │ │ ├── testmap.bmp │ │ │ ├── testmap.png │ │ │ ├── testmap.yaml │ │ │ └── utest.cpp │ ├── move_base │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── MoveBase.cfg │ │ ├── include │ │ │ └── move_base │ │ │ │ └── move_base.h │ │ ├── package.xml │ │ ├── planner_test.xml │ │ └── src │ │ │ ├── move_base.cpp │ │ │ └── move_base_node.cpp │ ├── move_slow_and_clear │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── move_slow_and_clear │ │ │ │ └── move_slow_and_clear.h │ │ ├── package.xml │ │ ├── recovery_plugin.xml │ │ └── src │ │ │ └── move_slow_and_clear.cpp │ ├── nav_core │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── nav_core │ │ │ │ ├── base_global_planner.h │ │ │ │ ├── base_local_planner.h │ │ │ │ └── recovery_behavior.h │ │ └── package.xml │ ├── rotate_recovery │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── rotate_recovery │ │ │ │ └── rotate_recovery.h │ │ ├── package.xml │ │ ├── rotate_plugin.xml │ │ └── src │ │ │ └── rotate_recovery.cpp │ └── voxel_grid │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── voxel_grid │ │ │ └── voxel_grid.h │ │ ├── package.xml │ │ ├── src │ │ └── voxel_grid.cpp │ │ └── test │ │ └── voxel_grid_tests.cpp ├── razor_imu_9dof │ ├── cfg │ │ └── imu.cfg │ ├── cmake │ │ ├── razor_imu_9dofConfig-version.cmake │ │ └── razor_imu_9dofConfig.cmake │ ├── config │ │ ├── my_razor.yaml │ │ ├── razor.yaml │ │ └── razor_diags.yaml │ ├── launch │ │ ├── razor-display.launch │ │ ├── razor-pub-and-display.launch │ │ ├── razor-pub-diags.launch │ │ └── razor-pub.launch │ ├── magnetometer_calibration │ │ ├── Matlab │ │ │ └── magnetometer_calibration │ │ │ │ ├── ellipsoid_fit.m │ │ │ │ ├── ellipsoid_fit_license.txt │ │ │ │ └── magnetometer_calibration.m │ │ └── Processing │ │ │ └── Magnetometer_calibration │ │ │ ├── Magnetometer_calibration.pde │ │ │ └── data │ │ │ └── Univers-66.vlw │ ├── nodes │ │ ├── display_3D_visualization.py │ │ └── imu_node.py │ ├── package.xml │ └── src │ │ └── Razor_AHRS │ │ ├── Compass.ino │ │ ├── DCM.ino │ │ ├── Math.ino │ │ ├── Output.ino │ │ ├── Razor_AHRS.ino │ │ └── Sensors.ino ├── robot_localization │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ └── robot_localization │ │ │ ├── ekf.h │ │ │ ├── filter_base.h │ │ │ ├── filter_common.h │ │ │ ├── filter_utilities.h │ │ │ ├── navsat_conversions.h │ │ │ ├── navsat_transform.h │ │ │ ├── ros_filter.h │ │ │ ├── ros_filter_types.h │ │ │ ├── ros_filter_utilities.h │ │ │ └── ukf.h │ ├── launch │ │ ├── ekf_template.launch │ │ ├── navsat_transform_template.launch │ │ ├── racecar_ekf.launch │ │ └── ukf_template.launch │ ├── package.xml │ ├── src │ │ ├── ekf.cpp │ │ ├── ekf_localization_node.cpp │ │ ├── filter_base.cpp │ │ ├── filter_utilities.cpp │ │ ├── navsat_transform.cpp │ │ ├── navsat_transform_node.cpp │ │ ├── ros_filter.cpp │ │ ├── ros_filter_utilities.cpp │ │ ├── ukf.cpp │ │ └── ukf_localization_node.cpp │ ├── srv │ │ ├── SetDatum.srv │ │ └── SetPose.srv │ └── test │ │ ├── record_all_stats.sh │ │ ├── stat_recorder.sh │ │ ├── test1.bag │ │ ├── test2.bag │ │ ├── test3.bag │ │ ├── test_ekf.cpp │ │ ├── test_ekf.test │ │ ├── test_ekf_localization_node_bag1.test │ │ ├── test_ekf_localization_node_bag2.test │ │ ├── test_ekf_localization_node_bag3.test │ │ ├── test_ekf_localization_node_interfaces.cpp │ │ ├── test_ekf_localization_node_interfaces.test │ │ ├── test_filter_base.cpp │ │ ├── test_localization_node_bag_pose_tester.cpp │ │ ├── test_ukf.cpp │ │ ├── test_ukf.test │ │ ├── test_ukf_localization_node_bag1.test │ │ ├── test_ukf_localization_node_bag2.test │ │ ├── test_ukf_localization_node_bag3.test │ │ ├── test_ukf_localization_node_interfaces.cpp │ │ └── test_ukf_localization_node_interfaces.test └── teb_local_planner │ ├── .gitignore │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cfg │ ├── TebLocalPlannerReconfigure.cfg │ ├── costmap_common_params.yaml │ ├── costmap_converter_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── rviz_teb_gazebo.rviz │ ├── rviz_teb_rosaria.rviz │ ├── rviz_test_optim.rviz │ └── teb_local_planner_params.yaml │ ├── cmake_modules │ ├── FindG2O.cmake │ └── FindSUITESPARSE.cmake │ ├── include │ └── teb_local_planner │ │ ├── g2o_types │ │ ├── edge_acceleration.h │ │ ├── edge_dynamic_obstacle.h │ │ ├── edge_kinematics.h │ │ ├── edge_line_obstacle.h │ │ ├── edge_point_obstacle.h │ │ ├── edge_polygon_obstacle.h │ │ ├── edge_time_optimal.h │ │ ├── edge_velocity.h │ │ ├── penalties.h │ │ ├── vertex_pose.h │ │ └── vertex_timediff.h │ │ ├── homotopy_class_planner.h │ │ ├── homotopy_class_planner.hpp │ │ ├── misc.h │ │ ├── obstacles.h │ │ ├── optimal_planner.h │ │ ├── planner_interface.h │ │ ├── pose_se2.h │ │ ├── teb_config.h │ │ ├── teb_local_planner_ros.h │ │ ├── timed_elastic_band.h │ │ ├── timed_elastic_band.hpp │ │ ├── visualization.h │ │ └── visualization.hpp │ ├── launch │ ├── move_base.launch │ ├── move_base_gazebo.launch │ ├── move_base_real.launch │ ├── move_base_rosaria.launch │ └── test_optim_node.launch │ ├── msg │ ├── FeedbackMsg.msg │ ├── ObstacleMsg.msg │ ├── TrajectoryMsg.msg │ └── TrajectoryPointMsg.msg │ ├── package.xml │ ├── scripts │ ├── cmd_vel_to_ackermann_drive.py │ ├── export_to_mat.py │ ├── export_to_svg.py │ ├── publish_test_obstacles.py │ └── visualize_velocity_profile.py │ ├── src │ ├── homotopy_class_planner.cpp │ ├── obstacles.cpp │ ├── optimal_planner.cpp │ ├── teb_config.cpp │ ├── teb_local_planner_ros.cpp │ ├── test_optim_node.cpp │ ├── timed_elastic_band.cpp │ └── visualization.cpp │ └── teb_local_planner_plugin.xml ├── README.md ├── _archive ├── gplanner │ ├── CMakeLists.txt │ ├── gplanner_plugin.xml │ ├── package.xml │ └── src │ │ ├── test.py │ │ ├── trajectory.cpp │ │ └── trajectory.h ├── lab3 │ ├── drive_control │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ │ ├── drive_control.py │ │ │ └── servo_commands.py │ ├── obstacle_detection │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ │ └── obstacle_ahead_simple.py │ └── sensor_processing │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ ├── logic.py │ │ └── wall_detector.py ├── lab4 │ ├── image_processing │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── center_cone_locator.py │ │ │ ├── cone_detector.py │ │ │ └── scan_cone_detector.py │ │ └── src │ │ │ ├── cone_locator_node.cpp │ │ │ └── image_filter_node.cpp │ ├── path_planner │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ │ ├── path_planner.py │ │ │ ├── path_test.py │ │ │ └── pt1.py │ └── state_estimation │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ └── cone_position_estimator.py ├── lab5 │ ├── drive_extensions │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── progress_update │ │ │ └── progress_readme │ │ ├── scripts │ │ │ ├── a_star_search.py │ │ │ ├── go_to_point.py │ │ │ ├── initpose.py │ │ │ ├── path_test_2.py │ │ │ ├── simple_goal.py │ │ │ └── test_node.py │ │ └── src │ │ │ ├── base_local_planner_params.yaml │ │ │ └── dwa_local_planner.cpp │ └── particle_filter │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ ├── filter.py │ │ ├── map_with_tf.pgm │ │ ├── map_with_tf.yaml │ │ ├── particle_filter.py │ │ ├── test.py │ │ └── with_tf_static.bag.active └── lab6 │ └── tebSetUp.md ├── _base ├── ackermann_cmd_mux │ ├── .cproject │ ├── .gitignore │ ├── .project │ ├── .pydevproject │ ├── .settings │ │ └── language.settings.xml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── cfg │ │ └── reload.cfg │ ├── include │ │ └── ackermann_cmd_mux │ │ │ ├── ackermann_cmd_mux_nodelet.hpp │ │ │ ├── ackermann_cmd_subscribers.hpp │ │ │ └── exceptions.hpp │ ├── launch │ │ ├── ackermann_cmd_mux.launch │ │ ├── reconfigure.launch │ │ └── standalone.launch │ ├── package.xml │ ├── param │ │ ├── example.yaml │ │ └── reconfigure.yaml │ ├── plugins │ │ └── nodelets.xml │ └── src │ │ ├── ackermann_cmd_mux_nodelet.cpp │ │ └── ackermann_cmd_subscribers.cpp ├── pwm_sysfs_driver │ ├── CMakeLists.txt │ ├── include │ │ └── pwm_sysfs_driver │ │ │ ├── pwm_sysfs_driver.h │ │ │ ├── pwm_sysfs_driver_node.h │ │ │ └── servo_driver_node.h │ ├── install │ │ ├── install_pwm_sysfs_root.sh │ │ ├── pwm_sysfs.conf │ │ └── pwm_sysfs.sh │ ├── launch │ │ ├── includes │ │ │ ├── nodelet_manager.launch.xml │ │ │ ├── pwm_sysfs_driver_node.launch.xml │ │ │ ├── pwm_sysfs_driver_nodelet.launch.xml │ │ │ ├── servo_driver_node.launch.xml │ │ │ └── servo_driver_nodelet.launch.xml │ │ ├── pwm_sysfs_driver.launch │ │ ├── pwm_sysfs_driver_node.launch │ │ ├── pwm_sysfs_driver_nodelet.launch │ │ ├── servo_driver.launch │ │ └── twoNodes.launch │ ├── package.xml │ ├── plugins │ │ └── nodelet.xml │ └── src │ │ ├── pwm_sysfs_driver │ │ └── pwm_sysfs_driver.cpp │ │ ├── pwm_sysfs_driver_node.cpp │ │ ├── pwm_sysfs_driver_node_main.cpp │ │ ├── pwm_sysfs_driver_nodelet_main.cpp │ │ ├── servo_driver_node.cpp │ │ ├── servo_driver_node_main.cpp │ │ └── servo_driver_nodelet_main.cpp └── racecar │ ├── CMakeLists.txt │ ├── config │ ├── racecar-v1 │ │ └── joy_teleop.yaml │ └── racecar-v2 │ │ ├── .vesc.yaml.swp │ │ ├── joy_teleop.yaml │ │ ├── mux.yaml │ │ ├── sensors.yaml │ │ └── vesc.yaml │ ├── launch │ ├── includes │ │ ├── common │ │ │ ├── joy_teleop.launch.xml │ │ │ └── sensors.launch.xml │ │ ├── racecar-v1-teleop.launch.xml │ │ ├── racecar-v1 │ │ │ ├── sensors.launch.xml │ │ │ ├── static_transforms.launch.xml │ │ │ ├── steering.launch.xml │ │ │ └── throttle.launch.xml │ │ ├── racecar-v2-teleop.launch.xml │ │ └── racecar-v2 │ │ │ ├── static_transforms.launch.xml │ │ │ └── vesc.launch.xml │ ├── replay_bag_file │ │ ├── replay_bag_file.launch │ │ ├── replay_bag_mapping.launch │ │ └── replay_bag_with_lidar_processing.launch │ └── teleop.launch │ ├── maps │ ├── basement_hallways_10cm.png │ ├── basement_hallways_10cm.yaml │ ├── basement_hallways_5cm.png │ └── basement_hallways_5cm.yml │ ├── package.xml │ ├── rviz │ ├── laser_scan_matcher.rviz │ └── mapping.rviz │ └── scripts │ ├── prob_planner.py │ └── scan_processor2.py ├── _cfg ├── frontier_explore.rviz ├── lidar.rviz ├── nav_stack.rviz └── navstack2.rviz ├── alt_local_planner.cpp ├── alternative ├── CMakeLists.txt ├── package.xml └── scripts │ ├── .cornerdetector.py.swn │ ├── .cornerdetector.py.swo │ ├── .cornerdetector.py.swp │ ├── .point_estimator.py.swn │ ├── .point_estimator.py.swo │ ├── .point_estimator.py.swp │ ├── .walldetector.py.swo │ ├── .walldetector.py.swp │ ├── alternative.launch │ ├── cornerdetector.py │ ├── go_to_point_gazebo.py │ ├── point_estimator.py │ ├── servo_commands.py │ └── walldetector.py ├── drivetrain ├── CMakeLists.txt ├── launch │ ├── aisha_plan_exec.launch │ ├── goto_pt.launch │ ├── pid_control.launch │ └── plan_exec.launch ├── package.xml └── scripts │ ├── goto_pt.py │ ├── pid_controller.py │ └── plan_executor.py ├── img ├── driving.gif ├── intro.gif └── vision.gif ├── launcher ├── CMakeLists.txt ├── launch │ ├── _racecar.launch │ ├── finalchallenge.launch │ ├── gmapping_launch.launch │ ├── lab3.launch │ ├── lab4.launch │ ├── lab5.launch │ ├── lab6.launch │ ├── racecar_teleop.launch │ └── zed.launch └── package.xml ├── navstack ├── CMakeLists.txt ├── cfg │ ├── base_local_planner_params.yaml │ ├── baselink_costmap_params.yaml │ ├── costmap_common_params.yaml │ └── local_costmap_params.yaml ├── launch │ ├── costmaps.launch │ ├── freespace_navstack.launch │ ├── frontier_exploration.launch │ ├── gmapping.launch │ ├── navstack.launch │ ├── old_navstack.launch │ └── test_global_planner.launch ├── package.xml ├── scripts │ ├── backup_recovery.py │ ├── curve_planner.py │ ├── fixed_tf2_broadcaster.py │ ├── freespace_goalplanner.py │ └── grid_lplanner.py └── src │ └── test_nav_goal.cpp ├── racecar.rosinstall ├── racecar_nav └── launch │ └── amcl.launch ├── rrt ├── CMakeLists.txt ├── package.xml ├── scripts │ └── alt_local_planner.py └── src │ └── alt_local_planner.cpp ├── shell_scripts ├── CATKIN_IGNORE ├── INSTALLME.sh ├── README.md ├── gitpush.sh ├── gpp ├── rlaunch ├── rmake ├── rosenv.sh └── rpull └── tools ├── CMakeLists.txt ├── package.xml └── scripts ├── ackermann_controller.py └── keyop.py /.gitignore: -------------------------------------------------------------------------------- 1 | # -*- mode: gitignore; -*- 2 | *~ 3 | \#*\# 4 | 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