├── README.md ├── costmap_queue ├── CMakeLists.txt ├── README.md ├── include │ └── costmap_queue │ │ ├── costmap_queue.h │ │ ├── limited_costmap_queue.h │ │ └── map_based_queue.h ├── package.xml ├── src │ ├── costmap_queue.cpp │ └── limited_costmap_queue.cpp └── test │ ├── mbq_test.cpp │ └── utest.cpp ├── dlux_global_planner ├── CMakeLists.txt ├── Derivation.md ├── README.md ├── include │ └── dlux_global_planner │ │ ├── cost_interpreter.h │ │ ├── dlux_global_planner.h │ │ ├── kernel_function.h │ │ ├── potential.h │ │ ├── potential_calculator.h │ │ └── traceback.h ├── nav_core2_plugins.xml ├── package.xml ├── src │ ├── cost_interpreter.cpp │ ├── dlux_global_planner.cpp │ └── planner_node.cpp └── test │ └── kernel_test.cpp ├── dlux_plugins ├── CMakeLists.txt ├── README.md ├── dlux_global_planner_plugins.xml ├── doc │ ├── 0-AllPaths.png │ ├── 10-Dij.png │ ├── 11-AMan.png │ ├── 12-ACart.png │ ├── 13-AManKer.png │ ├── 14-ACartKer.png │ ├── 20-Von.png │ ├── 21-Grid.png │ ├── 22-Grad.png │ ├── 30-Optimal.png │ └── PlanLengthVsCellsExpanded.png ├── include │ └── dlux_plugins │ │ ├── astar.h │ │ ├── dijkstra.h │ │ ├── gradient_path.h │ │ ├── grid_path.h │ │ └── von_neumann_path.h ├── package.xml ├── src │ ├── astar.cpp │ ├── dijkstra.cpp │ ├── gradient_path.cpp │ ├── grid_path.cpp │ └── von_neumann_path.cpp └── test │ ├── common.yaml │ ├── full_planner_test.cpp │ ├── full_planner_test.launch │ ├── global_oscillation_test.cpp │ ├── global_oscillation_test.launch │ ├── map.png │ ├── map.yaml │ ├── node_test.launch │ ├── planner_test.cpp │ ├── planner_test.launch │ ├── robert_frost.png │ └── rviz.rviz ├── dwb_critics ├── CMakeLists.txt ├── README.md ├── default_critics.xml ├── include │ └── dwb_critics │ │ ├── alignment_util.h │ │ ├── base_obstacle.h │ │ ├── goal_align.h │ │ ├── goal_dist.h │ │ ├── map_grid.h │ │ ├── obstacle_footprint.h │ │ ├── oscillation.h │ │ ├── path_align.h │ │ ├── path_dist.h │ │ ├── prefer_forward.h │ │ ├── rotate_to_goal.h │ │ └── twirling.h ├── package.xml └── src │ ├── alignment_util.cpp │ ├── base_obstacle.cpp │ ├── goal_align.cpp │ ├── goal_dist.cpp │ ├── map_grid.cpp │ ├── obstacle_footprint.cpp │ ├── oscillation.cpp │ ├── path_align.cpp │ ├── path_dist.cpp │ ├── prefer_forward.cpp │ ├── rotate_to_goal.cpp │ └── twirling.cpp ├── dwb_local_planner ├── CMakeLists.txt ├── README.md ├── include │ └── dwb_local_planner │ │ ├── backwards_compatibility.h │ │ ├── debug_dwb_local_planner.h │ │ ├── dwb_local_planner.h │ │ ├── goal_checker.h │ │ ├── illegal_trajectory_tracker.h │ │ ├── publisher.h │ │ ├── trajectory_critic.h │ │ ├── trajectory_generator.h │ │ └── trajectory_utils.h ├── launch │ └── plan_node.launch ├── package.xml ├── plugins.xml ├── src │ ├── backwards_compatibility.cpp │ ├── debug_dwb_local_planner.cpp │ ├── dwb_local_planner.cpp │ ├── illegal_trajectory_tracker.cpp │ ├── planner_node.cpp │ ├── publisher.cpp │ └── trajectory_utils.cpp └── test │ └── utils_test.cpp ├── dwb_msgs ├── CMakeLists.txt ├── msg │ ├── CriticScore.msg │ ├── LocalPlanEvaluation.msg │ ├── Trajectory2D.msg │ └── TrajectoryScore.msg ├── package.xml └── srv │ ├── DebugLocalPlan.srv │ ├── GenerateTrajectory.srv │ ├── GenerateTwists.srv │ ├── GetCriticScore.srv │ └── ScoreTrajectory.srv ├── dwb_plugins ├── CMakeLists.txt ├── README.md ├── cfg │ └── KinematicParams.cfg ├── doc │ ├── VelocitySpace.png │ ├── lim_pv.png │ └── std_pv.png ├── include │ └── dwb_plugins │ │ ├── kinematic_parameters.h │ │ ├── limited_accel_generator.h │ │ ├── one_d_velocity_iterator.h │ │ ├── simple_goal_checker.h │ │ ├── standard_traj_generator.h │ │ ├── stopped_goal_checker.h │ │ ├── velocity_iterator.h │ │ └── xy_theta_iterator.h ├── package.xml ├── plugins.xml ├── src │ ├── kinematic_parameters.cpp │ ├── limited_accel_generator.cpp │ ├── simple_goal_checker.cpp │ ├── standard_traj_generator.cpp │ ├── stopped_goal_checker.cpp │ └── xy_theta_iterator.cpp └── test │ ├── goal_checker.cpp │ ├── goal_checker.launch │ ├── twist_gen.cpp │ ├── twist_gen.launch │ └── velocity_iterator_test.cpp ├── global_planner_tests ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ └── standard_tests.yaml ├── include │ └── global_planner_tests │ │ ├── easy_costmap.h │ │ ├── global_planner_tests.h │ │ ├── many_map_test_suite.h │ │ └── util.h ├── maps │ ├── corner.png │ ├── empty.png │ ├── inflated.png │ ├── nopaths.png │ ├── smallloop.png │ ├── smile.png │ └── unknown.png ├── package.xml └── src │ ├── easy_costmap.cpp │ ├── global_planner_tests.cpp │ ├── gpt_node.cpp │ ├── heatmap_node.cpp │ ├── many_map_node.cpp │ ├── many_map_test_suite.cpp │ └── util.cpp ├── locomotor ├── CMakeLists.txt ├── README.md ├── doc │ ├── BuildingOnTop.md │ ├── ErrorHandling.md │ ├── ExampleStateMachines.md │ ├── Motivation.md │ ├── MultiplePlanners.md │ ├── PrimaryDesign.md │ └── figures │ │ ├── action_server.flow │ │ ├── action_server.png │ │ ├── error_handling.flow │ │ ├── error_handling.png │ │ ├── generate.py │ │ ├── single_thread.flow │ │ ├── single_thread.png │ │ ├── two_thread.flow │ │ └── two_thread.png ├── include │ └── locomotor │ │ ├── executor.h │ │ ├── locomotor.h │ │ ├── locomotor_action_server.h │ │ └── publishers.h ├── package.xml ├── scripts │ └── send_action.py └── src │ ├── double_thread_locomotor.cpp │ ├── executor.cpp │ ├── locomotor.cpp │ ├── locomotor_action_server.cpp │ ├── publishers.cpp │ └── single_thread_locomotor.cpp ├── locomotor_msgs ├── CMakeLists.txt ├── README.md ├── action │ └── NavigateToPose.action ├── msg │ ├── NavigationState.msg │ └── ResultCode.msg └── package.xml ├── locomove_base ├── CMakeLists.txt ├── README.md ├── doc │ └── state_machine.png ├── include │ └── locomove_base │ │ └── locomove_base.h ├── package.xml └── src │ └── locomove_base.cpp ├── nav_2d_msgs ├── CMakeLists.txt ├── README.md ├── msg │ ├── ComplexPolygon2D.msg │ ├── NavGridInfo.msg │ ├── NavGridOfChars.msg │ ├── NavGridOfCharsUpdate.msg │ ├── NavGridOfDoubles.msg │ ├── NavGridOfDoublesUpdate.msg │ ├── Path2D.msg │ ├── Point2D.msg │ ├── Polygon2D.msg │ ├── Polygon2DCollection.msg │ ├── Polygon2DStamped.msg │ ├── Pose2D32.msg │ ├── Pose2DStamped.msg │ ├── Twist2D.msg │ ├── Twist2D32.msg │ ├── Twist2DStamped.msg │ └── UIntBounds.msg ├── package.xml └── srv │ └── SwitchPlugin.srv ├── nav_2d_utils ├── CMakeLists.txt ├── README.md ├── doc │ ├── Conversions.md │ ├── PluginMux.md │ └── PolygonsAndFootprints.md ├── include │ ├── mapbox │ │ ├── LICENSE │ │ ├── NOTES │ │ └── earcut.hpp │ └── nav_2d_utils │ │ ├── bounds.h │ │ ├── conversions.h │ │ ├── footprint.h │ │ ├── geometry_help.h │ │ ├── odom_subscriber.h │ │ ├── parameters.h │ │ ├── path_ops.h │ │ ├── plugin_mux.h │ │ ├── polygons.h │ │ └── tf_help.h ├── package.xml ├── setup.py ├── src │ ├── bounds.cpp │ ├── conversions.cpp │ ├── footprint.cpp │ ├── nav_2d_utils │ │ ├── __init__.py │ │ └── conversions.py │ ├── path_ops.cpp │ ├── polygons.cpp │ └── tf_help.cpp └── test │ ├── bounds_test.cpp │ ├── compress_test.cpp │ ├── param_tests.cpp │ ├── param_tests.launch │ ├── polygon_tests.cpp │ └── resolution_test.cpp ├── nav_core2 ├── CMakeLists.txt ├── README.md ├── doc │ └── exceptions.png ├── include │ └── nav_core2 │ │ ├── basic_costmap.h │ │ ├── bounds.h │ │ ├── common.h │ │ ├── costmap.h │ │ ├── exceptions.h │ │ ├── global_planner.h │ │ └── local_planner.h ├── package.xml ├── src │ └── basic_costmap.cpp └── test │ ├── bounds_test.cpp │ └── exception_test.cpp ├── nav_core_adapter ├── CMakeLists.txt ├── README.md ├── include │ └── nav_core_adapter │ │ ├── costmap_adapter.h │ │ ├── global_planner_adapter.h │ │ ├── global_planner_adapter2.h │ │ ├── local_planner_adapter.h │ │ └── shared_pointers.h ├── nav_core2_plugins.xml ├── nav_core_plugins.xml ├── package.xml ├── src │ ├── costmap_adapter.cpp │ ├── global_planner_adapter.cpp │ ├── global_planner_adapter2.cpp │ └── local_planner_adapter.cpp └── test │ ├── unload_test.cpp │ └── unload_test.launch ├── nav_grid ├── CMakeLists.txt ├── README.md ├── doc │ ├── change_info.png │ ├── coords.png │ └── nav_grid.png ├── include │ └── nav_grid │ │ ├── coordinate_conversion.h │ │ ├── index.h │ │ ├── nav_grid.h │ │ ├── nav_grid_info.h │ │ └── vector_nav_grid.h ├── package.xml └── test │ └── utest.cpp ├── nav_grid_iterators ├── CMakeLists.txt ├── README.md ├── demo │ ├── demo.cpp │ ├── demo.launch │ ├── demo.mp4 │ └── demo.rviz ├── include │ └── nav_grid_iterators │ │ ├── base_iterator.h │ │ ├── circle_fill.h │ │ ├── circle_outline.h │ │ ├── iterators.h │ │ ├── line.h │ │ ├── line │ │ ├── abstract_line_iterator.h │ │ ├── bresenham.h │ │ └── ray_trace.h │ │ ├── polygon_fill.h │ │ ├── polygon_outline.h │ │ ├── spiral.h │ │ ├── sub_grid.h │ │ └── whole_grid.h ├── package.xml ├── src │ ├── bresenham.cpp │ ├── circle_fill.cpp │ ├── circle_outline.cpp │ ├── line.cpp │ ├── polygon_fill.cpp │ ├── polygon_outline.cpp │ ├── ray_trace.cpp │ ├── spiral.cpp │ ├── sub_grid.cpp │ └── whole_grid.cpp └── test │ ├── line_tests.cpp │ └── utest.cpp ├── nav_grid_pub_sub ├── CMakeLists.txt ├── README.md ├── doc │ ├── CostInterpretation.md │ ├── input0.png │ ├── input1.png │ ├── negate.png │ ├── publish.png │ ├── raw.png │ ├── scale_output.png │ ├── scale_pixel.png │ ├── trinary_input.png │ ├── trinary_output.png │ └── trinary_pixel.png ├── include │ └── nav_grid_pub_sub │ │ ├── cost_interpretation.h │ │ ├── cost_interpretation_tables.h │ │ ├── nav_grid_message_utils.h │ │ ├── nav_grid_publisher.h │ │ ├── nav_grid_subscriber.h │ │ └── occ_grid_message_utils.h ├── package.xml └── src │ └── cost_interpretation_tables.cpp ├── nav_grid_server ├── CMakeLists.txt ├── README.md ├── include │ └── nav_grid_server │ │ └── image_loader.h ├── package.xml ├── src │ ├── image_loader.cpp │ ├── saver.cpp │ └── server.cpp └── test │ ├── data │ ├── alpha.png │ ├── map.yaml │ ├── spectrum.pgm │ └── spectrum.png │ └── map_server_comparison.cpp ├── robot_nav_tools ├── color_util │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ ├── blend00.png │ │ ├── blend01.png │ │ ├── blend02.png │ │ └── named.png │ ├── include │ │ └── color_util │ │ │ ├── blend.h │ │ │ ├── convert.h │ │ │ ├── named_colors.h │ │ │ └── types.h │ ├── package.xml │ ├── src │ │ └── convert.cpp │ └── test │ │ └── utest.cpp ├── robot_nav_rviz_plugins │ ├── CMakeLists.txt │ ├── README.md │ ├── icons │ │ └── classes │ │ │ ├── NavGridOfChars.png │ │ │ ├── NavGridOfDoubles.png │ │ │ ├── OccupancyGrid.png │ │ │ ├── Path2D.png │ │ │ ├── Polygon2D.png │ │ │ ├── Polygon3D.png │ │ │ └── Polygons.png │ ├── include │ │ └── robot_nav_rviz_plugins │ │ │ ├── nav_grid_display.h │ │ │ ├── nav_grid_palette.h │ │ │ ├── ogre_panel.h │ │ │ ├── path_display.h │ │ │ ├── polygon3d_display.h │ │ │ ├── polygon_display.h │ │ │ ├── polygon_parts.h │ │ │ ├── polygons_display.h │ │ │ ├── spectrum_palette.h │ │ │ └── validate_floats.h │ ├── package.xml │ ├── robot_nav_rviz_plugins.xml │ ├── rviz_plugins.xml │ └── src │ │ ├── basic_palettes.cpp │ │ ├── nav_grid_display.cpp │ │ ├── nav_grid_of_chars_display.cpp │ │ ├── nav_grid_of_doubles_display.cpp │ │ ├── occupancy_grid_display.cpp │ │ ├── ogre_panel.cpp │ │ ├── partial_ogre_panel.cpp │ │ ├── path_display.cpp │ │ ├── polygon3d_display.cpp │ │ ├── polygon_display.cpp │ │ ├── polygon_parts.cpp │ │ ├── polygons_display.cpp │ │ └── spectrum_palette.cpp ├── robot_nav_tools │ ├── CMakeLists.txt │ └── package.xml ├── robot_nav_viz_demos │ ├── CMakeLists.txt │ ├── README.md │ ├── data │ │ ├── demo_grids.bag │ │ ├── demo_grids.rviz │ │ ├── demo_polygons.rviz │ │ ├── named_colors_demo.rviz │ │ └── spectrum.rviz │ ├── include │ │ └── robot_nav_viz_demos │ │ │ └── spectrum_display.h │ ├── launch │ │ ├── grid_demo.launch │ │ ├── named_colors_demo.launch │ │ ├── polygons.launch │ │ └── spectrum_demo.launch │ ├── package.xml │ ├── robot_nav_rviz_plugins.xml │ ├── rviz_plugins.xml │ └── src │ │ ├── demo_palettes.cpp │ │ ├── named_colors_demo.cpp │ │ ├── polygon_display.cpp │ │ ├── pong.cpp │ │ └── spectrum_display.cpp └── rqt_dwb_plugin │ ├── CMakeLists.txt │ ├── 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