├── img ├── bot.png ├── editedmap.png ├── map.png ├── nav01.png ├── nav02.png ├── nav03.png ├── nav04.png ├── navImage.jpg ├── navImage01.jpg └── robot.png ├── readme.md ├── src ├── CMakeLists.txt ├── depthimage_to_laserscan │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ └── Depth.cfg │ ├── include │ │ └── depthimage_to_laserscan │ │ │ ├── DepthImageToLaserScan.h │ │ │ ├── DepthImageToLaserScanROS.h │ │ │ └── depth_traits.h │ ├── launch │ │ ├── depthimage_to_laserscan_test.launch │ │ ├── gmapping.launch │ │ ├── gmapping_zed.launch │ │ ├── laser_filter.yaml │ │ └── slam_gmapping_zed.launch │ ├── mainpage.dox │ ├── nodelets.xml │ ├── package.xml │ ├── rviz │ │ └── gmapping.rviz │ ├── src │ │ ├── DepthImageToLaserScan.cpp │ │ ├── DepthImageToLaserScanNodelet.cpp │ │ ├── DepthImageToLaserScanROS.cpp │ │ └── depthimage_to_laserscan.cpp │ └── test │ │ ├── DepthImageToLaserScanTest.cpp │ │ ├── depthimage_to_laserscan_rostest.cpp │ │ └── rostest │ │ └── depthimage_to_laserscan.test ├── navigation │ ├── CMakeLists.txt │ ├── config │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ └── local_costmap_params.yaml │ ├── launch │ │ ├── gmapping_demo.launch │ │ ├── mybot_teleop.launch │ │ └── slam_amcl.launch │ ├── map │ │ ├── map-a-.pgm │ │ ├── map-a-.yaml │ │ ├── map-a.pgm │ │ ├── map-a.yaml │ │ ├── map-b.pgm │ │ └── map-b.yaml │ ├── package.xml │ └── rviz │ │ └── amcl.rviz ├── src_20180529.zip ├── test_serial │ ├── CMakeLists.txt │ ├── launch │ │ ├── serial.launch │ │ └── teleop.launch │ ├── package.xml │ └── src │ │ └── serial_node.cpp ├── vel_to_odom │ ├── CMakeLists.txt │ ├── launch │ │ └── vel2odom.launch │ ├── package.xml │ └── src │ │ └── vel2odom_node.cpp └── zed-ros-wrapper │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cfg │ └── Zed.cfg │ ├── launch │ ├── README.md │ ├── display.launch │ ├── zed.launch │ ├── zed_camera.launch │ ├── zed_multi_cam.launch │ ├── zed_multi_gpu.launch │ └── zed_tf.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── records │ ├── record_depth.sh │ └── record_stereo.sh │ ├── rviz │ └── zed.rviz │ ├── src │ ├── zed_wrapper_node.cpp │ └── zed_wrapper_nodelet.cpp │ └── urdf │ ├── ZED.stl │ └── zed.urdf └── ~study ├── decuong.txt ├── run-gazebo.sh ├── run-mapping-nav.sh ├── run-mapping-rviz.sh ├── run-mapping-savemap.sh ├── run-mapping-teleop.sh ├── run-nav-amcl.sh ├── run-nav-rvizamcl.sh └── src ├── CMakeLists.txt ├── navigation-kinetic-devel ├── .gitignore ├── .travis.yml ├── README.md ├── amcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── AMCL.cfg │ ├── examples │ │ ├── amcl_diff.launch │ │ └── amcl_omni.launch │ ├── include │ │ └── amcl │ │ │ ├── map │ │ │ └── map.h │ │ │ ├── pf │ │ │ ├── eig3.h │ │ │ ├── pf.h │ │ │ ├── pf_kdtree.h │ │ │ ├── pf_pdf.h │ │ │ └── pf_vector.h │ │ │ └── sensors │ │ │ ├── amcl_laser.h │ │ │ ├── amcl_odom.h │ │ │ └── amcl_sensor.h │ ├── package.xml │ ├── src │ │ ├── amcl │ │ │ ├── map │ │ │ │ ├── map.c │ │ │ │ ├── map_cspace.cpp │ │ │ │ ├── map_draw.c │ │ │ │ ├── map_range.c │ │ │ │ └── map_store.c │ │ │ ├── pf │ │ │ │ ├── eig3.c │ │ │ │ ├── pf.c │ │ │ │ ├── pf_draw.c │ │ │ │ ├── pf_kdtree.c │ │ │ │ ├── pf_pdf.c │ │ │ │ └── pf_vector.c │ │ │ └── sensors │ │ │ │ ├── amcl_laser.cpp │ │ │ │ ├── amcl_odom.cpp │ │ │ │ └── amcl_sensor.cpp │ │ └── amcl_node.cpp │ └── test │ │ ├── basic_localization.py │ │ ├── basic_localization_stage.xml │ │ ├── global_localization_stage.xml │ │ ├── rosie_multilaser.xml │ │ ├── set_initial_pose.xml │ │ ├── set_initial_pose_delayed.xml │ │ ├── set_pose.py │ │ ├── small_loop_crazy_driving_prg.xml │ │ ├── small_loop_crazy_driving_prg_corrected.xml │ │ ├── small_loop_prf.xml │ │ ├── texas_greenroom_loop.xml │ │ ├── texas_greenroom_loop_corrected.xml │ │ ├── texas_willow_hallway_loop.xml │ │ └── texas_willow_hallway_loop_corrected.xml ├── 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 │ │ │ ├── twirling_cost_function.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 │ │ ├── twirling_cost_function.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 ├── global_planner │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── bgp_plugin.xml │ ├── cfg │ │ └── GlobalPlanner.cfg │ ├── include │ │ └── global_planner │ │ │ ├── astar.h │ │ │ ├── dijkstra.h │ │ │ ├── expander.h │ │ │ ├── gradient_path.h │ │ │ ├── grid_path.h │ │ │ ├── orientation_filter.h │ │ │ ├── planner_core.h │ │ │ ├── potential_calculator.h │ │ │ ├── quadratic_calculator.h │ │ │ └── traceback.h │ ├── package.xml │ └── src │ │ ├── astar.cpp │ │ ├── dijkstra.cpp │ │ ├── gradient_path.cpp │ │ ├── grid_path.cpp │ │ ├── orientation_filter.cpp │ │ ├── plan_node.cpp │ │ ├── planner_core.cpp │ │ └── quadratic_calculator.cpp ├── map_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── map_server │ │ │ └── image_loader.h │ ├── package.xml │ ├── scripts │ │ └── crop_map │ ├── 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 ├── navfn │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── Makefile.orig │ ├── bgp_plugin.xml │ ├── include │ │ └── navfn │ │ │ ├── navfn.h │ │ │ ├── navfn_ros.h │ │ │ ├── navwin.h │ │ │ ├── potarr_point.h │ │ │ └── read_pgm_costmap.h │ ├── package.xml │ ├── src │ │ ├── navfn.cpp │ │ ├── navfn_node.cpp │ │ ├── navfn_ros.cpp │ │ ├── navtest.cpp │ │ ├── navwin.cpp │ │ └── read_pgm_costmap.cpp │ ├── srv │ │ ├── MakeNavPlan.srv │ │ └── SetCostmap.srv │ └── test │ │ ├── CMakeLists.txt │ │ ├── path_calc_test.cpp │ │ └── willow_costmap.pgm ├── navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.rst │ └── package.xml ├── robot_pose_ekf │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── example_with_gps.launch │ ├── include │ │ └── robot_pose_ekf │ │ │ ├── nonlinearanalyticconditionalgaussianodo.h │ │ │ ├── odom_estimation.h │ │ │ └── odom_estimation_node.h │ ├── package.xml │ ├── plotekf.m │ ├── robot_pose_ekf.launch │ ├── scripts │ │ └── wtf.py │ ├── src │ │ ├── nonlinearanalyticconditionalgaussianodo.cpp │ │ ├── odom_estimation.cpp │ │ └── odom_estimation_node.cpp │ ├── srv │ │ └── GetStatus.srv │ └── test │ │ ├── test_robot_pose_ekf.cpp │ │ ├── test_robot_pose_ekf.launch │ │ ├── test_robot_pose_ekf_zero_covariance.cpp │ │ └── test_robot_pose_ekf_zero_covariance.launch ├── 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 ├── robot_description ├── CMakeLists.txt ├── launch │ ├── mybot_rviz.launch │ ├── mybot_rviz_amcl.launch │ └── mybot_rviz_gmapping.launch ├── meshes │ └── hokuyo.dae ├── package.xml ├── rviz │ ├── amcl.rviz │ └── mapping.rviz └── urdf │ ├── macros.xacro │ ├── materials.xacro │ ├── mybot.gazebo │ ├── mybot.xacro │ └── sensor.tar.gz ├── robot_gazebo ├── CMakeLists.txt ├── launch │ ├── mybot_world.launch │ └── read first ├── package.xml └── worlds │ ├── mybot.world │ └── turtlebot_playground.world └── robot_navigation ├── CMakeLists.txt ├── config ├── base_local_planner_params.yaml ├── costmap_common_params.yaml ├── global_costmap_params.yaml └── local_costmap_params.yaml 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