├── .gitignore ├── README.md ├── examples ├── README.md ├── d455_bag │ ├── d455_bag.yaml │ ├── run_single_session.sh │ └── run_with_prior_map.sh ├── d455_single_session │ ├── d455_online.rviz │ ├── d455_online.yaml │ └── run.bash ├── d455_two_session │ ├── params │ │ ├── data.yaml │ │ └── submap_align.yaml │ └── run.bash ├── zed2i_single_session │ ├── run.bash │ └── zed2i_online.yaml └── zed2i_two_session │ ├── params │ ├── data.yaml │ └── submap_align.yaml │ └── run.bash ├── install ├── install_roman.bash └── packages.yaml ├── media └── opposite_view_loop_closure.jpg ├── roman_msgs ├── CMakeLists.txt ├── msg │ ├── FrameDescriptor.msg │ ├── LoopClosure.msg │ ├── Observation.msg │ ├── ObservationArray.msg │ └── Segment.msg └── package.xml ├── roman_ros2 ├── cfg │ ├── d455 │ │ ├── fastsam.yaml │ │ ├── fastsam_node.yaml │ │ ├── mapper.yaml │ │ ├── roman_loop_closure.yaml │ │ ├── roman_loop_closure_node.yaml │ │ └── roman_map_node.yaml │ ├── d455_with_prior_map │ │ ├── roman_loop_closure.yaml │ │ └── roman_loop_closure_node.yaml │ └── zed2i │ │ ├── fastsam.yaml │ │ ├── fastsam_node.yaml │ │ ├── mapper.yaml │ │ ├── roman_loop_closure.yaml │ │ ├── roman_loop_closure_node.yaml │ │ └── roman_map_node.yaml ├── launch │ ├── roman.launch.yaml │ └── roman_node.launch.yaml ├── package.xml ├── resource │ └── roman_ros2 ├── roman_ros2 │ ├── __init__.py │ ├── fastsam_node.py │ ├── lc_viz_node.py │ ├── roman_align_node.py │ ├── roman_loop_closure_node.py │ ├── roman_map_node.py │ └── utils.py ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── scripts └── configure_cpu_or_gpu.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mit-acl/roman_ros/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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