├── .gitignore ├── README.md ├── racecar_control ├── CMakeLists.txt ├── config │ └── racecar_control.yaml ├── launch │ ├── gazebo_sim_joy.launch │ ├── racecar_control.launch │ └── teleop.launch ├── package.xml └── scripts │ ├── keyboard_teleop.py │ └── servo_commands.py ├── racecar_description ├── CMakeLists.txt ├── meshes │ ├── chassis.STL │ ├── chassis.dae │ ├── cone.dae │ ├── hokuyo.dae │ ├── left_front_wheel.STL │ ├── left_front_wheel.dae │ ├── left_rear_wheel.STL │ ├── left_rear_wheel.dae │ ├── left_steering_hinge.STL │ ├── left_steering_hinge.dae │ ├── parking_1.dae │ ├── right_front_wheel.STL │ ├── right_front_wheel.dae │ ├── right_rear_wheel.STL │ ├── right_rear_wheel.dae │ ├── right_steering_hinge.STL │ ├── right_steering_hinge.dae │ └── walker_racecourse.dae ├── models │ ├── MIT_Tunnel │ │ ├── model.config │ │ └── model.sdf │ ├── ar_tags │ │ ├── marker0 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker0.png │ │ │ ├── meshes │ │ │ │ └── Marker0.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker1 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker1.png │ │ │ ├── meshes │ │ │ │ └── Marker1.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker10 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker10.png │ │ │ ├── meshes │ │ │ │ └── Marker10.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker11 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker11.png │ │ │ ├── meshes │ │ │ │ └── Marker11.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker12 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker12.png │ │ │ ├── meshes │ │ │ │ └── Marker12.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker13 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker13.png │ │ │ ├── meshes │ │ │ │ └── Marker13.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker14 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker14.png │ │ │ ├── meshes │ │ │ │ └── Marker14.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker15 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker15.png │ │ │ ├── meshes │ │ │ │ └── Marker15.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker16 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker16.png │ │ │ ├── meshes │ │ │ │ └── Marker16.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker17 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker17.png │ │ │ ├── meshes │ │ │ │ └── Marker17.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker2 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker2.png │ │ │ ├── meshes │ │ │ │ └── Marker2.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker3 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker3.png │ │ │ ├── meshes │ │ │ │ └── Marker3.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker4 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker4.png │ │ │ ├── meshes │ │ │ │ └── Marker4.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker5 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker5.png │ │ │ ├── meshes │ │ │ │ └── Marker5.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker6 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker6.png │ │ │ ├── meshes │ │ │ │ └── Marker6.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker7 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker7.png │ │ │ ├── meshes │ │ │ │ └── Marker7.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── marker8 │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker8.png │ │ │ ├── meshes │ │ │ │ └── Marker8.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── marker9 │ │ │ ├── marker0 │ │ │ ├── marker0 │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ ├── model-1_5.sdf │ │ │ └── model.config │ │ │ ├── materials │ │ │ └── textures │ │ │ │ └── Marker9.png │ │ │ ├── meshes │ │ │ └── Marker9.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model-1_5.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── cone │ │ ├── model.config │ │ └── model.sdf │ ├── parking_1 │ │ ├── model.config │ │ └── model.sdf │ └── walker_racecourse │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── urdf │ ├── macros.xacro │ ├── materials.xacro │ ├── racecar.gazebo │ └── racecar.xacro └── racecar_gazebo ├── CMakeLists.txt ├── launch ├── racecar.launch ├── racecar_ar.launch ├── racecar_parking_1.launch ├── racecar_tunnel.launch └── racecar_walker.launch ├── package.xml ├── scripts └── gazebo_odometry.py └── worlds ├── racecar.world ├── racecar_ar.world ├── racecar_cones.world ├── racecar_parking_1.world ├── racecar_tunnel.world └── 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