├── .gitignore ├── README.md ├── documentation ├── API_Documentation.md ├── Adaptive Goal Management-Overview.pdf ├── Adaptive Goal Management-Overview.pptx ├── ROS_Web_Control.md ├── path_building_v1.ods └── pictures │ ├── 2.png │ ├── ROS_CONTROL_SCREEN-MODIFY.png │ ├── ROS_CONTROL_SCREEN-SELECTWORKER.png │ └── ROS_CONTROL_SCREEN.png └── examples ├── mir_robot ├── .travis.yml ├── Dockerfile-noetic ├── LICENSE ├── README.md ├── mir_actions │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ │ ├── MirMoveBase.action │ │ └── RelativeMove.action │ └── package.xml ├── mir_agm │ ├── CMakeLists.txt │ ├── launch │ │ ├── mir_agm.launch │ │ ├── mir_agm_hospital.launch │ │ └── mir_agm_manufacturing.launch │ ├── maps │ │ ├── hospital_v3.pgm │ │ ├── hospital_v3.yaml │ │ ├── sme_manufacturing_map.pgm │ │ └── sme_manufacturing_map.yaml │ ├── package.xml │ └── worlds │ │ ├── Models │ │ └── walls_manufacturing │ │ │ └── model.config │ │ ├── hospital-modified.world │ │ ├── hospital.world │ │ └── sme-manufacturing.world ├── mir_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── diffdrive_controller.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── mir_debug_urdf.launch │ │ └── upload_mir_urdf.launch │ ├── meshes │ │ ├── collision │ │ │ ├── caster_wheel_base.stl │ │ │ └── mir_100_base.stl │ │ └── visual │ │ │ ├── caster_wheel_base.stl │ │ │ ├── mir_100_base.stl │ │ │ ├── sick_lms-100.stl │ │ │ └── wheel.stl │ ├── package.xml │ ├── rviz │ │ └── mir_description.rviz │ └── urdf │ │ ├── include │ │ ├── common.gazebo.xacro │ │ ├── common_properties.urdf.xacro │ │ ├── imu.gazebo.urdf.xacro │ │ ├── mir_100.gazebo.xacro │ │ ├── mir_100.transmission.xacro │ │ ├── mir_100_v1.urdf.xacro │ │ └── sick_s300.urdf.xacro │ │ └── mir.urdf.xacro ├── mir_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── mir.launch │ ├── nodes │ │ ├── fake_mir_joint_publisher.py │ │ ├── mir_bridge.py │ │ ├── rep117_filter.py │ │ └── tf_remove_child_frames.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── mir_driver │ │ ├── __init__.py │ │ └── rosbridge.py ├── mir_dwb_critics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── default_critics.xml │ ├── include │ │ └── mir_dwb_critics │ │ │ ├── path_angle.h │ │ │ ├── path_dist_pruned.h │ │ │ └── path_progress.h │ ├── nodes │ │ ├── plot_dwb_scores.py │ │ └── print_dwb_scores.py │ ├── package.xml │ └── src │ │ ├── path_angle.cpp │ │ ├── path_dist_pruned.cpp │ │ └── path_progress.cpp ├── mir_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── ekf.yaml │ ├── launch │ │ ├── fake_localization.launch │ │ ├── includes │ │ │ ├── ekf.launch.xml │ │ │ └── spawn_maze.launch.xml │ │ ├── mir_empty_world.launch │ │ ├── mir_gazebo_common.launch │ │ └── mir_maze_world.launch │ ├── maps │ │ ├── maze.png │ │ ├── maze.yaml │ │ ├── maze_virtual_walls.png │ │ └── maze_virtual_walls.yaml │ ├── package.xml │ └── sdf │ │ └── maze │ │ └── model.config ├── mir_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── BMSData.msg │ │ ├── BatteryCurrents.msg │ │ ├── BrakeState.msg │ │ ├── ChargingState.msg │ │ ├── Device.msg │ │ ├── Devices.msg │ │ ├── Encoders.msg │ │ ├── Error.msg │ │ ├── Event.msg │ │ ├── Events.msg │ │ ├── ExternalRobot.msg │ │ ├── ExternalRobots.msg │ │ ├── Gpio.msg │ │ ├── GripperState.msg │ │ ├── HeightState.msg │ │ ├── HookExtendedStatus.msg │ │ ├── HookStatus.msg │ │ ├── IOs.msg │ │ ├── JoystickVel.msg │ │ ├── LocalMapStat.msg │ │ ├── MirExtra.msg │ │ ├── MirStatus.msg │ │ ├── MissionCtrlCommand.msg │ │ ├── MissionCtrlState.msg │ │ ├── PalletLifterStatus.msg │ │ ├── Path.msg │ │ ├── Pendant.msg │ │ ├── PlanSegment.msg │ │ ├── PlanSegments.msg │ │ ├── Pose2D.msg │ │ ├── PowerBoardMotorStatus.msg │ │ ├── Proximity.msg │ │ ├── ResourceState.msg │ │ ├── ResourcesState.msg │ │ ├── RobotMode.msg │ │ ├── RobotState.msg │ │ ├── RobotStatus.msg │ │ ├── SafetyStatus.msg │ │ ├── Serial.msg │ │ ├── StampedEncoders.msg │ │ ├── Trolley.msg │ │ ├── Twist2D.msg │ │ ├── UserPrompt.msg │ │ ├── WebPath.msg │ │ ├── WorldMap.msg │ │ └── WorldModel.msg │ └── package.xml ├── mir_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── costmap_global_params.yaml │ │ ├── costmap_global_params_plugins_no_virtual_walls.yaml │ │ ├── costmap_global_params_plugins_virtual_walls.yaml │ │ ├── costmap_local_params.yaml │ │ ├── costmap_local_params_plugins_no_virtual_walls.yaml │ │ ├── costmap_local_params_plugins_virtual_walls.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── dwb_local_planner_params.yaml │ │ ├── eband_local_planner_params.yaml │ │ ├── mir_local_planner_params.yaml │ │ ├── move_base_common_params.yaml │ │ ├── pose_local_planner_params.yaml │ │ ├── sbpl_global_params.yaml │ │ └── teb_local_planner_params.yaml │ ├── launch │ │ ├── amcl.launch │ │ ├── hector_mapping.launch │ │ ├── move_base.xml │ │ ├── start_maps.launch │ │ └── start_planner.launch │ ├── mprim │ │ ├── genmprim_unicycle_highcost_5cm.m │ │ ├── genmprim_unicycle_highcost_5cm.py │ │ ├── unicycle_5cm.mprim │ │ ├── unicycle_5cm_expensive_turn_in_place.mprim │ │ ├── unicycle_5cm_expensive_turn_in_place_highcost.mprim │ │ ├── unicycle_5cm_noreverse_trolley.mprim │ │ ├── unicycle_highcost_10cm.mprim │ │ ├── unicycle_highcost_1cm.mprim │ │ ├── unicycle_highcost_2_5cm.mprim │ │ ├── unicycle_highcost_2cm.mprim │ │ └── unicycle_highcost_5cm.mprim │ ├── nodes │ │ ├── acc_finder.py │ │ └── min_max_finder.py │ ├── package.xml │ ├── rviz │ │ └── navigation.rviz │ └── scripts │ │ └── plot_mprim.py ├── mir_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── sdc21x0 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Encoders.msg │ ├── MotorCurrents.msg │ └── StampedEncoders.msg │ ├── package.xml │ └── srv │ └── Flags.srv ├── mycobot_ros ├── .gitattributes ├── .github │ └── workflows │ │ └── industrialci.yml ├── .gitignore ├── CHANGELOG.rst ├── Dockerfile ├── README.md ├── demo_img │ ├── 320_moveit.png │ ├── 320_slider.png │ ├── Screenshot-1.png │ ├── Screenshot-2.png │ ├── Screenshot-3.png │ ├── Screenshot-4.png │ └── Screenshot-5.png ├── docker-compose.yml ├── mycobot_280 │ ├── CMakeLists.txt │ ├── LICENSE │ ├── config │ │ ├── mycobot.rviz │ │ └── mycobot_with_marker.rviz │ ├── launch │ │ ├── detect_marker.launch │ │ ├── detect_marker_with_topic.launch │ │ ├── gripper.launch │ │ ├── mycobot.launch │ │ ├── mycobot_follow.launch │ │ ├── mycobot_with_suction_gripper.launch │ │ ├── simple_gui.launch │ │ ├── slider_control.launch │ │ ├── teleop_keyboard.launch │ │ └── test.launch │ ├── package.xml │ └── scripts │ │ ├── detect_marker.py │ │ ├── follow_and_pump.py │ │ ├── follow_display.py │ │ ├── following_marker.py │ │ ├── gripper_topic.py │ │ ├── gripper_topic_pub.py │ │ ├── listen_real.py │ │ ├── listen_real_of_topic.py │ │ ├── listen_real_v2.py │ │ ├── simple_gui.py │ │ ├── slider_control.py │ │ ├── suction_gripper.py │ │ └── teleop_keyboard.py ├── mycobot_communication │ ├── CMakeLists.txt │ ├── LICENSE │ ├── launch │ │ ├── communication_service.launch │ │ └── communication_topic.launch │ ├── msg │ │ ├── MycobotAngles.msg │ │ ├── MycobotCoords.msg │ │ ├── MycobotGripperStatus.msg │ │ ├── MycobotPumpStatus.msg │ │ ├── MycobotSetAngles.msg │ │ └── MycobotSetCoords.msg │ ├── package.xml │ ├── scripts │ │ ├── mycobot_services.py │ │ └── mycobot_topics.py │ └── srv │ │ ├── GetAngles.srv │ │ ├── GetCoords.srv │ │ ├── GripperStatus.srv │ │ ├── PumpStatus.srv │ │ ├── SetAngles.srv │ │ └── SetCoords.srv ├── mycobot_description │ ├── CMakeLists.txt │ ├── LICENSE │ ├── package.xml │ └── urdf │ │ ├── 320_urdf │ │ ├── base.dae │ │ ├── gripper.dae │ │ ├── gripper_ag.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ └── mycobot_pro_320.urdf │ │ ├── 600_urdf │ │ ├── base.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── 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