├── CMakeLists.txt ├── Project Report Directed Research.pdf ├── README.md ├── Turtlebot ├── turtlebot3_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── meshes │ │ ├── bases │ │ │ ├── burger_base.stl │ │ │ ├── waffle_base.stl │ │ │ ├── waffle_base_for_open_manipulator.stl │ │ │ ├── waffle_pi_base.stl │ │ │ └── waffle_pi_base_for_open_manipulator.stl │ │ ├── sensors │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── hokuyo.dae │ │ │ ├── lds.stl │ │ │ ├── r200.dae │ │ │ └── r200.jpg │ │ └── wheels │ │ │ ├── left_tire.stl │ │ │ └── right_tire.stl │ ├── package.xml │ ├── rviz │ │ └── model.rviz │ └── urdf │ │ ├── common_properties.xacro │ │ ├── turtlebot3_burger.gazebo.xacro │ │ ├── turtlebot3_burger.urdf.xacro │ │ ├── turtlebot3_burger_for_autorace.gazebo.xacro │ │ ├── turtlebot3_burger_for_autorace.urdf.xacro │ │ ├── turtlebot3_burger_for_autorace_2020.gazebo.xacro │ │ ├── turtlebot3_burger_for_autorace_2020.urdf.xacro │ │ ├── turtlebot3_waffle.gazebo.xacro │ │ ├── turtlebot3_waffle.urdf.xacro │ │ ├── turtlebot3_waffle_for_open_manipulator.urdf.xacro │ │ ├── turtlebot3_waffle_pi.gazebo.xacro │ │ ├── turtlebot3_waffle_pi.urdf.xacro │ │ ├── turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro │ │ └── turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro ├── turtlebot3_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── turtlebot3_gazebo │ │ │ └── turtlebot3_drive.h │ ├── launch │ │ ├── multi_map_merge.launch │ │ ├── multi_turtlebot3.launch │ │ ├── multi_turtlebot3_slam.launch │ │ ├── temp.launch │ │ ├── turtlebot3_autorace.launch │ │ ├── turtlebot3_autorace_2020.launch │ │ ├── turtlebot3_autorace_mission.launch │ │ ├── turtlebot3_empty_world.launch │ │ ├── turtlebot3_env.launch │ │ ├── turtlebot3_gazebo_rviz.launch │ │ ├── turtlebot3_house.launch │ │ ├── turtlebot3_open_spaces.launch │ │ ├── turtlebot3_simulation.launch │ │ ├── turtlebot3_stage_1.launch │ │ ├── turtlebot3_stage_2.launch │ │ ├── turtlebot3_stage_3.launch │ │ ├── turtlebot3_stage_4.launch │ │ └── turtlebot3_world.launch │ ├── models │ │ ├── Temp │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── open_spaces │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── person_standing │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── eyebrow001-unmodified.png │ │ │ │ │ ├── eyebrow001.png │ │ │ │ │ ├── green_eye.png │ │ │ │ │ ├── jeans01_normals.png │ │ │ │ │ ├── jeans_basic_diffuse.png │ │ │ │ │ ├── male02_diffuse_black-unmodified.png │ │ │ │ │ ├── male02_diffuse_black.png │ │ │ │ │ ├── teeth.png │ │ │ │ │ ├── tshirt02_normals.png │ │ │ │ │ ├── tshirt02_texture.png │ │ │ │ │ └── young_lightskinned_male_diffuse.png │ │ │ ├── meshes │ │ │ │ └── standing.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_autorace │ │ │ ├── course │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── course.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── course.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_down │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_up │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_green │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_red │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_yellow │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_parking │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_parking.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_parking.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_stop │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_stop.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_stop.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── traffic_tunnel │ │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── tunnel.material │ │ │ │ └── textures │ │ │ │ │ └── tunnel.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ ├── turtlebot3_autorace_2020 │ │ │ ├── checker │ │ │ │ ├── materials │ │ │ │ │ ├── checker.png │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── checker.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── checker.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── course │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── course.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── course.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_down │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar_down.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar_down.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_up │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar_up.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar_up.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_construction │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_construction.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_construction.png │ │ │ │ │ │ └── traffic_construction_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_intersection │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_intersection.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_intersection.png │ │ │ │ │ │ └── traffic_intersection_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_left │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_is_left.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_left.png │ │ │ │ │ │ └── traffic_left_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_green │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_light_green.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_light_green.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_red │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_light_red.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_light.png │ │ │ │ │ │ └── traffic_light_red.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_yellow │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_light_yellow.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_light_yellow.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_noentry │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_noentry.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_noentry.png │ │ │ │ │ │ └── traffic_noentry_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_parking │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_parking.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_parking.png │ │ │ │ │ │ └── traffic_parking_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_pl_left │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_pl_left.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_pl_left.png │ │ │ │ │ │ └── traffic_pl_left_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_right │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_right.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_right.png │ │ │ │ │ │ └── traffic_right_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_stop │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_stop.material │ │ │ │ │ └── textures │ │ │ │ │ │ ├── traffic_stop.png │ │ │ │ │ │ └── traffic_stop_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── traffic_tunnel │ │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── tunnel.material │ │ │ │ └── textures │ │ │ │ │ ├── tunnel.png │ │ │ │ │ └── tunnel_white_background.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ ├── turtlebot3_burger │ │ │ ├── meshes │ │ │ │ ├── burger_base.dae │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ └── right_tire.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_house │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_plaza │ │ │ ├── goal_box │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_square │ │ │ ├── goal_box │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_waffle │ │ │ ├── meshes │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ ├── r200.dae │ │ │ │ ├── right_tire.dae │ │ │ │ └── waffle_base.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_waffle_pi │ │ │ ├── meshes │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ ├── right_tire.dae │ │ │ │ └── waffle_pi_base.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── turtlebot3_world │ │ │ ├── meshes │ │ │ ├── hexagon.dae │ │ │ └── wall.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── package.xml │ ├── rviz │ │ ├── multi_turtlebot3_slam.rviz │ │ ├── rviz_config.rviz │ │ └── turtlebot3_gazebo_model.rviz │ ├── src │ │ └── turtlebot3_drive.cpp │ └── worlds │ │ ├── empty.world │ │ ├── temp.world │ │ ├── turtlebot3_autorace.world │ │ ├── turtlebot3_autorace_2020.world │ │ ├── turtlebot3_error_trial.world │ │ ├── turtlebot3_house.world │ │ ├── turtlebot3_open_spaces.world │ │ ├── turtlebot3_open_spaces_wsh.world │ │ ├── turtlebot3_stage_1.world │ │ ├── turtlebot3_stage_2.world │ │ ├── turtlebot3_stage_3.world │ │ ├── turtlebot3_stage_4.world │ │ ├── turtlebot3_world.world │ │ └── turtlebot3_world2.world ├── turtlebot3_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl _open_spaces.launch │ │ ├── amcl.launch │ │ ├── move_base.launch │ │ ├── turtlebot3_navigation.launch │ │ └── turtlebot3_navigation_open_spaces.launch │ ├── maps │ │ ├── map.pgm │ │ ├── map.yaml │ │ ├── open_spaces.pgm │ │ ├── open_spaces.yaml │ │ ├── open_spaces_02.pgm │ │ └── open_spaces_02.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params_burger.yaml │ │ ├── costmap_common_params_waffle.yaml │ │ ├── costmap_common_params_waffle_pi.yaml │ │ ├── dwa_local_planner_params_burger.yaml │ │ ├── dwa_local_planner_params_waffle.yaml │ │ ├── dwa_local_planner_params_waffle_pi.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── rviz │ │ └── turtlebot3_navigation.rviz └── turtlebot3_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ └── turtlebot3_teleop_key.launch │ ├── nodes │ └── turtlebot3_teleop_key │ ├── package.xml │ ├── setup.py │ └── src │ └── turtlebot3_teleop │ └── __init__.py ├── animations ├── env.gif ├── hospital_orca_static_env.gif ├── orca_10m_800th_lobbyDOUBLING_VPref.gif ├── orca_best1_4m_600thObj_Rviz2.gif ├── turtlebot3_ORCA_demo_Static_thObst1200_2020-12-02.gif └── turtlebot3_ORCA_demo_Static_thObst1800_2020-12-02.gif ├── env ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── turtlebot3_empty_world.launch │ ├── turtlebot3_env_navigation.launch │ ├── turtlebot3_env_open_spaces_wsh-edit.launch │ ├── turtlebot3_env_open_spaces_wsh.launch │ ├── turtlebot3_env_open_spaces_wwh-edit.launch │ ├── turtlebot3_env_open_spaces_wwh.launch │ └── turtlebot3_simple_obstacle_1.launch ├── maps │ ├── open_spaces.pgm │ ├── open_spaces.yaml │ ├── simple_obs1.pgm │ ├── simple_obs1.yaml │ ├── turtlebot3_open_spaces-edit.pgm │ ├── turtlebot3_open_spaces-edit.yaml │ └── turtlebot3_open_spaces-edit2.pgm ├── package.xml └── worlds │ ├── empty.world │ ├── simple_obs1.world │ ├── turtlebot3_open_spaces-edit.world │ ├── turtlebot3_open_spaces.world │ └── world_hmp.world ├── gifs └── obstacle_detect.gif ├── obstacle_detector ├── CMakeLists.txt ├── icons │ └── classes │ │ ├── Obstacle Extractor.png │ │ ├── Obstacle Publisher.png │ │ ├── Obstacle Tracker.png │ │ ├── Obstacles.png │ │ └── Scans Merger.png ├── include │ └── obstacle_detector │ │ ├── displays │ │ ├── circle_visual.h │ │ ├── obstacles_display.h │ │ └── segment_visual.h │ │ ├── obstacle_extractor.h │ │ ├── obstacle_publisher.h │ │ ├── obstacle_tracker.h │ │ ├── panels │ │ ├── obstacle_extractor_panel.h │ │ ├── obstacle_publisher_panel.h │ │ ├── obstacle_tracker_panel.h │ │ └── scans_merger_panel.h │ │ ├── scans_merger.h │ │ └── utilities │ │ ├── circle.h │ │ ├── figure_fitting.h │ │ ├── kalman.h │ │ ├── math_utilities.h │ │ ├── point.h │ │ ├── point_set.h │ │ ├── segment.h │ │ └── tracked_obstacle.h ├── launch │ └── detector.launch ├── msg │ ├── CircleObstacle.msg │ ├── Obstacles.msg │ └── SegmentObstacle.msg ├── nodelet_plugins.xml ├── package.xml ├── resources │ ├── ObstacleDetector.pdf │ ├── Using hokuyo_node with udev.txt │ ├── obstacle_detector.rviz │ ├── play.png │ ├── scans_demo.bag │ └── stop.png ├── rviz_plugins.xml └── src │ ├── displays │ ├── circle_visual.cpp │ ├── obstacles_display.cpp │ └── segment_visual.cpp │ ├── nodelets │ ├── obstacle_extractor_nodelet.cpp │ ├── obstacle_publisher_nodelet.cpp │ ├── obstacle_tracker_nodelet.cpp │ └── scans_merger_nodelet.cpp │ ├── nodes │ ├── obstacle_extractor_node.cpp │ ├── obstacle_publisher_node.cpp │ ├── obstacle_tracker_node.cpp │ └── scans_merger_node.cpp │ ├── obstacle_extractor.cpp │ ├── obstacle_publisher.cpp │ ├── obstacle_tracker.cpp │ ├── panels │ ├── obstacle_extractor_panel.cpp │ ├── obstacle_publisher_panel.cpp │ ├── obstacle_tracker_panel.cpp │ └── scans_merger_panel.cpp │ └── scans_merger.cpp ├── orca ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── orca │ │ ├── Agent.h │ │ ├── Definitions.h │ │ ├── GlobalPlanner.h │ │ ├── KdTree.h │ │ ├── Obstacle.h │ │ ├── RVO.h │ │ ├── RVOSimulator.h │ │ ├── Vector2.h │ │ └── test_sim.h ├── logs │ ├── data.txt │ ├── data_gazebo_pose.txt │ ├── data_opencv_pose.txt │ └── orca-Logs.txt ├── package.xml └── src │ ├── Agent.cpp │ ├── KdTree.cpp │ ├── Obstacle.cpp │ ├── RVO.vcproj │ ├── RVOSimulator.cpp │ ├── main_pub_map_odom.cpp │ ├── simple_obstacle1.cpp │ ├── temp.cpp │ ├── test_sim.cpp │ ├── test_sim_Function_Information.txt │ ├── tryTfPCL.cpp │ └── understanding_modelStates.cpp ├── orca_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── AgentState.msg │ ├── DetectedEntity.msg │ └── Vector2.msg └── package.xml ├── person ├── CMakeLists.txt ├── launch │ ├── spawn_person.launch │ └── spawn_standing_person.launch ├── models │ └── person_standing │ │ ├── materials │ │ └── textures │ │ │ ├── eyebrow001-unmodified.png │ │ │ ├── eyebrow001.png │ │ │ ├── green_eye.png │ │ │ ├── jeans01_normals.png │ │ │ ├── jeans_basic_diffuse.png │ │ │ ├── male02_diffuse_black-unmodified.png │ │ │ ├── male02_diffuse_black.png │ │ │ ├── teeth.png │ │ │ ├── tshirt02_normals.png │ │ │ ├── tshirt02_texture.png │ │ │ └── young_lightskinned_male_diffuse.png │ │ ├── meshes │ │ └── standing.dae │ │ ├── model.config │ │ └── model.sdf └── package.xml ├── spawn_robot_tools_pkg ├── CMakeLists.txt ├── launch │ ├── move_ball_model.launch │ ├── move_model.launch │ ├── spawn_and_delete_server.launch │ ├── spawn_object.launch │ ├── spawn_robot_urdf.launch │ ├── spawn_robot_urdf_multiple.launch │ ├── spawn_robot_xacro.launch │ ├── spawn_robot_xacro_multiple.launch │ ├── spawn_sdf.launch │ └── spawn_sdf_robotdesc.launch ├── models │ ├── lowpoly_human │ │ ├── meshes │ │ │ └── lowpoly_human.dae │ │ ├── model.config │ │ └── model.sdf │ ├── standard_apple │ │ ├── meshes │ │ │ ├── Apfel_1_diffuse.jpg │ │ │ └── apple_simple.dae │ │ ├── model.config │ │ └── model.sdf │ ├── standard_cube │ │ ├── model.config │ │ └── model.sdf │ ├── standard_cylinder │ │ ├── model.config │ │ └── model.sdf │ └── standard_sphere │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── rviz_config │ └── robot_urdf.rviz ├── scripts │ ├── inertial_calculator.py │ ├── model_twist_keyboard.py │ ├── move_ball_like_model.py │ ├── move_generic_model_script.py │ ├── move_object_in_circles.py │ └── spawn_delete_object.py ├── setup.py ├── src │ └── spawn_robot_tools_pkg │ │ ├── __init__.py │ │ ├── get_model_gazebo_pose.py │ │ └── move_generic_model.py └── worlds │ ├── model.world │ └── urdf_demo.world └── split_scan ├── CMakeLists.txt ├── launch └── split_scan.launch ├── package.xml └── src └── split_scan_node.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/melodic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /Project Report Directed Research.pdf: 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