├── .gitignore ├── LICENSE ├── README.md ├── kmr_behaviortree ├── CMakeLists.txt ├── README.md ├── behavior_trees │ ├── full_tree.xml │ └── test.xml ├── include │ └── kmr_behaviortree │ │ ├── behavior_tree_engine.hpp │ │ ├── bt_action_node.hpp │ │ ├── bt_service_node.hpp │ │ └── node_utils.hpp ├── launch │ └── bt.launch.py ├── package.xml ├── param │ └── param.yaml ├── plugins │ ├── action │ │ ├── move_gripper.cpp │ │ ├── move_manipulator.cpp │ │ ├── navigate_vehicle.cpp │ │ ├── object_search.cpp │ │ └── plan_manipulator_path.cpp │ └── condition │ │ └── empty_frame.cpp └── src │ ├── behavior_tree_engine.cpp │ ├── behavior_tree_node.cpp │ └── node_utils.cpp ├── kmr_bringup ├── CMakeLists.txt ├── README.md ├── launch │ ├── rviz.launch.py │ └── state_publisher.launch.py ├── meshes │ ├── gripper │ │ ├── collision │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ └── robotiq_arg2f_base_link.stl │ │ └── visual │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ └── robotiq_gripper_coupling.stl │ ├── lbr_iiwa_14_r820 │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ ├── link_6.stl │ │ │ └── link_7.stl │ │ └── visual │ │ │ ├── base_link.dae │ │ │ ├── link_1.dae │ │ │ ├── link_2.dae │ │ │ ├── link_3.dae │ │ │ ├── link_4.dae │ │ │ ├── link_5.dae │ │ │ ├── link_6.dae │ │ │ └── link_7.dae │ ├── sensors │ │ ├── collision │ │ │ └── sick_lms1xx.stl │ │ ├── lds.dae │ │ └── visual │ │ │ ├── d435.dae │ │ │ ├── r200.dae │ │ │ ├── sick_lms1xx.dae │ │ │ └── sick_tim.dae │ └── wheels │ │ └── omni_wheel_1.dae ├── package.xml ├── rviz │ ├── model.rviz │ └── tf3.rviz ├── scripts │ └── dummy_joint_states.cpp └── urdf │ ├── circular_box.urdf │ ├── iiwa14.urdf │ ├── kmriiwa.urdf │ └── kmriiwa_withcameraframes.urdf ├── kmr_communication ├── CMakeLists.txt ├── README.md ├── launch │ ├── odom_laser.launch.py │ └── sunrise_communication.launch.py ├── nodes │ ├── __init__.py │ ├── kmp_commands_node.py │ ├── kmp_laserscan_node.py │ ├── kmp_odometry_node.py │ ├── kmp_statusdata_node.py │ ├── lbr_commands_node.py │ ├── lbr_sensordata_node.py │ ├── lbr_statusdata_node.py │ └── test2.py ├── package.xml ├── param │ └── bringup.yaml └── script │ ├── __init__.py │ ├── buffer.py │ ├── dummy_data.py │ ├── dummy_odom.py │ ├── tcpSocket.py │ ├── test.py │ ├── udpSocket.py │ └── view_frames.py ├── kmr_manipulator ├── CMakeLists.txt ├── README.md ├── launch │ ├── gripper_node.launch.py │ ├── multiple_cameras.launch.py │ ├── nuc.launch.py │ └── object_detection.launch.py ├── model │ ├── circbox.bin │ ├── circbox.labels │ ├── circbox.mapping │ └── circbox.xml ├── nodes │ ├── __init__.py │ ├── gripper │ │ ├── __init__.py │ │ └── gripper_node.py │ └── realsense │ │ ├── __init__.py │ │ └── object_detection_node.py ├── package.xml ├── param │ └── object_detection.yaml └── script │ ├── __init__.py │ ├── errorcodes.py │ └── gripper_msgs.py ├── kmr_moveit2 ├── .project ├── CMakeLists.txt ├── README.md ├── config │ ├── controllers.yaml │ ├── iiwa14.srdf │ ├── iiwa_controllers.yaml │ ├── kinematics.yaml │ ├── moveit_cpp.yaml │ ├── ompl_planning.yaml │ └── start_positions.yaml ├── launch │ └── moveit.launch.py ├── package.xml ├── rviz │ └── moveit.rviz └── src │ └── run_moveit_node.cpp ├── kmr_msgs ├── CMakeLists.txt ├── README.md ├── action │ ├── Gripper.action │ ├── MoveManipulator.action │ ├── ObjectSearch.action │ └── PlanToFrame.action ├── msg │ ├── KmpStatusdata.msg │ └── LbrStatusdata.msg └── package.xml ├── kmr_navigation2 ├── CMakeLists.txt ├── README.md ├── launch │ └── navigation2.launch.py ├── map │ ├── carto_map.pgm │ ├── carto_map.yaml │ ├── lab.pgm │ ├── lab.yaml │ ├── map.pgm │ ├── map.yaml │ ├── map_carto2scan.pgm │ ├── map_carto2scan.yaml │ ├── map_carto2scan3pc.pgm │ ├── map_carto2scan3pc.yaml │ ├── playpen_map.pgm │ ├── playpen_map.yaml │ └── playpen_map2.pgm ├── package.xml ├── param │ ├── param_eloquent.yaml │ └── param_masterbranch.yaml ├── rviz │ └── nav2_default_view.rviz └── scripts │ ├── __init__.py │ ├── keyboard.py │ ├── manipulator_keyboard.py │ ├── navigation_support_node.py │ ├── pose_keyboard.py │ ├── test_navigation.py │ └── twist_keyboard.py ├── kmr_simulation ├── CMakeLists.txt ├── README.md ├── launch │ └── gazebo.launch.py ├── models │ └── kmr │ │ ├── meshes │ │ ├── lbr_iiwa_14_r820 │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.stl │ │ │ │ └── link_7.stl │ │ │ └── visual │ │ │ │ ├── base_link.dae │ │ │ │ ├── link_1.dae │ │ │ │ ├── link_2.dae │ │ │ │ ├── link_3.dae │ │ │ │ ├── link_4.dae │ │ │ │ ├── link_5.dae │ │ │ │ ├── link_6.dae │ │ │ │ └── link_7.dae │ │ ├── sensors │ │ │ ├── collision │ │ │ │ └── sick_lms1xx.stl │ │ │ ├── lds.dae │ │ │ └── visual │ │ │ │ ├── d435.dae │ │ │ │ ├── r200.dae │ │ │ │ ├── sick_lms1xx.dae │ │ │ │ └── sick_tim.dae │ │ └── wheels │ │ │ └── omni_wheel_1.dae │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── worlds │ ├── clearpath_playpen.world │ └── empty.world ├── kmr_slam ├── CMakeLists.txt ├── README.md ├── config │ └── kmr_2d_cartographer.lua ├── created_maps │ ├── map.jpg │ ├── map.pgm │ ├── map.png │ ├── map.yaml │ ├── rtabmap.pgm │ └── rtabmap.yaml ├── launch │ ├── cartographer.launch.py │ └── rtabmap.launch.py ├── package.xml └── rviz │ ├── kmr_cartographer.rviz │ └── kmr_cartographer_withd435.rviz └── kmr_sunrise ├── README.md ├── app └── KMRiiwaSunriseApplication.java ├── comm ├── DataController.java ├── ISocket.java ├── TCPSocket.java └── UDPSocket.java ├── 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