├── README.md ├── gps_driver ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── CMakeLists.txt ├── ReadMe ├── include │ └── gps_driver │ │ ├── TicToc.h │ │ └── gpsResolve.h ├── launch │ ├── run_gps.launch │ └── run_syne.launch ├── msg │ ├── GPCHC.msg │ └── IMURaw.msg ├── package.xml ├── script │ ├── .vscode │ │ └── settings.json │ └── rosbag_modify.py └── src │ ├── PCANBasic.h │ ├── canResolve.cpp │ ├── gpsResolve.cpp │ ├── gpsResolve_fix_hz.cpp │ ├── gpsSetSyne.cpp │ ├── systemDetect.cpp │ └── test.cpp ├── image ├── 传感器硬件连接.jpg └── 传感器硬件连接.svg ├── pointgrey_camera_driver ├── .travis.yml ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── README.md ├── image_exposure_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── ExposureSequence.msg │ │ ├── ImageExposureStatistics.msg │ │ └── SequenceExposureStatistics.msg │ └── package.xml ├── pointgrey_camera_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── view_model.launch │ ├── meshes │ │ └── pointgrey_bumblebee2.dae │ ├── package.xml │ ├── rviz │ │ ├── view_bumblebee2.rviz │ │ └── view_flea3.rviz │ └── urdf │ │ ├── pointgrey_bumblebee2.urdf.xacro │ │ ├── pointgrey_flea3.urdf.xacro │ │ ├── test_bumblebee2.urdf.xacro │ │ └── test_flea3.urdf.xacro ├── pointgrey_camera_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── PointGrey.cfg │ │ ├── PointGrey.cfg_ref │ │ └── config.yaml │ ├── cmake │ │ ├── DownloadFlyCap.cmake │ │ ├── TargetArch.cmake │ │ └── download_flycap │ ├── debian │ │ └── udev │ ├── include │ │ └── pointgrey_camera_driver │ │ │ ├── PointGreyCamera.h │ │ │ └── camera_exceptions.h │ ├── launch │ │ ├── bumblebee.launch │ │ ├── camera.launch │ │ └── stereo.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── src │ │ ├── PointGreyCamera.cpp │ │ ├── list_cameras.cpp │ │ ├── node.cpp │ │ ├── nodelet.cpp │ │ ├── nodelet_ref.txt │ │ ├── stereo_node.cpp │ │ ├── stereo_nodelet.cpp │ │ └── stereo_nodelet_ref.txt │ └── udev │ │ └── 60-pgr.rules ├── statistics_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ └── Stats1D.msg │ └── package.xml └── wfov_camera_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── WFOVCompressedImage.msg │ ├── WFOVImage.msg │ └── WFOVTrigger.msg │ └── package.xml ├── velodyne-master ├── .github │ ├── ISSUE_TEMPLATE │ │ ├── bug_report.md │ │ └── feature_request.md │ └── workflows │ │ └── basic-build-ci.yaml ├── .gitignore ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── COPYING ├── README.md ├── velodyne │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── velodyne_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneNode.cfg │ ├── include │ │ └── velodyne_driver │ │ │ ├── driver.h │ │ │ ├── input.h │ │ │ ├── ring_sequence.h │ │ │ └── time_conversion.hpp │ ├── launch │ │ └── nodelet_manager.launch │ ├── mainpage.dox │ ├── nodelet_velodyne.xml │ ├── package.xml │ ├── src │ │ ├── driver │ │ │ ├── CMakeLists.txt │ │ │ ├── driver.cc │ │ │ ├── nodelet.cc │ │ │ └── velodyne_node.cc │ │ ├── lib │ │ │ ├── CMakeLists.txt │ │ │ └── input.cc │ │ └── vdump │ └── tests │ │ ├── diagnostic_agg.yaml │ │ ├── pcap_32e_node_hertz.test │ │ ├── pcap_32e_nodelet_hertz.test │ │ ├── pcap_node_hertz.test │ │ ├── pcap_nodelet_hertz.test │ │ ├── pcap_vlp16_node_hertz.test │ │ ├── pcap_vlp16_nodelet_hertz.test │ │ └── timeconversiontest.cpp ├── velodyne_laserscan │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneLaserScan.cfg │ ├── include │ │ └── velodyne_laserscan │ │ │ └── velodyne_laserscan.h │ ├── nodelets.xml │ ├── package.xml │ ├── src │ │ ├── node.cpp │ │ ├── nodelet.cpp │ │ └── velodyne_laserscan.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── lazy_subscriber.cpp │ │ ├── lazy_subscriber_node.test │ │ ├── lazy_subscriber_nodelet.test │ │ ├── system.cpp │ │ ├── system_node.test │ │ └── system_nodelet.test ├── velodyne_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── msg │ │ ├── VelodynePacket.msg │ │ └── VelodyneScan.msg │ └── package.xml ├── velodyne_pcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── velodyne_pcl │ │ │ └── point_types.h │ └── package.xml └── velodyne_pointcloud │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── TransformNode.cfg │ ├── include │ └── velodyne_pointcloud │ │ ├── calibration.h │ │ ├── datacontainerbase.h │ │ ├── organized_cloudXYZIRT.h │ │ ├── pointcloudXYZIRT.h │ │ ├── rawdata.h │ │ └── transform.h │ ├── launch │ ├── 32e_points.launch │ ├── 64e_S3.launch │ ├── VLP-32C_points.launch │ ├── VLP16_points.launch │ ├── VLP16_points_gao.launch │ ├── VLP16_points_ori.launch │ ├── laserscan_nodelet.launch │ └── transform_nodelet.launch │ ├── mainpage.dox │ ├── nodelets.xml │ ├── package.xml │ ├── params │ ├── 32db.yaml │ ├── 64e_s2.1-sztaki.yaml │ ├── 64e_s3-xiesc.yaml │ ├── 64e_utexas.yaml │ ├── VLP16_hires_db.yaml │ ├── VLP16db.yaml │ ├── VeloView-VLP-32C.yaml │ └── rviz_points.vcg │ ├── scripts │ └── gen_calibration.py │ ├── src │ ├── conversions │ │ ├── CMakeLists.txt │ │ ├── organized_cloudXYZIRT.cc │ │ ├── pointcloudXYZIRT.cc │ │ ├── transform.cc │ │ ├── transform_node.cc │ │ └── transform_nodelet.cc │ └── lib │ │ ├── CMakeLists.txt │ │ ├── calibration.cc │ │ └── rawdata.cc │ └── tests │ ├── 32db.xml │ ├── 64e_s2.1-sztaki.xml │ ├── CMakeLists.txt │ ├── angles-calibrated.yaml │ ├── angles.yaml │ ├── empty.xml │ ├── issue_84_float_intensities.yaml │ ├── static_vehicle_tf.launch │ ├── test_calibration.cpp │ ├── test_db_without_intensities.xml │ ├── transform_node_32e_hz.test │ ├── transform_node_64e_s2.1_hz.test │ ├── transform_node_hz.test │ ├── transform_node_vlp16_hz.test │ ├── transform_nodelet_32e_hz.test │ ├── transform_nodelet_64e_s2.1_hz.test │ ├── transform_nodelet_hz.test │ ├── transform_nodelet_vlp16_hz.test │ └── two_nodelet_managers.test └── xsens_imu_driver ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── README ├── launch └── 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