├── LICENSE ├── README.md ├── adapted_move_base ├── CMakeLists.txt ├── README.md ├── cfg │ └── MoveBase.cfg ├── include │ └── adapted_move_base │ │ └── move_base.h ├── launch │ ├── adapted_move_base.launch │ └── params │ │ └── navigation_params.yaml ├── package.xml └── src │ ├── move_base.cpp │ └── move_base_node.cpp ├── control_state_machine ├── CMakeLists.txt ├── README.md ├── launch │ └── control_tester.launch ├── msg │ ├── ControlEvent.msg │ └── StateInfo.msg ├── package.xml └── scripts │ ├── control_tester.py │ ├── event_manager.py │ ├── nav_behavior_fsm.py │ └── smach_common.py ├── global_rrt_planner ├── CMakeLists.txt ├── README.md ├── bgrrt_plugin.xml ├── include │ └── global_rrt_planner │ │ └── global_rrt_planner_ros.h ├── package.xml └── src │ ├── global_rrt_planner_node.cpp │ └── global_rrt_planner_ros.cpp ├── indires_macro_actions ├── CMakeLists.txt ├── README.md ├── action │ ├── Exploration.action │ ├── NavigateHome.action │ ├── NavigateWaypoint.action │ └── Teleoperation.action ├── include │ └── indires_macro_actions │ │ └── Indires_macro_actions.h ├── launch │ ├── indires_macro_actions.launch │ └── teleop_keyboard.launch ├── package.xml └── src │ ├── Indires_macro_actions.cpp │ └── Indires_macro_actions_node.cpp ├── indires_navigation ├── CMakeLists.txt ├── images │ ├── exploration.png │ ├── rosgraph.png │ ├── rrt_planning.png │ ├── smach_fsm.png │ └── state_machine.png └── package.xml ├── local_3d_planner ├── CMakeLists.txt ├── README.md ├── include │ └── local_3d_planner │ │ ├── collision_detection.h │ │ ├── goal_functions.h │ │ ├── local_3d_planner.h │ │ ├── local_3d_planner_ros.h │ │ └── odometry_helper_ros.h ├── lp_plugin.xml ├── package.xml └── src │ ├── collision_detection.cpp │ ├── goal_functions.cpp │ ├── local_3d_planner.cpp │ ├── local_3d_planner_ros.cpp │ └── odometry_helper_ros.cpp ├── navigation_features_3d ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg │ └── 3dnav_features.cfg ├── include │ └── navigation_features_3d │ │ └── nav_features3d.h ├── package.xml ├── src │ └── nav_features3d.cpp └── srv │ ├── GetFeatureCount.srv │ ├── InitWeights.srv │ ├── PoseValid.srv │ ├── SetLossCost.srv │ ├── SetScenario.srv │ └── SetWeights.srv ├── pcl_filters ├── CMakeLists.txt ├── LICENSE ├── README.md ├── launch │ ├── 3dfeatures_params.yaml │ ├── alternate_pc.launch │ ├── exp_params.yaml │ ├── local_control_params.yaml │ ├── pc2_to_ply.launch │ ├── pcl_costmap.launch │ ├── pcl_filters.launch │ ├── rrt_costmap_params.yaml │ └── rrt_filter_params.yaml ├── package.xml ├── src │ ├── alternate_pc.cpp │ ├── pc2_to_ply.cpp │ ├── pcl_costmap.cpp │ └── pcl_filters.cpp └── srv │ ├── ChangeCropboxSize.srv │ └── GetFilteredPC.srv └── rrt_planners ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include └── rrt_planners │ ├── Action.h │ ├── Node.h │ ├── RandomNumbers.h │ ├── State.h │ ├── StateChecker.h │ ├── StateSpace.h │ ├── kdtree.h │ ├── planners │ ├── Planner.h │ ├── control │ │ ├── HalfRRTstar.h │ │ ├── RRT_not_used.h │ │ ├── RRTstar.h │ │ └── Rrt.h │ └── simple │ │ ├── SimpleQuickRRTstar.h │ │ ├── SimpleRRT.h │ │ └── SimpleRRTstar.h │ ├── ros │ ├── RRT_ros_wrapper.h │ ├── RRT_ros_wrapper2.h │ ├── RRT_ros_wrapper3.h │ ├── ValidityChecker.h │ ├── ValidityChecker2.h │ ├── ValidityChecker3.h │ ├── ValidityChecker3D.h │ └── capture.h │ └── steering │ └── Steering.h ├── launch ├── navigation_params.yaml └── rrt_planners.launch ├── package.xml ├── src ├── Action.cpp ├── Node.cpp ├── RandomNumbers.cpp ├── State.cpp ├── StateSpace.cpp ├── planners │ ├── Planner.cpp │ ├── control │ │ ├── HalfRRTstar.cpp │ │ ├── RRT_not_used.cpp │ │ ├── RRTstar.cpp │ │ └── Rrt.cpp │ └── simple │ │ ├── SimpleQuickRRTstar.cpp │ │ ├── SimpleRRT.cpp │ │ └── SimpleRRTstar.cpp ├── ros │ ├── RRT_ros_wrapper.cpp │ ├── RRT_ros_wrapper2.cpp │ ├── RRT_ros_wrapper3.cpp │ ├── ValidityChecker.cpp │ ├── ValidityChecker2.cpp │ ├── ValidityChecker3.cpp │ ├── ValidityChecker3D.cpp │ ├── capture.cpp │ ├── 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