├── .clang-format ├── .gitignore ├── LICENSE ├── README.md ├── global_planner ├── CMakeLists.txt ├── config │ ├── global_planner_cave_config.yaml │ └── global_planner_config.yaml ├── include │ └── global_planner │ │ ├── global_planner.h │ │ └── global_planner_manager.h ├── package.xml └── src │ ├── global_planner.cpp │ ├── global_planner_manager.cpp │ └── global_planner_ros_node.cpp ├── kdtree ├── CMakeLists.txt ├── include │ └── kdtree │ │ └── kdtree.h ├── package.xml └── src │ └── kdtree.c ├── mbplanner ├── CMakeLists.txt ├── LICENSE ├── config │ ├── cave │ │ ├── mbplanner_cave_config.yaml │ │ ├── octomap_sim_cave_config.yaml │ │ ├── planner_control_interface_cave_sim_config.yaml │ │ └── voxblox_sim_cave_config.yaml │ ├── mbplanner_config.yaml │ ├── octomap_sim_config.yaml │ ├── planner_control_interface_sim_config.yaml │ ├── rviz │ │ ├── m100_sim_mbplanner.rviz │ │ └── mbplanner_offline.rviz │ └── voxblox_sim_config.yaml ├── include │ └── mbplanner │ │ ├── mbplanner.h │ │ └── mbtree.h ├── launch │ ├── mbplanner_m100_sim.launch │ └── mbplanner_m100_sim_cave.launch ├── package.xml └── src │ ├── mbplanner.cpp │ ├── mbplanner_ros_node.cpp │ └── mbtree.cpp ├── mbplanner_ui ├── CMakeLists.txt ├── config │ ├── mbplanner.rviz │ └── mbplanner_ui.rviz ├── launch │ └── mbplanner_ui.launch ├── package.xml ├── plugin_description.xml └── src │ ├── mbplanner_ui.cpp │ └── mbplanner_ui.h ├── planner_common ├── CMakeLists.txt ├── include │ └── planner_common │ │ ├── graph.h │ │ ├── graph_base.h │ │ ├── graph_manager.h │ │ ├── map_manager.h │ │ ├── map_manager_octomap_impl.h │ │ ├── map_manager_voxblox_impl.h │ │ ├── params.h │ │ ├── random_sampler.h │ │ ├── trajectory.h │ │ └── visualizer.h ├── package.xml └── src │ ├── graph.cpp │ ├── graph_manager.cpp │ ├── map_manager_octomap_impl.cpp │ ├── map_manager_voxblox_impl.cpp │ ├── params.cpp │ ├── random_sampler.cpp │ ├── trajectory.cpp │ └── visualizer.cpp ├── planner_control_interface ├── CMakeLists.txt ├── include │ └── planner_control_interface │ │ ├── pci_manager.h │ │ └── planner_control_interface.h ├── package.xml └── src │ └── planner_control_interface.cpp ├── planner_gazebo_sim ├── CMakeLists.txt ├── launch │ └── sim.launch ├── models │ ├── edgar_mine │ │ ├── edgar_mine.dae │ │ ├── model.config │ │ └── model.sdf │ ├── edgar_mine_virtual_stix │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Asphalt.png │ │ │ │ ├── Cables_Albedo.png │ │ │ │ ├── Chainlink_Albedo.png │ │ │ │ ├── Chainlink_Transparency.png │ │ │ │ ├── Door_Albedo.png │ │ │ │ ├── Entrance.png │ │ │ │ ├── GroundDirt_Albedo.png │ │ │ │ ├── Light_Plastic_Albedo.png │ │ │ │ ├── Light_Plastic_Emissive.png │ │ │ │ ├── Pipes_Albedo.png │ │ │ │ ├── Rails_Albedo.png │ │ │ │ ├── RockWall_Albedo.png │ │ │ │ ├── RustyMetal_Albedo.png │ │ │ │ ├── Wood_Albedo.png │ │ │ │ └── YellowPlastic_Albedo.png │ │ ├── meshes │ │ │ ├── Edgar_Section_01.DAE │ │ │ ├── Edgar_Section_02.DAE │ │ │ ├── Edgar_Section_03.DAE │ │ │ ├── Edgar_Section_04.DAE │ │ │ ├── Edgar_Section_05.DAE │ │ │ ├── Edgar_Section_06.DAE │ │ │ ├── Edgar_Section_07.DAE │ │ │ ├── Edgar_Section_08.DAE │ │ │ ├── Edgar_Section_09.DAE │ │ │ ├── Edgar_Section_10.DAE │ │ │ └── Edgar_StartingArea.DAE │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── pittsburgh_mine │ │ ├── model.config │ │ ├── model.sdf │ │ └── pittsburgh_mine.dae │ └── virginia_mine │ │ ├── model.config │ │ ├── model.sdf │ │ └── virginia_mine.dae ├── package.xml └── worlds │ ├── edgar_mine.world │ ├── edgar_mine_full.world │ ├── pittsburgh_mine.world │ └── virginia_mine.world └── planner_msgs ├── CMakeLists.txt ├── msg ├── BoundMode.msg ├── ExecutionPathMode.msg ├── PlannerLogger.msg ├── PlannerStatus.msg ├── PlanningBound.msg ├── PlanningMode.msg ├── RectangleShape.msg ├── RobotStatus.msg └── TriggerMode.msg ├── package.xml └── srv ├── pci_geofence.srv ├── pci_global.srv ├── pci_homing_trigger.srv ├── 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