├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── Reference_File ├── SimpleTrackedVehiclePlugin.cc ├── SimpleTrackedVehiclePlugin.hh ├── TrackedVehiclePlugin.cc ├── TrackedVehiclePlugin.hh └── threadpool-0_2_5-src.zip ├── gazebo_deps_opende ├── CMakeLists.txt ├── GIMPACT │ ├── CMakeLists.txt │ ├── GIMPACT-LICENSE-BSD.TXT │ ├── GIMPACT-LICENSE-LGPL.TXT │ ├── Makefile.am │ ├── include │ │ ├── GIMPACT │ │ │ ├── Makefile.am │ │ │ ├── gim_boxpruning.h │ │ │ ├── gim_contact.h │ │ │ ├── gim_geometry.h │ │ │ ├── gim_math.h │ │ │ ├── gim_memory.h │ │ │ ├── gim_radixsort.h │ │ │ ├── gim_tri_capsule_collision.h │ │ │ ├── gim_tri_collision.h │ │ │ ├── gim_tri_sphere_collision.h │ │ │ ├── gim_trimesh.h │ │ │ └── gimpact.h │ │ └── Makefile.am │ └── src │ │ ├── Makefile.am │ │ ├── gim_boxpruning.cpp │ │ ├── gim_contact.cpp │ │ ├── gim_math.cpp │ │ ├── gim_memory.cpp │ │ ├── gim_tri_tri_overlap.cpp │ │ ├── gim_trimesh.cpp │ │ ├── gim_trimesh_capsule_collision.cpp │ │ ├── gim_trimesh_ray_collision.cpp │ │ ├── gim_trimesh_sphere_collision.cpp │ │ ├── gim_trimesh_trimesh_collision.cpp │ │ └── gimpact.cpp ├── LICENSE-BSD.TXT ├── OPCODE │ ├── CMakeLists.txt │ ├── Ice │ │ ├── IceAABB.cpp │ │ ├── IceAABB.h │ │ ├── IceAxes.h │ │ ├── IceBoundingSphere.h │ │ ├── IceContainer.cpp │ │ ├── IceContainer.h │ │ ├── IceFPU.h │ │ ├── IceHPoint.cpp │ │ ├── IceHPoint.h │ │ ├── IceIndexedTriangle.cpp │ │ ├── IceIndexedTriangle.h │ │ ├── IceLSS.h │ │ ├── IceMatrix3x3.cpp │ │ ├── IceMatrix3x3.h │ │ ├── IceMatrix4x4.cpp │ │ ├── IceMatrix4x4.h │ │ ├── IceMemoryMacros.h │ │ ├── IceOBB.cpp │ │ ├── IceOBB.h │ │ ├── IcePairs.h │ │ ├── IcePlane.cpp │ │ ├── IcePlane.h │ │ ├── IcePoint.cpp │ │ ├── IcePoint.h │ │ ├── IcePreprocessor.h │ │ ├── IceRandom.cpp │ │ ├── IceRandom.h │ │ ├── IceRay.cpp │ │ ├── IceRay.h │ │ ├── IceRevisitedRadix.cpp │ │ ├── IceRevisitedRadix.h │ │ ├── IceSegment.cpp │ │ ├── IceSegment.h │ │ ├── IceTriList.h │ │ ├── IceTriangle.cpp │ │ ├── IceTriangle.h │ │ ├── IceTypes.h │ │ ├── IceUtils.cpp │ │ ├── IceUtils.h │ │ └── Makefile.am │ ├── OPC_AABBCollider.cpp │ ├── OPC_AABBCollider.h │ ├── OPC_AABBTree.cpp │ ├── OPC_AABBTree.h │ ├── OPC_BaseModel.cpp │ ├── OPC_BaseModel.h │ ├── OPC_BoxBoxOverlap.h │ ├── OPC_Collider.cpp │ ├── OPC_Collider.h │ ├── OPC_Common.cpp │ ├── OPC_Common.h │ ├── OPC_HybridModel.cpp │ ├── OPC_HybridModel.h │ ├── OPC_IceHook.h │ ├── OPC_LSSAABBOverlap.h │ ├── OPC_LSSCollider.cpp │ ├── OPC_LSSCollider.h │ ├── OPC_LSSTriOverlap.h │ ├── OPC_MeshInterface.cpp │ ├── OPC_MeshInterface.h │ ├── OPC_Model.cpp │ ├── OPC_Model.h │ ├── OPC_OBBCollider.cpp │ ├── OPC_OBBCollider.h │ ├── OPC_OptimizedTree.cpp │ ├── OPC_OptimizedTree.h │ ├── OPC_Picking.cpp │ ├── OPC_Picking.h │ ├── OPC_PlanesAABBOverlap.h │ ├── OPC_PlanesCollider.cpp │ ├── OPC_PlanesCollider.h │ ├── OPC_PlanesTriOverlap.h │ ├── OPC_RayAABBOverlap.h │ ├── OPC_RayCollider.cpp │ ├── OPC_RayCollider.h │ ├── OPC_RayTriOverlap.h │ ├── OPC_Settings.h │ ├── OPC_SphereAABBOverlap.h │ ├── OPC_SphereCollider.cpp │ ├── OPC_SphereCollider.h │ ├── OPC_SphereTriOverlap.h │ ├── OPC_TreeBuilders.cpp │ ├── OPC_TreeBuilders.h │ ├── OPC_TreeCollider.cpp │ ├── OPC_TreeCollider.h │ ├── OPC_TriBoxOverlap.h │ ├── OPC_TriTriOverlap.h │ ├── OPC_VolumeCollider.cpp │ ├── OPC_VolumeCollider.h │ ├── Opcode.cpp │ ├── Opcode.dsp │ ├── Opcode.dsw │ ├── Opcode.h │ ├── README-ODE.txt │ ├── ReadMe.txt │ ├── StdAfx.cpp │ ├── Stdafx.h │ └── TemporalCoherence.txt ├── config.h.in ├── include │ └── gazebo │ │ └── ode │ │ ├── collision.h │ │ ├── collision_space.h │ │ ├── collision_trimesh.h │ │ ├── common.h │ │ ├── compatibility.h │ │ ├── contact.h │ │ ├── error.h │ │ ├── export-dif.h │ │ ├── h5dump.h │ │ ├── mass.h │ │ ├── matrix.h │ │ ├── memory.h │ │ ├── misc.h │ │ ├── objects.h │ │ ├── ode.h │ │ ├── odeconfig.h │ │ ├── odecpp.h │ │ ├── odecpp_collision.h │ │ ├── odeinit.h │ │ ├── odemath.h │ │ ├── odemath_legacy.h │ │ ├── rotation.h │ │ └── timer.h ├── ou │ ├── CMakeLists.txt │ ├── include │ │ └── ou │ │ │ ├── assert.h │ │ │ ├── atomic.h │ │ │ ├── atomicflags.h │ │ │ ├── customization.h │ │ │ ├── enumarrays.h │ │ │ ├── flags.h │ │ │ ├── flagsdefines.h │ │ │ ├── inttypes.h │ │ │ ├── macros.h │ │ │ ├── malloc.h │ │ │ ├── namespace.h │ │ │ ├── ou_dll.h │ │ │ ├── platform.h │ │ │ ├── simpleflags.h │ │ │ ├── templates.h │ │ │ ├── threadlocalstorage.h │ │ │ └── typewrapper.h │ └── src │ │ ├── atomic.cpp │ │ ├── customization.cpp │ │ ├── malloc.cpp │ │ └── threadlocalstorage.cpp └── src │ ├── array.cpp │ ├── array.h │ ├── box.cpp │ ├── capsule.cpp │ ├── collision_cylinder_box.cpp │ ├── collision_cylinder_plane.cpp │ ├── collision_cylinder_sphere.cpp │ ├── collision_cylinder_trimesh.cpp │ ├── collision_kernel.cpp │ ├── collision_kernel.h │ ├── collision_libccd.cpp │ ├── collision_libccd.h │ ├── collision_quadtreespace.cpp │ ├── collision_sapspace.cpp │ ├── collision_space.cpp │ ├── collision_space_internal.h │ ├── collision_std.h │ ├── collision_transform.cpp │ ├── collision_transform.h │ ├── collision_trimesh_box.cpp │ ├── collision_trimesh_ccylinder.cpp │ ├── collision_trimesh_colliders.h │ ├── collision_trimesh_disabled.cpp │ ├── collision_trimesh_distance.cpp │ ├── collision_trimesh_gimpact.cpp │ ├── collision_trimesh_internal.h │ ├── collision_trimesh_opcode.cpp │ ├── collision_trimesh_plane.cpp │ ├── collision_trimesh_ray.cpp │ ├── collision_trimesh_sphere.cpp │ ├── collision_trimesh_trimesh.cpp │ ├── collision_trimesh_trimesh_new.cpp │ ├── collision_util.cpp │ ├── collision_util.h │ ├── convex.cpp │ ├── cylinder.cpp │ ├── error.cpp │ ├── export-dif.cpp │ ├── fastdot.c │ ├── fastldlt.c │ ├── fastlsolve.c │ ├── fastltsolve.c │ ├── heightfield.cpp │ ├── heightfield.h │ ├── io.cpp │ ├── io.h │ ├── ioh5.cpp │ ├── ioh5.h │ ├── joints │ ├── amotor.cpp │ ├── amotor.h │ ├── ball.cpp │ ├── ball.h │ ├── contact.cpp │ ├── contact.h │ ├── dball.cpp │ ├── dball.h │ ├── dhinge.cpp │ ├── dhinge.h │ ├── fixed.cpp │ ├── fixed.h │ ├── gearbox.cpp │ ├── gearbox.h │ ├── hinge.cpp │ ├── hinge.h │ ├── hinge2.cpp │ ├── hinge2.h │ ├── joint.cpp │ ├── joint.h │ ├── joint_internal.h │ ├── joints.h │ ├── lmotor.cpp │ ├── lmotor.h │ ├── null.cpp │ ├── null.h │ ├── piston.cpp │ ├── piston.h │ ├── plane2d.cpp │ ├── plane2d.h │ ├── pr.cpp │ ├── pr.h │ ├── pu.cpp │ ├── pu.h │ ├── screw.cpp │ ├── screw.h │ ├── slider.cpp │ ├── slider.h │ ├── universal.cpp │ └── universal.h │ ├── lcp.cpp │ ├── lcp.h │ ├── mass.cpp │ ├── mat.cpp │ ├── mat.h │ ├── matrix.cpp │ ├── memory.cpp │ ├── misc.cpp │ ├── nextafterf.c │ ├── objects.h │ ├── obstack.cpp │ ├── obstack.h │ ├── ode.cpp │ ├── odeinit.cpp │ ├── odemath.cpp │ ├── odeou.cpp │ ├── odeou.h │ ├── odetls.cpp │ ├── odetls.h │ ├── optimize.cpp │ ├── optimize.h │ ├── plane.cpp │ ├── quickstep.cpp │ ├── quickstep.h │ ├── quickstep_cg_lcp.cpp │ ├── quickstep_cg_lcp.h │ ├── quickstep_pgs_lcp.cpp │ ├── quickstep_pgs_lcp.h │ ├── quickstep_update_bodies.cpp │ ├── quickstep_update_bodies.h │ ├── quickstep_util.cpp │ ├── quickstep_util.h │ ├── ray.cpp │ ├── robuststep.cpp │ ├── robuststep.h │ ├── rotation.cpp │ ├── scrapbook.cpp_deprecated │ ├── sphere.cpp │ ├── stack.cpp_deprecated │ ├── stack.h_deprecated │ ├── step.cpp │ ├── step.h │ ├── step_bullet_inc.h │ ├── step_bullet_lemke_wrapper.cpp │ ├── step_bullet_lemke_wrapper.h │ ├── step_bullet_pgs_wrapper.cpp │ ├── step_bullet_pgs_wrapper.h │ ├── step_dart_pgs_wrapper.cpp │ ├── step_dart_pgs_wrapper.h │ ├── symm.c │ ├── timer.cpp │ ├── util.cpp │ └── util.h ├── gazebo_description ├── CMakeLists.txt ├── models │ ├── 2022RoboCup_wall │ │ ├── 2022RoboCup_wall.sdf │ │ ├── meshes │ │ │ ├── 2022RoboCup_wall.STL │ │ │ ├── 2022RoboCup_wall.dae │ │ │ └── wood_OSB_1.jpg │ │ └── model.config │ ├── Hokuyo │ │ ├── model.config │ │ └── model.sdf │ ├── IMU │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf.xacro │ ├── NuBot_Pumbaa │ │ ├── materials │ │ │ ├── scripts │ │ │ │ ├── Carbon_fiber.material │ │ │ │ └── PU_foam.material │ │ │ └── textures │ │ │ │ ├── Carbon_fiber.png │ │ │ │ └── PU_foam.png │ │ ├── meshes │ │ │ ├── flipper_board.dae │ │ │ ├── flipper_track.dae │ │ │ ├── main_board.dae │ │ │ └── main_track.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.backup │ ├── NuBot_Pumbaa_v2 │ │ ├── meshes │ │ │ ├── back_left_fin_link.STL │ │ │ ├── back_right_fin_link.STL │ │ │ ├── base_link.STL │ │ │ ├── front_left_fin_link.STL │ │ │ ├── front_right_fin_link.STL │ │ │ ├── left_track_link.STL │ │ │ ├── right_track_link.STL │ │ │ └── vive_link.STL │ │ ├── model.config │ │ ├── model_v2.sdf │ │ ├── model_v2.urdf │ │ └── model_v2.urdf.xacro │ ├── RS_Bpearl │ │ ├── meshes │ │ │ └── RS_Bpearl_frame.STL │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf.xacro │ │ └── model_2.urdf.xacro │ ├── RS_Helios_5515 │ │ ├── meshes │ │ │ └── RS_Helios_frame.STL │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf.xacro │ │ └── model_2.urdf.xacro │ ├── camera_sensor │ │ ├── camera_sensor.urdf.xacro │ │ └── model.config │ ├── grey_wall │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── grey_wall.material │ │ │ └── textures │ │ │ │ └── grey_wall.png │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── iris │ │ ├── iris.sdf │ │ ├── meshes │ │ │ ├── iris.stl │ │ │ ├── iris_prop_ccw.dae │ │ │ └── iris_prop_cw.dae │ │ └── model.config │ ├── terrain-15double_slope │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ └── terrain-15double_slope.sdf │ ├── terrain-15single_slope │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ └── terrain-15single_slope.sdf │ ├── terrain-45slope │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ └── terrain-45slope.sdf │ ├── terrain-RandomStep_corner_1 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-RandomStep_corner_1.sdf │ ├── terrain-RandomStep_linear_1 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-RandomStep_linear_1.sdf │ ├── terrain-RandomStep_linear_2 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-RandomStep_linear_2.sdf │ ├── terrain-RandomStep_plate_1 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-RandomStep_plate_1.sdf │ ├── terrain-RandomStep_plate_2 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-RandomStep_plate_2.sdf │ ├── terrain-box │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-box_20_60_60 │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-cylinder │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-highplate_100 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-highplate_100.sdf │ │ └── terrain-highplate_100.urdf │ ├── terrain-highplate_100_long │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ └── terrain-highplate_100_long.sdf │ ├── terrain-highplate_120 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ └── terrain-highplate_120.sdf │ ├── terrain-highslope │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-lab │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-lab.sdf │ │ └── terrain-lab.urdf │ ├── terrain-lab_room │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-lab_small │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-lab_small.sdf │ │ └── terrain-lab_small.urdf │ ├── terrain-ladder │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ladder.sdf │ │ └── terrain-ladder.urdf │ ├── terrain-plate │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-rail_lift │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-rail_lift.sdf │ │ └── terrain-rail_lift.urdf │ ├── terrain-rails_k_flat │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-rails_k_flat.sdf │ │ └── terrain-rails_k_flat.urdf │ ├── terrain-rails_k_flat_2 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-rails_k_flat_2.sdf │ │ └── terrain-rails_k_flat_2.urdf │ ├── terrain-rails_k_slope │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-rails_k_slope.sdf │ │ └── terrain-rails_k_slope.urdf │ ├── terrain-ram2022_bigstair │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ram2022_bigstair.sdf │ │ └── terrain-ram2022_bigstair.urdf │ ├── terrain-ram2022_smallstair │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ram2022_smallstair.sdf │ │ └── terrain-ram2022_smallstair.urdf │ ├── terrain-ramps_1 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-ramps_1.sdf │ │ └── terrain-ramps_1.urdf │ ├── terrain-ramps_2 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ramps_2.sdf │ │ └── terrain-ramps_2.urdf │ ├── terrain-ramps_3 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ramps_3.sdf │ │ └── terrain-ramps_3.urdf │ ├── terrain-ramps_4 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ramps_4.sdf │ │ └── terrain-ramps_4.urdf │ ├── terrain-ramps_5 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-ramps_5.sdf │ │ └── terrain-ramps_5.urdf │ ├── terrain-slope │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-slope.sdf │ │ └── terrain-slope.urdf │ ├── terrain-stairs │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-stairs.sdf │ │ └── terrain-stairs.urdf │ ├── terrain-stairs_2 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-stairs_2.sdf │ │ └── terrain-stairs_2.urdf │ ├── terrain-stairs_3 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-stairs_3.sdf │ │ └── terrain-stairs_3.urdf │ ├── terrain-stairs_long │ │ ├── model.config │ │ └── model.sdf │ ├── terrain-step_600 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-step_600.sdf │ │ └── terrain-step_600.urdf │ ├── terrain-stepfield │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-stepfield.sdf │ │ └── terrain-stepfield.urdf │ ├── terrain-stepfield_1 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-stepfield_1.sdf │ │ └── terrain-stepfield_1.urdf │ ├── terrain-stepfield_2 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ └── wood_OSB_1.jpg │ │ ├── model.config │ │ ├── terrain-stepfield_2.sdf │ │ └── terrain-stepfield_2.urdf │ ├── terrain-stepfield_3 │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── terrain-stepfield_3.sdf │ │ └── terrain-stepfield_3.urdf │ └── walls │ │ ├── wall-1 │ │ ├── model.config │ │ └── model.sdf │ │ ├── wall-outdoor │ │ ├── model.config │ │ └── model.sdf │ │ ├── wall-room-nopillar │ │ ├── model.config │ │ └── model.sdf │ │ ├── wall-room-rough │ │ ├── meshes │ │ │ └── base_link.STL │ │ ├── model.config │ │ ├── wall-room-rough.sdf │ │ └── wall-room-rough.urdf │ │ ├── wall-room │ │ ├── model.config │ │ └── model.sdf │ │ └── wall │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── world │ ├── 2022RoboCup.world │ ├── Pumbaa_demo.world │ ├── Pumbaa_lab.world │ ├── Pumbaa_plate.world │ ├── lab_room.world │ ├── paper.world │ ├── paper_1.world │ ├── planning_test.world │ └── planning_test_phn.world ├── hector_gazebo-melodic-devel ├── README.md ├── hector_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_gazebo_plugins │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── GNSS.cfg │ │ └── SensorModel.cfg │ ├── include │ │ └── hector_gazebo_plugins │ │ │ ├── diffdrive_plugin_6w.h │ │ │ ├── diffdrive_plugin_multi_wheel.h │ │ │ ├── gazebo_ros_force_based_move.h │ │ │ ├── gazebo_ros_gps.h │ │ │ ├── gazebo_ros_imu.h │ │ │ ├── gazebo_ros_magnetic.h │ │ │ ├── gazebo_ros_sonar.h │ │ │ ├── reset_plugin.h │ │ │ ├── sensor_model.h │ │ │ ├── servo_plugin.h │ │ │ └── update_timer.h │ ├── package.xml │ ├── src │ │ ├── diffdrive_plugin_6w.cpp │ │ ├── diffdrive_plugin_multi_wheel.cpp │ │ ├── gazebo_ros_force_based_move.cpp │ │ ├── gazebo_ros_gps.cpp │ │ ├── gazebo_ros_imu.cpp │ │ ├── gazebo_ros_magnetic.cpp │ │ ├── gazebo_ros_sonar.cpp │ │ ├── reset_plugin.cpp │ │ └── servo_plugin.cpp │ └── srv │ │ ├── SetBias.srv │ │ └── SetReferenceGeoPose.srv ├── hector_gazebo_thermal_camera │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_gazebo_thermal_camera │ │ │ └── gazebo_ros_thermal_camera.h │ ├── package.xml │ └── src │ │ ├── gazebo_ros_thermal_camera.cpp │ │ ├── gazebo_ros_thermal_camera_plugin.cpp │ │ └── gazebo_ros_thermal_depth_camera_plugin.cpp ├── hector_gazebo_worlds │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── Media │ │ ├── materials │ │ │ └── scripts │ │ │ │ └── hector_materials.material │ │ └── models │ │ │ ├── 120m_landscape_smooth_tri.dae │ │ │ ├── 120m_landscape_smooth_tri.jpg │ │ │ ├── drc_qual4_block.stl │ │ │ ├── sick_robot_day_2012_20m.dae │ │ │ ├── sick_robot_day_2014.dae │ │ │ ├── sick_robot_day_2014_inner_block.dae │ │ │ ├── sick_robot_day_2014_inner_block.stl │ │ │ ├── sick_robot_day_2014_inner_block_with_stations.dae │ │ │ ├── sick_robot_day_2014_ring.dae │ │ │ ├── sick_robot_day_2014_ring.stl │ │ │ ├── sick_robot_day_2014_target.dae │ │ │ ├── sick_robot_day_2014_target.stl │ │ │ ├── sick_robot_day_2014_target_station_complete_0.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_1.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_2.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_3.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_4.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_5.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_6.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_7.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_8.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_9.dae │ │ │ ├── sick_robot_day_2014_with_stations.dae │ │ │ ├── sick_robot_panel.stl │ │ │ ├── sick_robot_panel_0.dae │ │ │ ├── sick_robot_panel_0.png │ │ │ ├── sick_robot_panel_1.dae │ │ │ ├── sick_robot_panel_1.png │ │ │ ├── sick_robot_panel_2.dae │ │ │ ├── sick_robot_panel_2.png │ │ │ ├── sick_robot_panel_3.dae │ │ │ ├── sick_robot_panel_3.png │ │ │ ├── sick_robot_panel_4.dae │ │ │ ├── sick_robot_panel_4.png │ │ │ ├── sick_robot_panel_5.dae │ │ │ ├── sick_robot_panel_5.png │ │ │ ├── sick_robot_panel_6.dae │ │ │ ├── sick_robot_panel_6.png │ │ │ ├── sick_robot_panel_7.dae │ │ │ ├── sick_robot_panel_7.png │ │ │ ├── sick_robot_panel_8.dae │ │ │ ├── sick_robot_panel_8.png │ │ │ ├── sick_robot_panel_9.dae │ │ │ ├── sick_robot_panel_9.png │ │ │ ├── sick_target.png │ │ │ └── small_indoor_scenario.dae │ ├── launch │ │ ├── drc_final_qual_4_step_block.launch │ │ ├── rolling_landscape_120m.launch │ │ ├── sick_robot_day_2012_20m.launch │ │ ├── sick_robot_day_2014.launch │ │ ├── small_indoor_scenario.launch │ │ ├── start.launch │ │ └── willow_garage.launch │ ├── maps │ │ ├── small_indoor_scenario_edited_map_hector_mapping.pgm │ │ └── small_indoor_scenario_edited_map_hector_mapping.yaml │ ├── package.xml │ └── worlds │ │ ├── drc_final_qual_4_step_block.world │ │ ├── rolling_landscape_120m.world │ │ ├── sick_robot_day_2012_20m.world │ │ ├── sick_robot_day_2014.world │ │ ├── small_indoor_scenario.world │ │ └── willow_garage.world └── hector_sensors_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── nubot_launch ├── CMakeLists.txt ├── launch │ ├── empty.launch │ ├── joy.launch │ ├── pumbaa_2022RoboCup.launch │ ├── pumbaa_sdf.launch │ ├── pumbaa_xacro.launch │ └── rviz_pumbaa.launch └── package.xml ├── nubot_msgs ├── CMakeLists.txt ├── msg │ ├── base_drive_cmd.msg │ ├── base_info.msg │ └── link_msg.msg └── package.xml ├── nubot_teleop ├── CMakeLists.txt ├── package.xml └── scripts │ ├── teleop_base2_fin_auto_joy.py │ ├── teleop_base2_gazebo_joy.py │ ├── teleop_keyboard.py │ ├── teleop_keyboard_fin_auto.py │ └── teleop_twist_keyboard.py ├── pumbaa_plugin ├── CMakeLists.txt ├── NuBot_Pumbaa_Gazebo_Plugin.cc ├── NuBot_Pumbaa_Gazebo_Plugin.hh └── package.xml ├── rviz_state_publish ├── CMakeLists.txt ├── config │ ├── config.yaml │ └── rviz_config.rviz ├── package.xml └── src │ └── rviz_state_publisher.cpp └── velodyne_simulator ├── .gitignore ├── LICENSE ├── README.md ├── bitbucket-pipelines.yml ├── gazebo_upgrade.md ├── img ├── gpu.png └── rviz.png ├── velodyne_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ └── example.launch ├── meshes │ ├── HDL32E_base.dae │ ├── HDL32E_base.stl │ ├── HDL32E_scan.dae │ ├── HDL32E_scan.stl │ ├── VLP16_base_1.dae │ ├── VLP16_base_1.stl │ ├── VLP16_base_2.dae │ ├── VLP16_base_2.stl │ ├── VLP16_scan.dae │ └── VLP16_scan.stl ├── package.xml ├── rviz │ └── example.rviz ├── urdf │ ├── HDL-32E.urdf.xacro │ ├── VLP-16.urdf.xacro │ └── example.urdf.xacro └── world │ └── example.world ├── velodyne_gazebo_plugins ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── velodyne_gazebo_plugins │ │ └── GazeboRosVelodyneLaser.h ├── package.xml └── src │ └── GazeboRosVelodyneLaser.cpp └── velodyne_simulator ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml /.gitignore: -------------------------------------------------------------------------------- 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