├── README.md ├── ROSTango ├── .catkin_workspace ├── .gitignore ├── README.md └── src │ ├── CMakeLists.txt │ ├── rostango │ ├── .gitignore │ ├── .navigation │ │ └── raw │ │ │ └── main.nvg.xml │ ├── CMakeLists.txt │ ├── Mavlink │ │ ├── .gitignore │ │ ├── AndroidManifest.xml │ │ ├── build.gradle │ │ ├── libs │ │ │ └── android-support-v4.jar │ │ ├── mavlinkGenerator │ │ │ ├── .gitignore │ │ │ ├── README.txt │ │ │ ├── generateMessages.py │ │ │ ├── message_definitions │ │ │ │ ├── ardupilotmega.xml │ │ │ │ └── common.xml │ │ │ └── pymavlink │ │ │ │ ├── dialects │ │ │ │ ├── __init__.py │ │ │ │ ├── v09 │ │ │ │ │ └── __init__.py │ │ │ │ └── v10 │ │ │ │ │ └── __init__.py │ │ │ │ └── generator │ │ │ │ ├── mavgen.py │ │ │ │ └── mavgen_java.py │ │ ├── proguard-project.txt │ │ ├── project.properties │ │ ├── res │ │ │ └── .gitignore │ │ └── src │ │ │ └── com │ │ │ └── MAVLink │ │ │ ├── Messages │ │ │ ├── ApmCommands.java │ │ │ ├── ApmModes.java │ │ │ ├── CRC.java │ │ │ ├── MAVLinkMessage.java │ │ │ ├── MAVLinkPacket.java │ │ │ ├── MAVLinkPayload.java │ │ │ ├── MAVLinkStats.java │ │ │ ├── ardupilotmega │ │ │ │ ├── msg_ahrs.java │ │ │ │ ├── msg_ap_adc.java │ │ │ │ ├── msg_attitude.java │ │ │ │ ├── msg_attitude_quaternion.java │ │ │ │ ├── msg_auth_key.java │ │ │ │ ├── msg_battery_status.java │ │ │ │ ├── msg_change_operator_control.java │ │ │ │ ├── msg_change_operator_control_ack.java │ │ │ │ ├── msg_command_ack.java │ │ │ │ ├── msg_command_long.java │ │ │ │ ├── msg_data16.java │ │ │ │ ├── msg_data32.java │ │ │ │ ├── msg_data64.java │ │ │ │ ├── msg_data96.java │ │ │ │ ├── msg_data_stream.java │ │ │ │ ├── msg_data_transmission_handshake.java │ │ │ │ ├── msg_debug.java │ │ │ │ ├── msg_debug_vect.java │ │ │ │ ├── msg_digicam_configure.java │ │ │ │ ├── msg_digicam_control.java │ │ │ │ ├── msg_encapsulated_data.java │ │ │ │ ├── msg_fence_fetch_point.java │ │ │ │ ├── msg_fence_point.java │ │ │ │ ├── msg_fence_status.java │ │ │ │ ├── msg_file_transfer_dir_list.java │ │ │ │ ├── msg_file_transfer_res.java │ │ │ │ ├── msg_file_transfer_start.java │ │ │ │ ├── msg_global_position_int.java │ │ │ │ ├── msg_global_position_setpoint_int.java │ │ │ │ ├── msg_global_vision_position_estimate.java │ │ │ │ ├── msg_gps2_raw.java │ │ │ │ ├── msg_gps_global_origin.java │ │ │ │ ├── msg_gps_inject_data.java │ │ │ │ ├── msg_gps_raw_int.java │ │ │ │ ├── msg_gps_status.java │ │ │ │ ├── msg_heartbeat.java │ │ │ │ ├── msg_highres_imu.java │ │ │ │ ├── msg_hil_controls.java │ │ │ │ ├── msg_hil_gps.java │ │ │ │ ├── msg_hil_optical_flow.java │ │ │ │ ├── msg_hil_rc_inputs_raw.java │ │ │ │ ├── msg_hil_sensor.java │ │ │ │ ├── msg_hil_state.java │ │ │ │ ├── msg_hil_state_quaternion.java │ │ │ │ ├── msg_hwstatus.java │ │ │ │ ├── msg_limits_status.java │ │ │ │ ├── msg_local_position_ned.java │ │ │ │ ├── msg_local_position_ned_system_global_offset.java │ │ │ │ ├── msg_local_position_setpoint.java │ │ │ │ ├── msg_log_data.java │ │ │ │ ├── msg_log_entry.java │ │ │ │ ├── msg_log_erase.java │ │ │ │ ├── msg_log_request_data.java │ │ │ │ ├── msg_log_request_end.java │ │ │ │ ├── msg_log_request_list.java │ │ │ │ ├── msg_manual_control.java │ │ │ │ ├── msg_manual_setpoint.java │ │ │ │ ├── msg_meminfo.java │ │ │ │ ├── msg_memory_vect.java │ │ │ │ ├── msg_mission_ack.java │ │ │ │ ├── msg_mission_clear_all.java │ │ │ │ ├── msg_mission_count.java │ │ │ │ ├── msg_mission_current.java │ │ │ │ ├── msg_mission_item.java │ │ │ │ ├── msg_mission_item_reached.java │ │ │ │ ├── msg_mission_request.java │ │ │ │ ├── msg_mission_request_list.java │ │ │ │ ├── msg_mission_request_partial_list.java │ │ │ │ ├── msg_mission_set_current.java │ │ │ │ ├── msg_mission_write_partial_list.java │ │ │ │ ├── msg_mount_configure.java │ │ │ │ ├── msg_mount_control.java │ │ │ │ ├── msg_mount_status.java │ │ │ │ ├── msg_named_value_float.java │ │ │ │ ├── msg_named_value_int.java │ │ │ │ ├── msg_nav_controller_output.java │ │ │ │ ├── msg_omnidirectional_flow.java │ │ │ │ ├── msg_optical_flow.java │ │ │ │ ├── msg_param_request_list.java │ │ │ │ ├── msg_param_request_read.java │ │ │ │ ├── msg_param_set.java │ │ │ │ ├── msg_param_value.java │ │ │ │ ├── msg_ping.java │ │ │ │ ├── msg_power_status.java │ │ │ │ ├── msg_radio.java │ │ │ │ ├── msg_radio_status.java │ │ │ │ ├── msg_raw_imu.java │ │ │ │ ├── msg_raw_pressure.java │ │ │ │ ├── msg_rc_channels.java │ │ │ │ ├── msg_rc_channels_override.java │ │ │ │ ├── msg_rc_channels_raw.java │ │ │ │ ├── msg_rc_channels_scaled.java │ │ │ │ ├── msg_request_data_stream.java │ │ │ │ ├── msg_roll_pitch_yaw_rates_thrust_setpoint.java │ │ │ │ ├── msg_roll_pitch_yaw_speed_thrust_setpoint.java │ │ │ │ ├── msg_roll_pitch_yaw_thrust_setpoint.java │ │ │ │ ├── msg_safety_allowed_area.java │ │ │ │ ├── msg_safety_set_allowed_area.java │ │ │ │ ├── msg_scaled_imu.java │ │ │ │ ├── msg_scaled_imu2.java │ │ │ │ ├── msg_scaled_pressure.java │ │ │ │ ├── msg_sensor_offsets.java │ │ │ │ ├── msg_serial_control.java │ │ │ │ ├── msg_servo_output_raw.java │ │ │ │ ├── msg_set_global_position_setpoint_int.java │ │ │ │ ├── msg_set_gps_global_origin.java │ │ │ │ ├── msg_set_local_position_setpoint.java │ │ │ │ ├── msg_set_mag_offsets.java │ │ │ │ ├── msg_set_mode.java │ │ │ │ ├── msg_set_quad_motors_setpoint.java │ │ │ │ ├── msg_set_quad_swarm_led_roll_pitch_yaw_thrust.java │ │ │ │ ├── msg_set_quad_swarm_roll_pitch_yaw_thrust.java │ │ │ │ ├── msg_set_roll_pitch_yaw_speed_thrust.java │ │ │ │ ├── msg_set_roll_pitch_yaw_thrust.java │ │ │ │ ├── msg_setpoint_6dof.java │ │ │ │ ├── msg_setpoint_8dof.java │ │ │ │ ├── msg_sim_state.java │ │ │ │ ├── msg_simstate.java │ │ │ │ ├── msg_state_correction.java │ │ │ │ ├── msg_statustext.java │ │ │ │ ├── msg_sys_status.java │ │ │ │ ├── msg_system_time.java │ │ │ │ ├── msg_vfr_hud.java │ │ │ │ ├── msg_vicon_position_estimate.java │ │ │ │ ├── msg_vision_position_estimate.java │ │ │ │ ├── msg_vision_speed_estimate.java │ │ │ │ └── msg_wind.java │ │ │ └── enums │ │ │ │ ├── FENCE_ACTION.java │ │ │ │ ├── FENCE_BREACH.java │ │ │ │ ├── LIMITS_STATE.java │ │ │ │ ├── LIMIT_MODULE.java │ │ │ │ ├── MAVLINK_DATA_STREAM_TYPE.java │ │ │ │ ├── MAV_AUTOPILOT.java │ │ │ │ ├── MAV_CMD.java │ │ │ │ ├── MAV_CMD_ACK.java │ │ │ │ ├── MAV_COMPONENT.java │ │ │ │ ├── MAV_DATA_STREAM.java │ │ │ │ ├── MAV_FRAME.java │ │ │ │ ├── MAV_GOTO.java │ │ │ │ ├── MAV_MISSION_RESULT.java │ │ │ │ ├── MAV_MODE.java │ │ │ │ ├── MAV_MODE_FLAG.java │ │ │ │ ├── MAV_MODE_FLAG_DECODE_POSITION.java │ │ │ │ ├── MAV_MOUNT_MODE.java │ │ │ │ ├── MAV_PARAM_TYPE.java │ │ │ │ ├── MAV_POWER_STATUS.java │ │ │ │ ├── MAV_RESULT.java │ │ │ │ ├── MAV_ROI.java │ │ │ │ ├── MAV_SEVERITY.java │ │ │ │ ├── MAV_STATE.java │ │ │ │ ├── MAV_SYS_STATUS_SENSOR.java │ │ │ │ ├── MAV_TYPE.java │ │ │ │ ├── SERIAL_CONTROL_DEV.java │ │ │ │ └── SERIAL_CONTROL_FLAG.java │ │ │ └── Parser.java │ ├── TangoNodes │ │ ├── build.gradle │ │ ├── libs │ │ │ └── androidvioclient.jar │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── ologicinc │ │ │ │ └── rostango │ │ │ │ └── TangoNodes │ │ │ │ ├── depth │ │ │ │ ├── DepthPublisher.java │ │ │ │ ├── DepthViewSurface.java │ │ │ │ ├── RawImageListener.java │ │ │ │ ├── RosDepthViewSurface.java │ │ │ │ └── SuperFrame.java │ │ │ │ └── vio │ │ │ │ ├── TangoOdomPublisher.java │ │ │ │ ├── TangoPosePublisher.java │ │ │ │ ├── TangoTfPublisher.java │ │ │ │ └── VioNode.java │ │ │ └── res │ │ │ ├── drawable-hdpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-ldpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-mdpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-xhdpi │ │ │ └── ic_launcher.png │ │ │ ├── layout │ │ │ └── main.xml │ │ │ └── values │ │ │ └── strings.xml │ ├── build.gradle │ ├── gradle │ │ └── wrapper │ │ │ ├── gradle-wrapper.jar │ │ │ └── gradle-wrapper.properties │ ├── gradlew │ ├── gradlew.bat │ ├── package.xml │ ├── settings.gradle │ ├── tango_depthimage │ │ ├── build.gradle │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── ologicinc │ │ │ │ └── rostango │ │ │ │ └── tango_depthimage │ │ │ │ └── DepthScanActivity.java │ │ │ └── res │ │ │ ├── layout │ │ │ ├── layoutdepth.xml │ │ │ └── main.xml │ │ │ └── values │ │ │ ├── colors.xml │ │ │ ├── dimens.xml │ │ │ ├── strings.xml │ │ │ └── styles.xml │ ├── tango_pub │ │ ├── build.gradle │ │ ├── libs │ │ │ └── androidvioclient.jar │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── ologicinc │ │ │ │ └── rostango │ │ │ │ └── tango_pub │ │ │ │ └── TangoPub.java │ │ │ └── res │ │ │ ├── drawable-hdpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-ldpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-mdpi │ │ │ └── ic_launcher.png │ │ │ ├── drawable-xhdpi │ │ │ └── ic_launcher.png │ │ │ ├── layout │ │ │ └── main.xml │ │ │ └── values │ │ │ └── strings.xml │ ├── tango_serial │ │ ├── build.gradle │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── ologicinc │ │ │ │ └── rostango │ │ │ │ └── tango_serial │ │ │ │ ├── MainActivity.java │ │ │ │ ├── TangoHeartbeat.java │ │ │ │ ├── TangoSerial.java │ │ │ │ └── VioListenerNode.java │ │ │ └── res │ │ │ ├── layout │ │ │ ├── activity_main.xml │ │ │ └── main.xml │ │ │ ├── values │ │ │ └── strings.xml │ │ │ └── xml │ │ │ └── device_filter.xml │ ├── tango_vio │ │ ├── build.gradle │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── ologicinc │ │ │ │ └── rostango │ │ │ │ └── tango_vio │ │ │ │ └── TangoVio.java │ │ │ └── res │ │ │ ├── layout │ │ │ └── main.xml │ │ │ └── values │ │ │ └── strings.xml │ └── usbserial │ │ ├── build.gradle │ │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ └── java │ │ └── com │ │ └── github │ │ └── ologic │ │ └── android_ologic │ │ └── usbserial │ │ ├── driver │ │ ├── CdcAcmSerialDriver.java │ │ ├── CommonUsbSerialDriver.java │ │ ├── FtdiSerialDriver.java │ │ ├── UsbId.java │ │ ├── UsbSerialDriver.java │ │ ├── UsbSerialProber.java │ │ └── UsbSerialRuntimeException.java │ │ └── util │ │ └── HexDump.java │ ├── tango_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── tango_depth.launch │ │ ├── tango_urdf.launch │ │ ├── tango_vio.launch │ │ └── tango_vio_map.launch │ ├── package.xml │ ├── rviz │ │ ├── tango_depth.rviz │ │ ├── tango_vio.rviz │ │ └── tango_vio_map.rviz │ └── urdf │ │ ├── tango_phone.dae │ │ └── tango_phone.urdf │ └── tf2_android │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── build.gradle │ ├── gradle │ └── wrapper │ │ ├── gradle-wrapper.jar │ │ └── gradle-wrapper.properties │ ├── gradlew │ ├── gradlew.bat │ ├── insert_benchmark │ ├── build.gradle │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── org │ │ │ └── ros │ │ │ └── tf2 │ │ │ └── insert_benchmark │ │ │ └── BenchmarkActivity.java │ │ └── res │ │ ├── drawable-hdpi │ │ └── ic_launcher.png │ │ ├── drawable-ldpi │ │ └── ic_launcher.png │ │ ├── drawable-mdpi │ │ └── ic_launcher.png │ │ ├── drawable-xhdpi │ │ └── ic_launcher.png │ │ ├── layout │ │ └── main.xml │ │ └── values │ │ └── strings.xml │ ├── lookup_benchmark │ ├── build.gradle │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── org │ │ │ └── ros │ │ │ └── tf2 │ │ │ └── lookup_benchmark │ │ │ └── BenchmarkActivity.java │ │ └── res │ │ ├── drawable-hdpi │ │ └── ic_launcher.png │ │ ├── drawable-ldpi │ │ └── ic_launcher.png │ │ ├── drawable-mdpi │ │ └── ic_launcher.png │ │ ├── drawable-xhdpi │ │ └── ic_launcher.png │ │ ├── layout │ │ └── main.xml │ │ └── values │ │ └── strings.xml │ ├── ndk_library_scripts │ ├── README.md │ ├── build_boost.sh │ ├── build_catkin.sh │ ├── build_console_bridge.sh │ ├── build_tf2.sh │ ├── config.sh │ ├── do_everything.sh │ ├── files │ │ ├── android.toolchain.cmake.addendum │ │ ├── boost │ │ │ ├── 0001-fix-android-endianness.patch │ │ │ ├── 0002-filesystem-v2-vfs.patch │ │ │ ├── 0003-filesystem-v3-vfs.patch │ │ │ ├── 0004-boost-build-no-rt.patch │ │ │ └── user-config.jam.partial │ │ ├── sample_app │ │ │ ├── AndroidManifest.xml.in │ │ │ ├── custom_rules.xml.in │ │ │ ├── ic_launcher.png │ │ │ └── jni │ │ │ │ ├── Android.mk.in │ │ │ │ ├── Application.mk │ │ │ │ └── src │ │ │ │ └── test.cpp │ │ └── tfa │ │ │ ├── Android.mk │ │ │ └── Application.mk │ ├── get_boost.sh │ ├── get_catkin.sh │ ├── get_console_bridge.sh │ ├── get_ndk.sh │ ├── get_ros_stuff.sh │ ├── patch_boost.sh │ ├── prepare_boost.sh │ ├── sample_app.sh │ ├── setup_ndk_project.sh │ └── utils.sh │ ├── package.xml │ ├── settings.gradle │ ├── tf2_ros │ ├── build.gradle │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── org │ │ │ └── ros │ │ │ └── tf2_ros │ │ │ ├── Buffer.java │ │ │ ├── StaticTransformBroadcaster.java │ │ │ ├── TransformBroadcaster.java │ │ │ └── TransformListener.java │ │ ├── jni │ │ ├── Android.mk │ │ ├── Application.mk │ │ └── src │ │ │ ├── org_ros_tf2_ros_Buffer.cpp │ │ │ └── org_ros_tf2_ros_Buffer.h │ │ └── res │ │ ├── drawable │ │ └── icon.png │ │ ├── layout │ │ └── main.xml │ │ └── values │ │ └── strings.xml │ ├── tf2_test │ ├── build.gradle │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── org │ │ │ └── ros │ │ │ └── tf2 │ │ │ └── tf2_test │ │ │ ├── PermuteOption.java │ │ │ ├── Permuter.java │ │ │ ├── Tf2RunTests.java │ │ │ ├── Tf2SetupTests.java │ │ │ └── Tf2Test.java │ │ └── res │ │ ├── drawable-hdpi │ │ └── ic_launcher.png │ │ ├── drawable-ldpi │ │ └── ic_launcher.png │ │ ├── drawable-mdpi │ │ └── ic_launcher.png │ │ ├── drawable-xhdpi │ │ └── ic_launcher.png │ │ ├── layout │ │ └── main.xml │ │ └── values │ │ └── strings.xml │ ├── tf_broadcaster_app │ ├── build.gradle │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── org │ │ │ └── ros │ │ │ └── tf2 │ │ │ └── tf_broadcaster_app │ │ │ └── TfBroadcasterApp.java │ │ └── res │ │ ├── drawable-hdpi │ │ └── ic_launcher.png │ │ ├── drawable-ldpi │ │ └── ic_launcher.png │ │ ├── drawable-mdpi │ │ └── ic_launcher.png │ │ ├── drawable-xhdpi │ │ └── 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