├── .gitignore ├── LICENSE ├── README.md ├── lrauv_description ├── CMakeLists.txt ├── colcon.pkg ├── hooks │ ├── hook.dsv.in │ └── hook.sh.in ├── models │ ├── tethys │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── model.material │ │ │ └── textures │ │ │ │ ├── Tethys_Albedo.png │ │ │ │ ├── Tethys_Metalness.png │ │ │ │ ├── Tethys_Normal.png │ │ │ │ └── Tethys_Roughness.png │ │ ├── meshes │ │ │ ├── base.dae │ │ │ ├── propeller.dae │ │ │ └── tethys.dae │ │ ├── model.config │ │ └── model.sdf.in │ └── tethys_equipped │ │ ├── model.config │ │ └── model.sdf └── scripts │ └── description_generator.py ├── lrauv_gazebo_plugins ├── CMakeLists.txt ├── cmake │ └── Config.cmake.in ├── colcon.pkg ├── data │ ├── 2003080103_mb_l3_las.csv │ ├── 2003080103_mb_l3_las_1x1km.csv │ ├── 2003080103_mb_l3_las_1x1km.modded.csv │ ├── dummy.csv │ ├── interpolation_test.csv │ └── simple_test.csv ├── example │ ├── example_buoyancy.cc │ ├── example_comms_client.cc │ ├── example_comms_echo.cc │ ├── example_controller.cc │ ├── example_dvl_velocity.cc │ ├── example_elevator.cc │ ├── example_mass_shifter.cc │ ├── example_rudder.cc │ ├── example_spawn.cc │ ├── example_thruster.cc │ ├── keyboard_teleop.cc │ └── multi_lrauv_race.cc ├── hooks │ ├── hook.dsv.in │ └── hook.sh.in ├── include │ └── lrauv_gazebo_plugins │ │ └── comms │ │ ├── CommsClient.hh │ │ └── CommsPacket.hh ├── models │ ├── ABCSign_5m │ │ ├── meshes │ │ │ └── ABCSign_5m.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ └── ABCSign_5m.png │ └── turbidity_generator │ │ ├── materials │ │ └── textures │ │ │ └── smoke.png │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ └── turbidity_generator.png ├── proto │ ├── CMakeLists.txt │ └── lrauv_gazebo_plugins │ │ ├── dvl_beam_state.proto │ │ ├── dvl_kinematic_estimate.proto │ │ ├── dvl_range_estimate.proto │ │ ├── dvl_tracking_target.proto │ │ ├── dvl_velocity_tracking.proto │ │ ├── lrauv_acoustic_message.proto │ │ ├── lrauv_command.proto │ │ ├── lrauv_init.proto │ │ ├── lrauv_internal_comms.proto │ │ ├── lrauv_range_bearing_request.proto │ │ ├── lrauv_range_bearing_response.proto │ │ └── lrauv_state.proto ├── src │ ├── ControlPanelPlugin.cc │ ├── ControlPanelPlugin.hh │ ├── ControlPanelPlugin.qml │ ├── ControlPanelPlugin.qrc │ ├── DopplerVelocityLog.cc │ ├── DopplerVelocityLog.hh │ ├── DopplerVelocityLogSystem.cc │ ├── DopplerVelocityLogSystem.hh │ ├── HydrodynamicsPlugin.cc │ ├── HydrodynamicsPlugin.hh │ ├── LookupSensor.hh │ ├── RangeBearingPlugin.cc │ ├── RangeBearingPlugin.hh │ ├── ReferenceAxis.cc │ ├── ReferenceAxis.hh │ ├── ReferenceAxis.qml │ ├── ReferenceAxis.qrc │ ├── ScienceSensorsSystem.cc │ ├── ScienceSensorsSystem.hh │ ├── SpawnPanelPlugin.cc │ ├── SpawnPanelPlugin.hh │ ├── SpawnPanelPlugin.qml │ ├── SpawnPanelPlugin.qrc │ ├── TethysCommPlugin.cc │ ├── TethysCommPlugin.hh │ ├── TimeAnalysisPlugin.cc │ ├── TimeAnalysisPlugin.hh │ ├── WorldCommPlugin.cc │ ├── WorldCommPlugin.hh │ ├── WorldConfigPlugin.cc │ ├── WorldConfigPlugin.hh │ ├── WorldConfigPlugin.qml │ ├── WorldConfigPlugin.qrc │ └── comms │ │ ├── CMakeLists.txt │ │ └── CommsPacket.cc └── worlds │ ├── empty_environment.sdf │ ├── empy_expander.py │ ├── portuguese_ledge.sdf.em │ ├── race_at_portuguese_ledge.sdf.em │ ├── tethys_at_empty_environment.sdf │ └── tethys_at_portuguese_ledge.sdf.em ├── lrauv_system_tests ├── CMakeLists.txt ├── cmake │ └── Config.cmake.in ├── colcon.pkg ├── data │ └── minimal_time_varying.csv ├── include │ ├── TestConstants.hh.in │ └── lrauv_system_tests │ │ ├── Client.hh │ │ ├── ModelManipulator.hh │ │ ├── ModelObserver.hh │ │ ├── Publisher.hh │ │ ├── RangeBearingClient.hh │ │ ├── Subscription.hh │ │ ├── TestFixture.hh │ │ └── Util.hh ├── src │ ├── ModelManipulator.cc │ ├── ModelObserver.cc │ └── Publisher.cc ├── test │ ├── CMakeLists.txt │ ├── dynamics │ │ ├── CMakeLists.txt │ │ ├── test_hydrodynamics.cc │ │ └── test_hydrostatics.cc │ ├── environment │ │ ├── CMakeLists.txt │ │ ├── test_currents.cc │ │ └── test_surface_winds.cc │ ├── simulation │ │ ├── CMakeLists.txt │ │ ├── test_spawn.cc │ │ └── test_state.cc │ └── vehicle │ │ ├── CMakeLists.txt │ │ ├── test_acoustic_comms.cc │ │ ├── test_acoustic_comms_multi_vehicle.cc │ │ ├── test_ahrs.cc │ │ ├── test_battery_full_charge.cc │ │ ├── test_battery_half_charge.cc │ │ ├── test_battery_low_charge.cc │ │ ├── test_buoyancy_action.cc │ │ ├── test_drop_weight.cc │ │ ├── test_dvl.cc │ │ ├── test_dvl_acoustic_comms.cc │ │ ├── test_elevator_action.cc │ │ ├── test_mass_shifter.cc │ │ ├── test_propeller_action.cc │ │ ├── test_range_bearing.cc │ │ ├── test_rudder_action.cc │ │ ├── test_sensor.cc │ │ └── test_sensor_timeinterpolation.cc └── worlds │ ├── acoustic_comms_fixture.sdf │ ├── acoustic_comms_multi_vehicle.sdf │ ├── bottomless_pit.sdf │ ├── buoyant_tethys.sdf │ ├── buoyant_tethys_at_depth.sdf │ ├── buoyant_tethys_half_battery.sdf │ ├── buoyant_tethys_low_battery.sdf │ ├── empty_environment.sdf │ ├── flat_seabed.sdf │ ├── flat_seabed_two_vehicles.sdf │ ├── flat_tethys_no_damping.sdf │ ├── star_world.sdf │ ├── static_buoyant_tethys.sdf │ ├── tilted_tethys_no_damping.sdf │ ├── underwater_currents.csv │ ├── underwater_currents.sdf │ ├── windy_tethys.sdf │ └── windy_tethys_at_depth.sdf └── tools ├── lint ├── clang_tidy.sh ├── code_check.sh ├── cppcheck_rules │ ├── header_guard.rule │ └── namespace_AZ.rule ├── cpplint.py └── cpplint_to_cppcheckxml.py └── setup ├── Dockerfile ├── build-then-test.sh ├── enter-container.sh ├── entrypoint.sh └── workspace.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/osrf/lrauv/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/osrf/lrauv/HEAD/LICENSE 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