├── LICENSE ├── README.md ├── chessbot ├── CMakeLists.txt ├── Makefile ├── arm_2d.m ├── arm_2d.png ├── arm_2d_cartesian.aux ├── arm_2d_cartesian.log ├── arm_2d_cartesian.pdf ├── arm_2d_cartesian.png ├── arm_2d_cartesian.tex ├── arm_parts.m ├── arm_parts.png ├── chess_piece.sdf ├── chessboard.sdf ├── morgan_defeated.pgn ├── morgan_defeated_lan.pgn ├── package.xml ├── pinch.jpg ├── pre-pinch.jpg ├── r2.bash ├── r2_chess_pgn.py ├── r2_chessboard_cli.py ├── r2_chessmaster.jpg ├── r2_chessmaster_pieces_knocked_over.jpg ├── r2_cli.py ├── r2_gazebo.png ├── r2_hand.py ├── r2_looking_at_chessboard.jpg ├── r2_mime.py ├── r2_mime_screenshot.jpg ├── robonaut-2-task-board.jpg └── spawn_chessboard.py ├── code ├── basics │ ├── CMakeLists.txt │ ├── action │ │ ├── Talk.action │ │ └── Timer.action │ ├── launch │ │ ├── listener.launch │ │ ├── listener_add_two_ints_server.launch │ │ ├── talker_listener.launch │ │ ├── talker_listener_param.launch │ │ ├── talker_listener_param_include.launch │ │ ├── talker_listener_remap.launch │ │ ├── talker_listener_screen.launch │ │ └── talker_listener_test.launch │ ├── manifest.xml │ ├── msg │ │ └── Complex.msg │ ├── src │ │ ├── cosine_wave.py │ │ ├── doubler.py │ │ ├── fancy_action_client.py │ │ ├── fancy_action_server.py │ │ ├── message_publisher.py │ │ ├── message_subscriber.py │ │ ├── pyttsx_client.py │ │ ├── pyttsx_example.py │ │ ├── pyttsx_server.py │ │ ├── service_client.py │ │ ├── service_server.py │ │ ├── simple_action_client.py │ │ ├── simple_action_server.py │ │ ├── sine_wave.py │ │ ├── test_talker.py │ │ ├── topic_publisher.py │ │ └── topic_subscriber.py │ └── srv │ │ └── WordCount.srv ├── cougarbot │ ├── control.bash │ ├── controllers.yaml │ ├── cougarbot.launch │ ├── cougarbot.urdf │ └── package.xml ├── cougarbot_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── cougarbot.srdf │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── all.launch │ │ ├── cougarbot_moveit_controller_manager.launch.xml │ │ ├── cougarbot_moveit_sensor_manager.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── cpp │ ├── CMakeLists.txt │ ├── CMakeLists.txt.minimal │ ├── action │ │ └── Sample.action │ ├── package.xml │ ├── src │ │ ├── action_client.cpp │ │ ├── action_server.cpp │ │ ├── minimal.cpp │ │ ├── service_client.cpp │ │ ├── service_server.cpp │ │ ├── topic_publisher.cpp │ │ └── topic_subscriber.cpp │ └── srv │ │ └── WordCount.srv ├── mapping │ ├── maps │ │ ├── willow.pgm │ │ └── willow.yaml │ └── package.xml ├── navigation │ └── src │ │ └── patrol.py ├── patrol │ └── src │ │ ├── better_patrol_fsm.py │ │ ├── patrol_fsm.py │ │ ├── shapes.py │ │ ├── shapes2.py │ │ └── simple_fsm.py ├── stuff │ ├── action │ │ └── Rotation.action │ ├── actuator.py │ ├── fake_actuator.py │ ├── fake_sensor.py │ ├── service_sensor.py │ ├── srv │ │ ├── FakeSensor.srv │ │ └── Light.srv │ ├── topic_sensor.py │ ├── topic_sensor2.py │ └── topic_sensor3.py └── tortoisebot │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── package.xml │ ├── tortoisebot.launch │ ├── tortoisebot.urdf │ ├── tortoisebot_nav.launch │ └── tortoisebot_nav.urdf ├── followbot ├── CMakeLists.txt ├── course.launch ├── course.material ├── course.png ├── course.world ├── follower.py ├── follower_blind.py ├── follower_color_filter.py ├── follower_dumpster_imshow.png ├── follower_line_finder.py ├── follower_opencv.py ├── follower_p.py ├── line.png ├── line_finder.png ├── line_hsv.png ├── line_masked.png ├── package.xml ├── turtlebot_facing_dumpster.png └── turtlebot_on_course.png ├── stockroom_bot ├── CMakeLists.txt ├── deliver_to_counter.py ├── dock_with_bin.py ├── figures │ ├── ar_transforms.png │ ├── artag_examples.png │ ├── artag_frames.png │ ├── bin_gazebo.jpg │ ├── delivery.jpg │ ├── gazebo_pre_pickup.jpg │ ├── grasp_0.jpg │ ├── grasp_1.jpg │ ├── grasp_2.jpg │ ├── grasp_3.jpg │ ├── grasps.jpg │ ├── in_front_of_bins.png │ ├── make_grasp_montage.sh │ ├── octomap.png │ ├── returning.jpg │ ├── stockroom.jpg │ ├── stockroom_bins.jpg │ ├── stockroom_fetch.png │ └── stockroom_pr2.png ├── go_to_bin.py ├── gripper.py ├── initial_localization.py ├── look_at_bin.py ├── map.pgm ├── map.png ├── map.yaml ├── mapping.bag ├── markers.launch ├── models │ ├── bin │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model_abbreviated.sdf │ │ └── tags │ │ │ ├── generate_codes_and_materials.py │ │ │ └── make_montage.sh │ └── product_0 │ │ ├── model.config │ │ └── model.sdf ├── moveit.launch ├── moveit_sensors.yaml ├── nav.launch ├── package.xml ├── pick_up_item.py ├── sample_frames.pdf ├── stock_products.py ├── tuck_arm.py └── worlds │ ├── aisle.world │ ├── aisle.world.em │ ├── aisle.world.em.annotated │ ├── aisle.world.em.annotated.header │ ├── aisle.world.em.bins │ ├── aisle.world.em.walls │ ├── gen.sh │ └── stockroom.launch ├── teleop_bot ├── CMakeLists.txt ├── key_publisher.py ├── keys_to_twist.py ├── keys_to_twist_parameterized.py ├── keys_to_twist_using_rate.py ├── keys_to_twist_with_ramps.py ├── keystrokes.sh ├── package.xml ├── rqt_plot_teleop_bot_bangbang.png ├── rqt_plot_with_ramps.png ├── rviz_datatypes.png ├── rviz_from_side.png ├── rviz_kinect_bookshelf.png ├── rviz_kinect_depth_and_image.png ├── rviz_topdown.png ├── rviz_turtlebot_model.png ├── rviz_unconfigured.png ├── 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