├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── ardrone_moves ├── CMakeLists.txt ├── launch │ └── ardrone_moves.launch ├── package.xml └── src │ └── ardrone_moves.cpp ├── boxplot.py ├── docs └── landing.gif ├── errors.py ├── errors_life_long.py ├── install_dependencies.sh ├── ped_traj_pred ├── CMakeLists.txt ├── include │ └── ped_traj_pred │ │ ├── kalman_xy_pos.hpp │ │ ├── ped_traj_pred.hpp │ │ └── predict_filter.hpp ├── launch │ └── kalman_pred.launch ├── msg │ └── PathWithId.msg ├── package.xml ├── rosdep.yaml └── src │ ├── kalman_xy_pos.cpp │ ├── ped_traj_pred.cpp │ └── predict_filter.cpp ├── summit_moves ├── CMakeLists.txt ├── launch │ ├── empty_world.launch~.xml │ └── summit_moves.launch ├── package.xml └── src │ └── summit_moves.cpp ├── takeoff ├── CMakeLists.txt ├── launch │ ├── ardrone_teleop.launch │ ├── both.launch │ └── only_quad_real.launch ├── msg │ └── GroundtruthAltitude.msg ├── package.xml ├── rviz_config │ └── summit_with_quadrotor.rviz ├── src │ ├── ardrone_joystick.cpp │ ├── robot_state_broadcaster.cpp │ └── takeoff.cpp └── worlds │ ├── final_world.world~ │ ├── jjaa_world.world~ │ └── takeoff.world ├── thirdparty ├── summit_xl │ ├── robotnik_sensors │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── hector_slam │ │ │ ├── README.txt │ │ │ ├── _gitignore │ │ │ ├── hector_compressed_map_transport │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ └── map_to_image_node.cpp │ │ │ ├── hector_geotiff │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── include │ │ │ │ │ └── hector_geotiff │ │ │ │ │ │ ├── geotiff_writer.h │ │ │ │ │ │ ├── map_writer_interface.h │ │ │ │ │ │ └── map_writer_plugin_interface.h │ │ │ │ ├── launch │ │ │ │ │ ├── geotiff_mapper.launch │ │ │ │ │ └── geotiff_mapper_only.launch │ │ │ │ ├── maps │ │ │ │ │ └── _gitignore │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ ├── geotiff_node.cpp │ │ │ │ │ ├── geotiff_saver.cpp │ │ │ │ │ └── geotiff_writer │ │ │ │ │ └── geotiff_writer.cpp │ │ │ ├── hector_geotiff_plugins │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── hector_geotiff_plugins.xml │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ └── trajectory_geotiff_plugin.cpp │ │ │ ├── hector_imu_attitude_to_tf │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ └── example.launch │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ └── imu_attitude_to_tf_node.cpp │ │ │ ├── hector_imu_tools │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ ├── bertl_robot.launch │ │ │ │ │ └── jasmine_robot.launch │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ └── pose_and_orientation_to_imu_node.cpp │ │ │ ├── hector_map_server │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ └── hector_map_server.cpp │ │ │ ├── hector_map_tools │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── include │ │ │ │ │ └── hector_map_tools │ │ │ │ │ │ └── HectorMapTools.h │ │ │ │ └── package.xml │ │ │ ├── hector_mapping │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── include │ │ │ │ │ └── hector_slam_lib │ │ │ │ │ │ ├── map │ │ │ │ │ │ ├── GridMap.h │ │ │ │ │ │ ├── GridMapBase.h │ │ │ │ │ │ ├── GridMapCacheArray.h │ │ │ │ │ │ ├── GridMapLogOdds.h │ │ │ │ │ │ ├── GridMapReflectanceCount.h │ │ │ │ │ │ ├── GridMapSimpleCount.h │ │ │ │ │ │ ├── MapDimensionProperties.h │ │ │ │ │ │ ├── OccGridMapBase.h │ │ │ │ │ │ ├── OccGridMapUtil.h │ │ │ │ │ │ └── OccGridMapUtilConfig.h │ │ │ │ │ │ ├── matcher │ │ │ │ │ │ └── ScanMatcher.h │ │ │ │ │ │ ├── scan │ │ │ │ │ │ └── DataPointContainer.h │ │ │ │ │ │ ├── slam_main │ │ │ │ │ │ ├── HectorSlamProcessor.h │ │ │ │ │ │ ├── MapProcContainer.h │ │ │ │ │ │ ├── MapRepMultiMap.h │ │ │ │ │ │ ├── MapRepSingleMap.h │ │ │ │ │ │ └── MapRepresentationInterface.h │ │ │ │ │ │ └── util │ │ │ │ │ │ ├── DrawInterface.h │ │ │ │ │ │ ├── HectorDebugInfoInterface.h │ │ │ │ │ │ ├── MapLockerInterface.h │ │ │ │ │ │ └── UtilFunctions.h │ │ │ │ ├── launch │ │ │ │ │ └── mapping_default.launch │ │ │ │ ├── msg │ │ │ │ │ ├── HectorDebugInfo.msg │ │ │ │ │ └── HectorIterData.msg │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ ├── HectorDebugInfoProvider.h │ │ │ │ │ ├── HectorDrawings.h │ │ │ │ │ ├── HectorMapMutex.h │ │ │ │ │ ├── HectorMappingRos.cpp │ │ │ │ │ ├── HectorMappingRos.h │ │ │ │ │ ├── PoseInfoContainer.cpp │ │ │ │ │ ├── PoseInfoContainer.h │ │ │ │ │ ├── main.cpp │ │ │ │ │ └── main_mapper.cpp │ │ │ ├── hector_marker_drawing │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── include │ │ │ │ │ └── hector_marker_drawing │ │ │ │ │ │ ├── DrawInterface.h │ │ │ │ │ │ └── HectorDrawings.h │ │ │ │ └── package.xml │ │ │ ├── hector_nav_msgs │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── package.xml │ │ │ │ └── srv │ │ │ │ │ ├── GetDistanceToObstacle.srv │ │ │ │ │ ├── GetNormal.srv │ │ │ │ │ ├── GetRecoveryInfo.srv │ │ │ │ │ ├── GetRobotTrajectory.srv │ │ │ │ │ └── GetSearchPosition.srv │ │ │ ├── hector_slam │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── package.xml │ │ │ ├── hector_slam_launch │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ ├── cityflyer_logfile_processing.launch │ │ │ │ │ ├── hector_ugv.launch │ │ │ │ │ ├── height_mapping.launch │ │ │ │ │ ├── mapping_box.launch │ │ │ │ │ ├── mpo700_mapping.launch │ │ │ │ │ ├── postproc_data.launch │ │ │ │ │ ├── postproc_qut_logs.launch │ │ │ │ │ ├── pr2os.launch │ │ │ │ │ └── tutorial.launch │ │ │ │ ├── package.xml │ │ │ │ └── rviz_cfg │ │ │ │ │ └── mapping_demo.rviz │ │ │ └── hector_trajectory_server │ │ │ │ ├── CHANGELOG.rst │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ └── hector_trajectory_server.cpp │ │ ├── meshes │ │ │ ├── antenna_3GO16.dae │ │ │ ├── antenna_3GO16.stl │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── axis_m5013.dae │ │ │ ├── axis_m5013.stl │ │ │ ├── axis_p5512.dae │ │ │ ├── axis_p5512.stl │ │ │ ├── hokuyo.png │ │ │ ├── hokuyo3d.dae │ │ │ ├── hokuyo3d.jpg │ │ │ ├── hokuyo3d.stl │ │ │ ├── hokuyo_urg_04lx.dae │ │ │ ├── hokuyo_ust_10lx.dae │ │ │ ├── hokuyo_utm_30lx.dae │ │ │ ├── hokuyo_utm_30lx.stl │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── kinectv2.dae │ │ │ ├── kinectv2.stl │ │ │ ├── sick_s3000.dae │ │ │ └── sick_s3000.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── all_sensors.urdf.xacro │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ ├── axis.urdf.xacro │ │ │ ├── axis_m5013.urdf.xacro │ │ │ ├── fotonic.urdf.xacro │ │ │ ├── gps.urdf.xacro │ │ │ ├── gps_with_mast.urdf.xacro │ │ │ ├── hokuyo3d.urdf.xacro │ │ │ ├── hokuyo_urg04lx.urdf.xacro │ │ │ ├── hokuyo_ust10lx.urdf.xacro │ │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ │ ├── imu.urdf.xacro │ │ │ ├── kinect.urdf.xacro │ │ │ ├── kinectv2.urdf.xacro │ │ │ └── sick_s3000.urdf.xacro │ ├── summit_xl_common │ │ ├── README.md │ │ ├── summit_xl_common │ │ │ ├── CMakeLists.txt │ │ │ └── package.xml │ │ ├── summit_xl_description │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ ├── summit_xl_hl_ext_rviz.launch │ │ │ │ ├── summit_xl_hl_rviz.launch │ │ │ │ ├── summit_xl_hls_omni_rviz.launch │ │ │ │ ├── summit_xl_nocam_rviz.launch │ │ │ │ ├── summit_xl_omni_rviz.launch │ │ │ │ ├── summit_xl_rviz.launch │ │ │ │ └── summit_xl_state_robot.launch │ │ │ ├── media │ │ │ │ └── materials │ │ │ │ │ ├── scripts │ │ │ │ │ └── aruco_visual_marker_6_marker.material │ │ │ │ │ └── textures │ │ │ │ │ └── aruco_mark_6.png │ │ │ ├── meshes │ │ │ │ ├── ar_2020.dae │ │ │ │ ├── aruco_mark_6.png │ │ │ │ ├── bases │ │ │ │ │ ├── ext │ │ │ │ │ │ ├── summit_xl_hl_ext_chassis.dae │ │ │ │ │ │ └── summit_xl_hl_ext_chassis.stl │ │ │ │ │ ├── graveyard │ │ │ │ │ │ ├── summit_xl_chassis.stl │ │ │ │ │ │ ├── summit_xl_covers.stl │ │ │ │ │ │ └── summit_xl_logos.stl │ │ │ │ │ ├── hls │ │ │ │ │ │ ├── summit_xl_hls.dae │ │ │ │ │ │ ├── summit_xl_hls.stl │ │ │ │ │ │ ├── summit_xl_hls_a.stl │ │ │ │ │ │ └── summit_xl_hls_b.stl │ │ │ │ │ ├── summit_xl_chassis.dae │ │ │ │ │ ├── summit_xl_chassis.stl │ │ │ │ │ ├── summit_xl_chassis_collision.dae │ │ │ │ │ ├── summit_xl_chassis_copy.dae │ │ │ │ │ ├── summit_xl_chassis_simple.stl │ │ │ │ │ ├── summit_xl_covers.stl │ │ │ │ │ ├── summit_xl_hl_chassis.dae │ │ │ │ │ └── summit_xl_logos.stl │ │ │ │ ├── structures │ │ │ │ │ ├── masts_lh.dae │ │ │ │ │ ├── masts_lh.stl │ │ │ │ │ ├── structure_hokuyo.dae │ │ │ │ │ ├── structure_hokuyo.stl │ │ │ │ │ ├── structure_ptz_rgbd_gps.dae │ │ │ │ │ └── structure_ptz_rgbd_gps.stl │ │ │ │ └── wheels │ │ │ │ │ ├── hls │ │ │ │ │ ├── mecawheel_a_rim.stl │ │ │ │ │ ├── mecawheel_a_rollers.stl │ │ │ │ │ ├── mecawheel_b_rim.stl │ │ │ │ │ └── mecawheel_b_rollers.stl │ │ │ │ │ ├── omni_wheel_1.dae │ │ │ │ │ ├── omni_wheel_2.dae │ │ │ │ │ ├── rubber_wheel_left.dae │ │ │ │ │ └── rubber_wheel_right.dae │ │ │ ├── package.xml │ │ │ ├── robots │ │ │ │ ├── summit_xl.urdf.xacro │ │ │ │ ├── summit_xl_hl.urdf.xacro │ │ │ │ ├── summit_xl_hl_ext.urdf.xacro │ │ │ │ ├── summit_xl_hl_omni.urdf.xacro │ │ │ │ ├── summit_xl_hls_omni.urdf.xacro │ │ │ │ └── summit_xl_omni.urdf.xacro │ │ │ ├── urdf │ │ │ │ ├── bases │ │ │ │ │ ├── summit_xl_base.gazebo.xacro │ │ │ │ │ ├── summit_xl_base.urdf.xacro │ │ │ │ │ ├── summit_xl_hl_base.urdf.xacro │ │ │ │ │ ├── summit_xl_hl_ext_base.urdf.xacro │ │ │ │ │ └── summit_xl_hls_base.urdf.xacro │ │ │ │ ├── platform │ │ │ │ │ ├── landing_indicator.urdf.xacro │ │ │ │ │ ├── landing_platform.urdf.xacro │ │ │ │ │ └── platform_cylinder.urdf.xacro │ │ │ │ ├── structures │ │ │ │ │ ├── structure_hokuyo.urdf.xacro │ │ │ │ │ └── structure_ptz_rgbd_gps.urdf.xacro │ │ │ │ └── wheels │ │ │ │ │ ├── omni_wheel.urdf.xacro │ │ │ │ │ └── rubber_wheel.urdf.xacro │ │ │ └── vrep │ │ │ │ ├── Robotnik_Summit_XL.ttm │ │ │ │ ├── Robotnik_Summit_XL.ttt │ │ │ │ ├── Robotnik_Summit_XL140701.ttm │ │ │ │ ├── Robotnik_Summit_XL_skid_140629.ttm │ │ │ │ └── version.txt │ │ ├── summit_xl_localization │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── summit_xl_localization │ │ │ │ │ └── navsat_transform_new.h │ │ │ ├── launch │ │ │ │ ├── navsat_transform_node.launch │ │ │ │ ├── robot_localization_complete.launch │ │ │ │ ├── robot_localization_odom.launch │ │ │ │ └── robot_localization_world.launch │ │ │ ├── package.xml │ │ │ ├── scripts │ │ │ │ ├── magneto.txt │ │ │ │ └── test.py │ │ │ └── src │ │ │ │ ├── navsat_transform_new.cpp │ │ │ │ ├── navsat_transform_new_node.cpp │ │ │ │ └── robot_localization_utils.cpp │ │ ├── summit_xl_navigation │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ ├── base_local_planner_params.yaml │ │ │ │ ├── costmap_common_params.yaml │ │ │ │ ├── global_costmap_params_map.yaml │ │ │ │ ├── global_costmap_params_no_map.yaml │ │ │ │ ├── local_costmap_params.yaml │ │ │ │ ├── move_base.yaml │ │ │ │ └── move_base_params.yaml │ │ │ ├── config_rviz │ │ │ │ └── rviz_satellite.rviz │ │ │ ├── launch │ │ │ │ ├── amcl.launch │ │ │ │ ├── move_base_amcl.launch │ │ │ │ ├── move_base_nomap.launch │ │ │ │ ├── rviz_satellite.launch │ │ │ │ ├── save_map.sh │ │ │ │ └── summit_xl_gmapping.launch │ │ │ ├── maps │ │ │ │ └── map1 │ │ │ │ │ ├── map1.pgm │ │ │ │ │ └── map1.yaml │ │ │ └── package.xml │ │ └── summit_xl_pad │ │ │ ├── .svn │ │ │ ├── entries │ │ │ ├── format │ │ │ ├── pristine │ │ │ │ ├── 25 │ │ │ │ │ └── 2566a21c037a4185ef64aceff30bf085c6f5bb6e.svn-base │ │ │ │ ├── 94 │ │ │ │ │ └── 94eb45ee6bb3f2773656a1933dad1bf1866db671.svn-base │ │ │ │ ├── 97 │ │ │ │ │ └── 97e47be355f5d618b9cbce2f91501fd7d1a2aab1.svn-base.xml │ │ │ │ ├── 98 │ │ │ │ │ └── 98aae4ef4be676b93e274a241dd94e9cd464ed3a.svn-base │ │ │ │ ├── 7a │ │ │ │ │ └── 7adba587afe98b08c226fef31ff3c0363ddd3f50.svn-base │ │ │ │ ├── b8 │ │ │ │ │ └── b8b16d9c1eb1ee317d4cb37debbf0aeaada82f32.svn-base.xml │ │ │ │ ├── ca │ │ │ │ │ └── cafca5cfae770816ce022d4ba40e29a086d02c34.svn-base │ │ │ │ ├── df │ │ │ │ │ └── df607f1a4c2967df580ba56d5477d317399b9143.svn-base │ │ │ │ └── fb │ │ │ │ │ └── fbaca4bc98cf09bf5e62b1ad166e3e58e3ab3523.svn-base │ │ │ └── wc.db │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ ├── logitech.yaml │ │ │ ├── ps3.yaml │ │ │ ├── ps4.yaml │ │ │ └── thrustmaster.yaml │ │ │ ├── launch │ │ │ ├── summit_xl_pad.launch │ │ │ └── summit_xl_pad_ps4.launch │ │ │ ├── package.xml │ │ │ ├── src │ │ │ └── summit_xl_pad.cpp │ │ │ └── srv │ │ │ └── enable_disable_pad.srv │ └── summit_xl_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── summit_xl_control │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── summit_xl_control.yaml │ │ │ ├── summit_xl_hls_control.yaml │ │ │ ├── summit_xl_omni_control.yaml │ │ │ └── twist_mux.yaml │ │ ├── launch │ │ │ ├── summit_xl_control.launch │ │ │ ├── summit_xl_hls_control.launch │ │ │ └── summit_xl_omni_control.launch │ │ └── package.xml │ │ ├── summit_xl_gazebo │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── summit_xl.launch │ │ │ ├── summit_xl_hls_omni.launch │ │ │ ├── summit_xl_office.launch │ │ │ └── summit_xl_omni.launch │ │ ├── mainpage.dox │ │ ├── package.xml │ │ └── worlds │ │ │ ├── summit_xl.world │ │ │ └── summit_xl_office.world │ │ ├── summit_xl_robot_control │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── summit_xl.yaml │ │ │ ├── summit_xl_omni.yaml │ │ │ ├── summit_xl_robot_control.yaml │ │ │ └── twist_mux.yaml │ │ ├── launch │ │ │ ├── summit_xl_omni_robot_control.launch │ │ │ ├── summit_xl_robot_control.launch │ │ │ └── summit_xl_robot_control_vrep.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── summit_xl_robot_control.cpp │ │ │ └── summit_xl_robot_control_vrep.cpp │ │ ├── summit_xl_sim │ │ ├── CMakeLists.txt │ │ └── package.xml │ │ └── summit_xl_sim_bringup │ │ ├── CMakeLists.txt │ │ ├── launch │ │ ├── summit_xl_complete.launch │ │ └── summit_xl_movebase.launch │ │ └── package.xml ├── tum_simulator │ ├── .gitignore │ ├── README.md │ ├── cvg_sim_gazebo │ │ ├── CMakeLists.txt │ │ ├── Media │ │ │ └── models │ │ │ │ ├── 120m_landscape_smooth_tri.dae │ │ │ │ ├── 120m_landscape_smooth_tri.jpg │ │ │ │ ├── 120m_landscape_smooth_tri.stl │ │ │ │ ├── 3boxes_room.dae │ │ │ │ ├── Marker1.dae │ │ │ │ ├── Marker2.dae │ │ │ │ ├── coke_can.dae │ │ │ │ ├── coke_can.jpg │ │ │ │ ├── competition │ │ │ │ ├── end.dae │ │ │ │ ├── end.jpg │ │ │ │ ├── start.dae │ │ │ │ └── start.jpg │ │ │ │ ├── cube.dae │ │ │ │ ├── cvg_logo.dae │ │ │ │ ├── cylinder.dae │ │ │ │ ├── garching_kitchen.dae │ │ │ │ ├── garching_kitchen2.dae │ │ │ │ ├── grass_ground.dae │ │ │ │ ├── marker │ │ │ │ ├── alpha.dae │ │ │ │ ├── beta.dae │ │ │ │ ├── cent.dae │ │ │ │ ├── delta.dae │ │ │ │ ├── dollar.dae │ │ │ │ ├── epsilon.dae │ │ │ │ ├── eta.dae │ │ │ │ ├── iota.dae │ │ │ │ ├── kappa.dae │ │ │ │ ├── marker.dae │ │ │ │ ├── marker │ │ │ │ │ ├── Marker1.png │ │ │ │ │ ├── alpha.png │ │ │ │ │ ├── beta.png │ │ │ │ │ ├── cent.png │ │ │ │ │ ├── delta.png │ │ │ │ │ ├── dollar.png │ │ │ │ │ ├── epsilon.png │ │ │ │ │ ├── eta.png │ │ │ │ │ ├── iota.png │ │ │ │ │ ├── kappa.png │ │ │ │ │ ├── rail.png │ │ │ │ │ ├── theta.png │ │ │ │ │ ├── upsilon.png │ │ │ │ │ └── zeta.png │ │ │ │ ├── theta.dae │ │ │ │ ├── upsilon.dae │ │ │ │ └── zeta.dae │ │ │ │ ├── milk.dae │ │ │ │ ├── test.dae │ │ │ │ ├── textures │ │ │ │ ├── AmericanCherrySwatch5.jpg │ │ │ │ ├── Marker1.png │ │ │ │ ├── Marker2.png │ │ │ │ ├── Milk.tga │ │ │ │ ├── cube.png │ │ │ │ ├── cvg_logo.png │ │ │ │ ├── cylinder.png │ │ │ │ ├── garching_kitchen_texture (copy).jpg │ │ │ │ ├── garching_kitchen_texture.jpg │ │ │ │ ├── grass_texture.jpg │ │ │ │ ├── milkboxlayout.jpeg │ │ │ │ ├── wall-texture-surface.jpg │ │ │ │ └── wood-floorboards-texture.jpg │ │ │ │ ├── tum_kitchen.dae │ │ │ │ ├── usr │ │ │ │ └── stud │ │ │ │ │ └── huangho │ │ │ │ │ └── ros_workspace │ │ │ │ │ └── cvpr-ros-internal │ │ │ │ │ └── trunk │ │ │ │ │ └── cvg_simulator │ │ │ │ │ └── cvg_sim_gazebo │ │ │ │ │ └── Media │ │ │ │ │ └── models │ │ │ │ │ └── textures │ │ │ │ │ └── wood-floorboards-texture.jpg │ │ │ │ └── wood_floor.dae │ │ ├── launch │ │ │ ├── ardrone_testworld.launch │ │ │ ├── empty_world.launch │ │ │ ├── land_station1.launch │ │ │ ├── land_station2.launch │ │ │ ├── outdoor_flight.launch │ │ │ ├── rolling_landscape_120m.launch │ │ │ ├── spawn_quadrotor.launch │ │ │ ├── spawn_quadrotor_2.launch │ │ │ └── test.launch │ │ ├── meshes │ │ │ ├── hokuyo_utm30lx │ │ │ │ ├── blender │ │ │ │ │ └── hokuyo_utm30lx.blend │ │ │ │ ├── hokuyo_utm_30lx.dae │ │ │ │ ├── hokuyo_utm_30lx.stl │ │ │ │ └── hokuyo_utm_30lxTEST_SELF_FILTER.dae │ │ │ ├── kinect_camera │ │ │ │ ├── kinect_camera_simple.dae │ │ │ │ └── kinect_camera_simple.stl │ │ │ ├── quadrotor │ │ │ │ ├── blender │ │ │ │ │ ├── quadrotor_2.blend │ │ │ │ │ ├── quadrotor_2.blend1 │ │ │ │ │ ├── quadrotor_3.blend1 │ │ │ │ │ ├── quadrotor_CAD.blend │ │ │ │ │ ├── quadrotor_CAD2.blend │ │ │ │ │ ├── quadrotor_CAD2.blend1 │ │ │ │ │ ├── quadrotor_CAD2.blend2 │ │ │ │ │ └── quadrotor_base.blend │ │ │ │ ├── quadrotor_2.dae │ │ │ │ ├── quadrotor_2.stl │ │ │ │ ├── quadrotor_3.dae │ │ │ │ ├── quadrotor_3.stl │ │ │ │ ├── quadrotor_4.dae │ │ │ │ ├── quadrotor_4.stl │ │ │ │ ├── quadrotor_base.dae │ │ │ │ └── quadrotor_base.stl │ │ │ ├── sonar_sensor │ │ │ │ ├── blender │ │ │ │ │ └── max_sonar_ez4.blend │ │ │ │ └── max_sonar_ez4.dae │ │ │ └── thermaleye_camera │ │ │ │ ├── thermaleye_camera_hector_v1.dae │ │ │ │ ├── thermaleye_camera_hector_v1.stl │ │ │ │ ├── thermaleye_camera_hector_v2.dae │ │ │ │ └── thermaleye_camera_hector_v2.stl │ │ ├── models │ │ │ ├── banner_alpha.model │ │ │ ├── banner_beta.model │ │ │ ├── banner_cent.model │ │ │ ├── banner_delta.model │ │ │ ├── banner_dollar.model │ │ │ ├── banner_epsilon.model │ │ │ ├── banner_eta.model │ │ │ ├── banner_iota.model │ │ │ ├── banner_kappa.model │ │ │ ├── banner_theta.model │ │ │ ├── banner_upsilon.model │ │ │ ├── banner_zeta.model │ │ │ ├── competition_end.model │ │ │ ├── competition_start.model │ │ │ ├── cvg_logo.model │ │ │ ├── cylinder.model │ │ │ ├── grass_ground.model │ │ │ ├── marker.model │ │ │ ├── marker_1.model │ │ │ ├── station_marker1.model │ │ │ ├── table.model │ │ │ └── wood_floor.model │ │ ├── objects │ │ │ ├── milk.urdf │ │ │ ├── station_marker1.model │ │ │ └── station_marker2.model │ │ ├── package.xml │ │ ├── urdf │ │ │ ├── quadrotor.urdf.xacro │ │ │ ├── quadrotor_base.urdf.xacro │ │ │ ├── quadrotor_sensors.urdf.xacro │ │ │ └── sensors │ │ │ │ ├── generic_camera.urdf.xacro │ │ │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ │ │ └── sonar_sensor.urdf.xacro │ │ ├── worlds │ │ │ └── ardrone_testworld.world │ │ └── worlds_backup │ │ │ ├── 3boxes_room.world │ │ │ ├── competition.world │ │ │ ├── empty.world │ │ │ ├── garching_kitchen.world │ │ │ ├── rolling_landscape_120m.world │ │ │ ├── tum_kitchen.world │ │ │ └── wg_collada.world │ ├── cvg_sim_gazebo_plugins │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── hector_gazebo_plugins │ │ │ │ ├── reset_plugin.h │ │ │ │ └── sensor_model.h │ │ │ ├── hector_quadrotor_controller │ │ │ │ ├── quadrotor_simple_controller.h │ │ │ │ └── quadrotor_state_controller.h │ │ │ └── hector_quadrotor_gazebo_plugins │ │ │ │ └── gazebo_ros_baro.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── cvg_sim_gazebo_plugins │ │ │ │ └── __init__.py │ │ │ ├── gazebo_ros_baro.cpp │ │ │ ├── quadrotor_simple_controller.cpp │ │ │ ├── quadrotor_state_controller.cpp │ │ │ ├── reset_plugin.cpp │ │ │ └── test_trajectory.cpp │ │ ├── srv │ │ │ └── SetBias.srv │ │ └── urdf │ │ │ ├── quadrotor_plugins.urdf.xacro │ │ │ ├── quadrotor_sensors.urdf.xacro │ │ │ └── quadrotor_simple_controller.urdf.xacro │ ├── cvg_sim_msgs │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── cvg_sim_msgs │ │ │ │ ├── ControlSource.h │ │ │ │ └── RC │ │ │ │ └── functions.h │ │ ├── msg │ │ │ ├── Altimeter.msg │ │ │ ├── Altitude.msg │ │ │ ├── AttitudeCommand.msg │ │ │ ├── Compass.msg │ │ │ ├── ControllerState.msg │ │ │ ├── HeadingCommand.msg │ │ │ ├── HeightCommand.msg │ │ │ ├── MotorCommand.msg │ │ │ ├── MotorPWM.msg │ │ │ ├── MotorStatus.msg │ │ │ ├── PositionXYCommand.msg │ │ │ ├── RC.msg │ │ │ ├── RawImu.msg │ │ │ ├── RawMagnetic.msg │ │ │ ├── RawRC.msg │ │ │ ├── RuddersCommand.msg │ │ │ ├── ServoCommand.msg │ │ │ ├── Supply.msg │ │ │ ├── ThrustCommand.msg │ │ │ ├── VelocityXYCommand.msg │ │ │ ├── VelocityZCommand.msg │ │ │ └── YawrateCommand.msg │ │ ├── package.xml │ │ └── src │ │ │ └── cvg_sim_msgs │ │ │ ├── __init__.py │ │ │ └── __init__.pyc │ ├── message_to_tf │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ │ └── message_to_tf.cpp │ └── tum_simulator │ │ ├── CMakeLists.txt │ │ └── package.xml └── vision_opencv │ ├── README.rst │ ├── cv_bridge │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ └── cv_bridge-extras.cmake.in │ ├── doc │ │ ├── conf.py │ │ ├── index.rst │ │ └── mainpage.dox │ ├── include │ │ └── cv_bridge │ │ │ ├── cv_bridge.h │ │ │ └── rgb_colors.h │ ├── package.xml │ ├── python │ │ ├── CMakeLists.txt │ │ ├── __init__.py.plain.in │ │ └── cv_bridge │ │ │ ├── __init__.py │ │ │ └── core.py │ ├── rosdoc.yaml │ ├── setup.py │ ├── src │ │ ├── CMakeLists.txt │ │ ├── boost │ │ │ ├── README │ │ │ ├── core │ │ │ │ └── scoped_enum.hpp │ │ │ ├── endian │ │ │ │ ├── conversion.hpp │ │ │ │ └── detail │ │ │ │ │ └── intrinsic.hpp │ │ │ └── predef │ │ │ │ ├── detail │ │ │ │ ├── _cassert.h │ │ │ │ ├── endian_compat.h │ │ │ │ └── test.h │ │ │ │ ├── library │ │ │ │ └── c │ │ │ │ │ ├── _prefix.h │ │ │ │ │ └── gnu.h │ │ │ │ ├── make.h │ │ │ │ ├── os │ │ │ │ ├── android.h │ │ │ │ ├── bsd.h │ │ │ │ ├── bsd │ │ │ │ │ ├── bsdi.h │ │ │ │ │ ├── dragonfly.h │ │ │ │ │ ├── free.h │ │ │ │ │ ├── net.h │ │ │ │ │ └── open.h │ │ │ │ ├── ios.h │ │ │ │ └── macos.h │ │ │ │ ├── other │ │ │ │ └── endian.h │ │ │ │ └── version_number.h │ │ ├── cv_bridge.cpp │ │ ├── module.cpp │ │ ├── module.hpp │ │ ├── module_opencv2.cpp │ │ ├── module_opencv3.cpp │ │ ├── pycompat.hpp │ │ └── rgb_colors.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── conversions.py │ │ ├── enumerants.py │ │ ├── python_bindings.py │ │ ├── test_compression.cpp │ │ ├── test_endian.cpp │ │ ├── test_rgb_colors.cpp │ │ ├── utest.cpp │ │ └── utest2.cpp │ ├── image_geometry │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── doc │ │ ├── conf.py │ │ ├── index.rst │ │ └── mainpage.dox │ ├── include │ │ └── image_geometry │ │ │ ├── pinhole_camera_model.h │ │ │ └── stereo_camera_model.h │ ├── package.xml │ ├── rosdoc.yaml │ ├── setup.py │ ├── src │ │ ├── image_geometry │ │ │ ├── __init__.py │ │ │ └── cameramodels.py │ │ ├── pinhole_camera_model.cpp │ │ └── stereo_camera_model.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── directed.py │ │ └── utest.cpp │ ├── opencv_tests │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── pong.launch │ ├── mainpage.dox │ ├── nodes │ │ ├── broadcast.py │ │ ├── rosfacedetect.py │ │ └── source.py │ └── package.xml │ └── vision_opencv │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── trajectories.py ├── trajectories_life_long.py └── uav_vision ├── CMakeLists.txt ├── launch ├── detection_tracking.launch ├── platform_detection.launch ├── 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