├── README.md ├── aruco_ros ├── README.md ├── aruco │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ArucoThreshold.cfg │ ├── include │ │ └── aruco │ │ │ ├── aruco.h │ │ │ ├── arucofidmarkers.h │ │ │ ├── board.h │ │ │ ├── boarddetector.h │ │ │ ├── cameraparameters.h │ │ │ ├── cvdrawingutils.h │ │ │ ├── exports.h │ │ │ ├── marker.h │ │ │ └── markerdetector.h │ ├── package.xml │ └── src │ │ └── aruco │ │ ├── aruco_selectoptimalmarkers.cpp │ │ ├── arucofidmarkers.cpp │ │ ├── board.cpp │ │ ├── boarddetector.cpp │ │ ├── cameraparameters.cpp │ │ ├── cvdrawingutils.cpp │ │ ├── marker.cpp │ │ └── markerdetector.cpp ├── aruco_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── Marker.msg │ │ └── MarkerArray.msg │ └── package.xml └── aruco_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── ArucoThreshold.cfg │ ├── etc │ ├── marker26_5cm.jpg │ ├── marker26_5cm_margin_1cm.jpg │ ├── marker26_5cm_margin_2cm.jpg │ ├── marker582_5cm.jpg │ ├── marker582_5cm_margin_2cm.jpg │ ├── marker_in_hand.jpg │ ├── marker_in_object.jpg │ ├── reem_gazebo_floating_marker.png │ └── reem_gazebo_floating_marker_world.png │ ├── include │ └── aruco_ros │ │ └── aruco_ros_utils.h │ ├── launch │ ├── double.launch │ ├── marker_publisher.launch │ └── single.launch │ ├── package.xml │ └── src │ ├── aruco_ros_utils.cpp │ ├── marker_publish.cpp │ ├── simple_double.cpp │ └── simple_single.cpp ├── calibration ├── CMakeLists.txt ├── launch │ └── calibration.launch └── package.xml ├── easy_handeye ├── .gitignore ├── LICENSE.md ├── README.md ├── docs │ ├── example_launch │ │ └── ur5_kinect_calibration.launch │ └── img │ │ ├── 00_cannot_calibrate_movements.png │ │ ├── 00_cannot_calibrate_rviz.png │ │ ├── 01_start_movements.png │ │ ├── 01_start_rviz.png │ │ ├── 01_start_sample.png │ │ ├── 02_plan_movements.png │ │ ├── 02_sample_sample.png │ │ ├── 03_executed_movements.png │ │ ├── 03_executed_sample.png │ │ ├── 04_plan_show.png │ │ ├── 05_calibrated_movements.png │ │ ├── 05_calibrated_rviz.png │ │ ├── eye_on_base_aruco_pic.png │ │ ├── eye_on_base_ndi_pic.png │ │ └── eye_on_hand_aruco_pic.png ├── easy_handeye │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── calibrate.launch │ │ ├── publish.launch │ │ ├── rqt_easy_handeye.perspective │ │ ├── rviz_easy_handeye.config │ │ └── ur5_realsense_handeyecalibration.launch │ ├── msg │ │ ├── HandeyeCalibration.msg │ │ └── SampleList.msg │ ├── package.xml │ ├── scripts │ │ ├── calibrate.py │ │ ├── handeye_calibration_commander.py │ │ └── publish.py │ ├── setup.py │ ├── src │ │ └── easy_handeye │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ ├── handeye_calibration.py │ │ │ ├── handeye_calibrator.py │ │ │ ├── handeye_client.py │ │ │ └── handeye_server.py │ └── srv │ │ ├── ComputeCalibration.srv │ │ ├── RemoveSample.srv │ │ └── TakeSample.srv └── rqt_easy_handeye │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── plugin.xml │ ├── resource │ └── rqt_handeye.ui │ ├── scripts │ ├── rqt_calibrationmovements │ └── rqt_easy_handeye │ ├── setup.py │ └── src │ └── rqt_easy_handeye │ ├── .gitignore │ ├── __init__.py │ ├── rqt_calibrationmovements.py │ └── rqt_easy_handeye.py ├── images ├── 2019-05-29 22-52-52屏幕截图.png ├── 2019-05-29 23-00-46屏幕截图.png ├── 2019-05-29 23-03-55屏幕截图.png ├── automatic_movement.png ├── calibrate_launch_comment_out.png ├── calibration processing 1.png ├── center_ of_screen.png ├── center_of_screen.jpg ├── copy_matrix_to_launch1.png ├── copy_matrix_to_launch2.png ├── easy_handeye.png ├── finetune.png ├── loop.png ├── motionplanning speed.png ├── rqt_image_viewer.jpg └── rviz.png ├── realsense ├── .gitignore ├── .travis.yml ├── LICENSE ├── NOTICE ├── README.md ├── ddynamic_reconfigure │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── ddynamic_reconfigure │ │ │ ├── dd_param.h │ │ │ ├── dd_value.h │ │ │ ├── ddynamic_reconfigure.h │ │ │ └── param │ │ │ ├── dd_all_params.h │ │ │ ├── dd_bool_param.h │ │ │ ├── dd_double_param.h │ │ │ ├── dd_enum_param.h │ │ │ ├── dd_int_param.h │ │ │ └── dd_string_param.h │ ├── package.xml │ ├── src │ │ ├── dd_param.cpp │ │ ├── ddynamic_reconfigure.cpp │ │ └── param │ │ │ ├── dd_bool_param.cpp │ │ │ ├── dd_double_param.cpp │ │ │ ├── dd_enum_param.cpp │ │ │ ├── dd_int_param.cpp │ │ │ └── dd_string_param.cpp │ ├── test │ │ ├── TutorialParams.srv │ │ ├── dd_full_scale │ │ │ ├── dd_client.cpp │ │ │ ├── dd_full_scale.test │ │ │ └── dd_server.cpp │ │ ├── dd_param │ │ │ ├── dd_bool.test │ │ │ ├── dd_double.test │ │ │ ├── dd_enum.test │ │ │ ├── dd_int.test │ │ │ ├── dd_string.test │ │ │ ├── test_dd_bool.cpp │ │ │ ├── test_dd_double.cpp │ │ │ ├── test_dd_enum.cpp │ │ │ ├── test_dd_int.cpp │ │ │ └── test_dd_string.cpp │ │ ├── dd_value.test │ │ ├── ddynamic_reconfigure.test │ │ ├── test-all.sh │ │ ├── test_dd_value.cpp │ │ └── test_ddynamic_reconfigure.cpp │ └── uml │ │ ├── class_struct.puml │ │ ├── file_struct.puml │ │ └── ros_struct.puml └── realsense2_camera │ ├── .gitignore │ ├── CMakeLists.txt │ ├── include │ ├── base_realsense_node.h │ ├── constants.h │ ├── realsense_node_factory.h │ └── t265_realsense_node.h │ ├── launch │ ├── demo_pointcloud.launch │ ├── demo_t265.launch │ ├── includes │ │ └── nodelet.launch.xml │ ├── opensource_tracking.launch │ ├── rs_aligned_depth.launch │ ├── rs_camera.launch │ ├── rs_d400_and_t265.launch │ ├── rs_from_file.launch │ ├── rs_multiple_devices.launch │ ├── rs_rgbd.launch │ ├── rs_t265.launch │ ├── view_d415_model.launch │ ├── view_d435_model.launch │ ├── view_r410_model.launch │ └── view_r430_model.launch │ ├── meshes │ ├── d415.stl │ └── d435.dae │ ├── msg │ ├── Extrinsics.msg │ └── IMUInfo.msg │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── rviz │ ├── pointcloud.rviz │ ├── t265.rviz │ └── urdf.rviz │ ├── scripts │ ├── rs2_listener.py │ ├── rs2_test.py │ ├── set_cams_transforms.py │ └── show_center_depth.py │ ├── src │ ├── base_realsense_node.cpp │ ├── realsense_node_factory.cpp │ └── t265_realsense_node.cpp │ └── urdf │ ├── _d415.urdf.xacro │ ├── _d435.urdf.xacro │ ├── _r410.urdf.xacro │ ├── _r430.urdf.xacro │ ├── test_d415_camera.urdf.xacro │ ├── test_d435_camera.urdf.xacro │ ├── test_r410_camera.urdf.xacro │ └── test_r430_camera.urdf.xacro ├── result ├── easy_handeye_eye_on_hand.yaml ├── ur5_realsense_handeyecalibration_after2.launch ├── ur5_realsense_handeyecalibration_eye_on_base.yaml └── ur5_realsense_handeyecalibration_eye_on_hand.yaml ├── rgbd_launch ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── includes │ │ ├── depth.launch.xml │ │ ├── depth_registered.launch.xml │ │ ├── disparity.launch.xml │ │ ├── disparity_registered.launch.xml │ │ ├── ir.launch.xml │ │ ├── manager.launch.xml │ │ ├── processing.launch.xml │ │ └── rgb.launch.xml │ └── kinect_frames.launch ├── package.xml ├── scripts │ └── hydro-upgrade-notice └── test │ ├── camera.test │ ├── camera_for_test.launch │ └── test_rgbd_launch.py ├── universal_robot ├── .travis.yml ├── README.md ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── universal_robots │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── ur5_e_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── 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 │ │ ├── ur5_e_moveit_controller_manager.launch.xml │ │ ├── ur5_e_moveit_planning_execution.launch │ │ ├── ur5_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur5_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── 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 │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── test.launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ └── ur5_upload.launch │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── model.pdf │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro ├── ur_e_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── test.launch │ │ ├── ur10e_upload.launch │ │ ├── ur3e_upload.launch │ │ └── ur5e_upload.launch │ ├── meshes │ │ ├── ur10e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5e │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10e.urdf.xacro │ │ ├── ur10e_joint_limited_robot.urdf.xacro │ │ ├── ur10e_robot.urdf.xacro │ │ ├── ur3e.urdf.xacro │ │ ├── ur3e_joint_limited_robot.urdf.xacro │ │ ├── ur3e_robot.urdf.xacro │ │ ├── ur5e.urdf.xacro │ │ ├── ur5e_joint_limited_robot.urdf.xacro │ │ └── ur5e_robot.urdf.xacro ├── ur_e_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10e.yaml │ │ ├── arm_controller_ur3e.yaml │ │ ├── arm_controller_ur5e.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10e.launch │ │ ├── ur10e_joint_limited.launch │ │ ├── ur3e.launch │ │ ├── ur3e_joint_limited.launch │ │ ├── ur5e.launch │ │ └── ur5e_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ └── ur5_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ ├── __init__.py │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml ├── ur_modern_driver │ ├── .clang-format │ ├── .travis.rosinstall.kinetic │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── config │ │ ├── ur10_controllers.yaml │ │ ├── ur3_controllers.yaml │ │ └── ur5_controllers.yaml │ ├── include │ │ └── ur_modern_driver │ │ │ ├── bin_parser.h │ │ │ ├── event_counter.h │ │ │ ├── log.h │ │ │ ├── pipeline.h │ │ │ ├── queue │ │ │ ├── LICENSE.md │ │ │ ├── atomicops.h │ │ │ └── readerwriterqueue.h │ │ │ ├── ros │ │ │ ├── action_server.h │ │ │ ├── action_trajectory_follower_interface.h │ │ │ ├── controller.h │ │ │ ├── hardware_interface.h │ │ │ ├── io_service.h │ │ │ ├── lowbandwidth_trajectory_follower.h │ │ │ ├── mb_publisher.h │ │ │ ├── rt_publisher.h │ │ │ ├── service_stopper.h │ │ │ ├── trajectory_follower.h │ │ │ └── urscript_handler.h │ │ │ ├── tcp_socket.h │ │ │ ├── test │ │ │ ├── random_data.h │ │ │ └── utils.h │ │ │ ├── types.h │ │ │ └── ur │ │ │ ├── commander.h │ │ │ ├── consumer.h │ │ │ ├── factory.h │ │ │ ├── master_board.h │ │ │ ├── messages.h │ │ │ ├── messages_parser.h │ │ │ ├── parser.h │ │ │ ├── producer.h │ │ │ ├── robot_mode.h │ │ │ ├── rt_parser.h │ │ │ ├── rt_state.h │ │ │ ├── server.h │ │ │ ├── state.h │ │ │ ├── state_parser.h │ │ │ └── stream.h │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_compatible.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur10_ros_control.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur3_ros_control.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_compatible.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ ├── ur5_ros_control.launch │ │ └── ur_common.launch │ ├── package.xml │ ├── src │ │ ├── ros │ │ │ ├── action_server.cpp │ │ │ ├── controller.cpp │ │ │ ├── hardware_interface.cpp │ │ │ ├── lowbandwidth_trajectory_follower.cpp │ │ │ ├── mb_publisher.cpp │ │ │ ├── rt_publisher.cpp │ │ │ ├── service_stopper.cpp │ │ │ ├── trajectory_follower.cpp │ │ │ └── urscript_handler.cpp │ │ ├── ros_main.cpp │ │ ├── tcp_socket.cpp │ │ └── ur │ │ │ ├── commander.cpp │ │ │ ├── master_board.cpp │ │ │ ├── messages.cpp │ │ │ ├── robot_mode.cpp │ │ │ ├── rt_state.cpp │ │ │ ├── server.cpp │ │ │ └── stream.cpp │ ├── test_move.py │ └── tests │ │ ├── main.cpp │ │ ├── test_move.py │ │ └── ur │ │ ├── master_board.cpp │ │ ├── robot_mode.cpp │ │ └── rt_state.cpp └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotModeDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ └── SetPayload.srv ├── usb_cam ├── .travis.yml ├── AUTHORS.md ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── usb_cam │ │ └── usb_cam.h ├── launch │ └── usb_cam-test.launch ├── mainpage.dox ├── nodes │ └── usb_cam_node.cpp ├── package.xml └── src │ ├── LICENSE │ └── usb_cam.cpp └── vision_visp ├── .travis.sh ├── .travis.yml ├── CONTRIBUTING.md ├── COPYING ├── README.md ├── vision_visp ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── visp_auto_tracker ├── .gitignore ├── .gitmodules ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── flashcode_mbt │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README │ ├── cmd_line │ │ ├── CMakeLists.txt │ │ ├── cmd_line.cpp │ │ └── cmd_line.h │ ├── data │ │ ├── config.cfg │ │ ├── pattern.wrl │ │ └── pattern.xml │ ├── detectors │ │ ├── CMakeLists.txt │ │ ├── datamatrix │ │ │ ├── CMakeLists.txt │ │ │ ├── detector.cpp │ │ │ └── detector.h │ │ ├── detector_base.cpp │ │ ├── detector_base.h │ │ └── qrcode │ │ │ ├── CMakeLists.txt │ │ │ ├── detector.cpp │ │ │ └── detector.h │ ├── examples │ │ ├── complex.cpp │ │ └── simple.cpp │ ├── libauto_tracker │ │ ├── events.h │ │ ├── logfilewriter.hpp │ │ ├── states.hpp │ │ ├── threading.cpp │ │ ├── threading.h │ │ ├── tracking.cpp │ │ └── tracking.h │ └── script.sh ├── launch │ ├── tracklive_firewire.launch │ ├── tracklive_usb.launch │ └── tutorial.launch ├── models │ ├── calibration.ini │ ├── pattern.cao │ ├── pattern.cfg │ ├── pattern.wrl │ └── pattern.xml ├── package.xml ├── rosdoc.yaml └── src │ ├── main.cpp │ ├── names.cpp │ ├── names.h │ ├── node.cpp │ └── node.h ├── visp_bridge ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── visp_bridge │ │ ├── 3dpose.h │ │ ├── camera.h │ │ ├── image.h │ │ └── vpQuaternionVector.h ├── package.xml └── src │ ├── compat │ └── vpQuaternionVector.cpp │ └── conversions │ ├── 3dpose.cpp │ ├── camera.cpp │ ├── convert_cam_param_file.cpp │ └── image.cpp ├── visp_camera_calibration ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── launch │ ├── images │ │ ├── grid2d.fig │ │ ├── grid2d.pdf │ │ ├── grid36-01.pgm │ │ ├── grid36-02.pgm │ │ ├── grid36-03.pgm │ │ └── grid36-04.pgm │ └── lagadic_grid.launch ├── msg │ ├── CalibPoint.msg │ ├── CalibPointArray.msg │ ├── ImageAndPoints.msg │ └── ImagePoint.msg ├── package.xml ├── src │ ├── calibrator.cpp │ ├── calibrator.h │ ├── calibrator_main.cpp │ ├── camera.cpp │ ├── camera.h │ ├── camera_main.cpp │ ├── image_processing.cpp │ ├── image_processing.h │ ├── image_processing_main.cpp │ ├── names.cpp │ └── names.h └── srv │ └── calibrate.srv ├── visp_hand2eye_calibration ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── msg │ └── TransformArray.msg ├── package.xml ├── src │ ├── calibrator.cpp │ ├── calibrator.h │ ├── calibrator_main.cpp │ ├── client.cpp │ ├── client.h │ ├── client_main.cpp │ ├── names.cpp │ └── names.h └── srv │ ├── compute_effector_camera.srv │ ├── compute_effector_camera_quick.srv │ └── reset.srv └── visp_tracker ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cfg ├── ModelBasedSettings.cfg ├── 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