├── README.md ├── chapter_10_codes ├── cool_arm │ ├── cool5000_controller │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cool5000.yaml │ │ │ ├── cool5000_trajectory_controller.yaml │ │ │ └── dynamixel_ports.yaml │ │ ├── launch │ │ │ ├── cool5000_controller.launch │ │ │ └── joint_state_aggregator.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── cool5000_play.py │ │ │ ├── cool5000_record.py │ │ │ ├── pose_zero.py │ │ │ └── set_all_torque.py │ │ └── src │ │ │ └── joint_state_aggregator.cpp │ ├── cool5000_description │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── manifest.xml │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── index_link.STL │ │ │ ├── index_tip_link.STL │ │ │ ├── link_1.STL │ │ │ ├── link_2.STL │ │ │ ├── link_3.STL │ │ │ ├── link_4.STL │ │ │ ├── link_5.STL │ │ │ ├── link_6.STL │ │ │ ├── link_7.STL │ │ │ ├── middle_link.STL │ │ │ ├── middle_tip_link.STL │ │ │ ├── thumb_base_link.STL │ │ │ ├── thumb_link.STL │ │ │ └── thumb_tip_link.STL │ │ └── robots │ │ │ └── cool5000_description.URDF │ └── cool5000_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── cool5000_description.srdf │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ │ ├── launch │ │ ├── 5k.launch │ │ ├── cool5000_description_moveit_controller_manager.launch.xml │ │ ├── cool5000_description_moveit_sensor_manager.launch.xml │ │ ├── default_warehouse_db.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 ├── cube.dae ├── grasp_object │ ├── model.config │ └── model.sdf ├── grasp_table │ ├── model.config │ └── model.sdf ├── mastering_ros_robot_description_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── view_arm.launch │ │ ├── view_mobile_robot.launch │ │ ├── view_pan_tilt_urdf.launch │ │ └── view_pan_tilt_xacro.launch │ ├── meshes │ │ ├── caster_wheel.stl │ │ └── sensors │ │ │ └── xtion_pro_live │ │ │ ├── xtion_pro_live.dae │ │ │ └── xtion_pro_live.png │ ├── package.xml │ ├── urdf.rviz │ ├── urdf.vcg │ └── urdf │ │ ├── diff_wheeled_robot.urdf │ │ ├── diff_wheeled_robot.xacro │ │ ├── differential_wheeled_robot.gv │ │ ├── differential_wheeled_robot.pdf │ │ ├── grasp_object.urdf │ │ ├── grasp_object.xacro │ │ ├── pan_tilt.urdf │ │ ├── pan_tilt.xacro │ │ ├── sensors │ │ ├── xtion_pro_live.gazebo.xacro │ │ └── xtion_pro_live.urdf.xacro │ │ ├── seven_dof_arm.gv │ │ ├── seven_dof_arm.pdf │ │ ├── seven_dof_arm.urdf │ │ ├── seven_dof_arm.xacro │ │ └── wheel.urdf.xacro ├── moveit_simple_grasps.zip ├── moveit_simple_grasps │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── GenerateGrasps.action │ ├── config │ │ ├── baxter_grasp_data.yaml │ │ ├── clam_grasp_data.yaml │ │ ├── reem_grasp_data.yaml │ │ └── romeo_grasp_data.yaml │ ├── include │ │ └── moveit_simple_grasps │ │ │ ├── custom_environment2.h │ │ │ ├── grasp_data.h │ │ │ ├── grasp_filter.h │ │ │ ├── moveit_blocks.h │ │ │ └── simple_grasps.h │ ├── launch │ │ ├── grasp_filter_test.launch │ │ ├── grasp_generator_server.launch │ │ ├── grasp_test.launch │ │ ├── grasp_test_rviz.launch │ │ └── simple_grasps.rviz │ ├── msg │ │ └── GraspGeneratorOptions.msg │ ├── package.xml │ ├── resources │ │ ├── demo.png │ │ └── filter.png │ ├── scripts │ │ └── server_test.py │ └── src │ │ ├── grasp_data.cpp │ │ ├── grasp_filter.cpp │ │ ├── grasp_filter_test.cpp │ │ ├── simple_grasps.cpp │ │ ├── simple_grasps_server.cpp │ │ └── simple_grasps_test.cpp ├── moveit_simple_grasps_1.zip ├── seven_dof_arm_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── sensors_rgbd.yaml │ │ └── seven_dof_arm.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_planning_execution.launch │ │ ├── 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 │ │ ├── seven_dof_arm_moveit_controller_manager.launch.xml │ │ ├── seven_dof_arm_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── seven_dof_arm_gazebo │ ├── CMakeLists.txt │ ├── config │ │ ├── seven_dof_arm_gazebo_control.yaml │ │ ├── seven_dof_arm_gazebo_joint_position.yaml │ │ ├── seven_dof_arm_gazebo_joint_states.yaml │ │ ├── seven_dof_arm_grasp_data (copy).yaml │ │ ├── seven_dof_arm_grasp_data.yaml │ │ └── trajectory_control.yaml │ ├── launch │ │ ├── grasp_generator_server.launch │ │ ├── pick_place.launch │ │ ├── seven_dof_arm_bringup.launch │ │ ├── seven_dof_arm_bringup_grasping.launch │ │ ├── seven_dof_arm_bringup_moveit.launch │ │ ├── seven_dof_arm_gazebo_control.launch │ │ ├── seven_dof_arm_gazebo_position.launch │ │ ├── seven_dof_arm_gazebo_states.launch │ │ ├── seven_dof_arm_trajectory_controller.launch │ │ ├── seven_dof_arm_world.launch │ │ └── seven_dof_arm_world_grasping.launch │ ├── package.xml │ ├── scripts │ │ ├── pick_and_place.py │ │ ├── pick_and_place_both_working_good.py │ │ ├── pick_and_place_ew.py │ │ ├── pick_and_place_pick_working.py │ │ └── pick_and_place_working_1.py │ └── worlds │ │ ├── grasp_final.sdf │ │ └── grasping.world └── seven_dof_arm_test │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── add_collision_objct.cpp │ ├── check_collision.cpp │ ├── find_ee_coordinate.cpp │ ├── move_group_plan_group_state.cpp │ ├── remove_collision_objct.cpp │ ├── test_custom.cpp │ ├── test_custom_coord.cpp │ └── test_random.cpp ├── chapter_11_codes ├── abb_irb6640_moveit_plugins │ ├── CMakeLists.txt │ ├── abb_irb6640_manipulator_moveit_ikfast_plugin_description.xml │ ├── include │ │ └── ikfast.h │ ├── package.xml │ ├── src │ │ ├── abb_irb6640_manipulator_ikfast_moveit_plugin.cpp │ │ └── abb_irb6640_manipulator_ikfast_solver.cpp │ └── update_ikfast_plugin.sh └── abb_moveit_plugin │ ├── abb_irb6640_manipulator_ikfast_solver.cpp │ ├── compute │ ├── ik_out.cpp │ ├── ikfast.h │ ├── ikfastdemo.cpp │ ├── irb6640.dae │ ├── irb6640.urdf │ └── output_ikfast61.cpp ├── chapter_12_codes └── no_codes.txt ├── chapter_1_codes └── mastering_ros_demo_pkg │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.txt │ ├── action │ └── Demo_action.action │ ├── launch │ ├── demo_msg.launch │ ├── demo_service.launch │ └── demo_topic.launch │ ├── msg │ └── demo_msg.msg │ ├── package.xml │ ├── src │ ├── demo_action_client.cpp │ ├── demo_action_server.cpp │ ├── demo_msg_publisher.cpp │ ├── demo_msg_subscriber.cpp │ ├── demo_service_client.cpp │ ├── demo_service_server.cpp │ ├── demo_topic_publisher.cpp │ └── demo_topic_subscriber.cpp │ └── srv │ └── demo_srv.srv ├── chapter_2_codes └── mastering_ros_robot_description_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ ├── view_arm.launch │ ├── view_mobile_robot.launch │ ├── view_pan_tilt_urdf.launch │ └── view_pan_tilt_xacro.launch │ ├── meshes │ ├── caster_wheel.stl │ └── sensors │ │ └── xtion_pro_live │ │ ├── xtion_pro_live.dae │ │ └── xtion_pro_live.png │ ├── package.xml │ ├── urdf.rviz │ ├── urdf.vcg │ └── urdf │ ├── diff_wheeled_robot.urdf │ ├── diff_wheeled_robot.xacro │ ├── differential_wheeled_robot.gv │ ├── differential_wheeled_robot.pdf │ ├── grasp_object.urdf │ ├── grasp_object.xacro │ ├── pan_tilt.urdf │ ├── pan_tilt.xacro │ ├── sensors │ ├── xtion_pro_live.gazebo.xacro │ └── xtion_pro_live.urdf.xacro │ ├── seven_dof_arm.gv │ ├── seven_dof_arm.pdf │ ├── seven_dof_arm.urdf │ ├── seven_dof_arm.xacro │ └── wheel.urdf.xacro ├── chapter_3_codes ├── diff_wheeled_robot_control │ ├── CMakeLists.txt │ ├── config │ │ └── joint_position_control.yaml │ ├── launch │ │ └── keyboard_teleop.launch │ ├── package.xml │ └── scripts │ │ └── diff_wheeled_robot_key ├── diff_wheeled_robot_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── diff_wheeled_gazebo.launch │ │ ├── diff_wheeled_gazebo_full.launch │ │ ├── gazebo.rviz │ │ ├── gmapping.launch │ │ ├── includes │ │ │ ├── amcl.launch.xml │ │ │ ├── gmapping.launch.xml │ │ │ └── move_base.launch.xml │ │ └── test_world.launch │ ├── maps │ │ ├── test.pgm │ │ └── test.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── world │ │ └── test ├── mastering_ros_robot_description_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── view_arm.launch │ │ ├── view_mobile_robot.launch │ │ ├── view_pan_tilt_urdf.launch │ │ └── view_pan_tilt_xacro.launch │ ├── meshes │ │ ├── caster_wheel.stl │ │ └── sensors │ │ │ └── xtion_pro_live │ │ │ ├── xtion_pro_live.dae │ │ │ └── xtion_pro_live.png │ ├── package.xml │ ├── urdf.rviz │ ├── urdf.vcg │ └── urdf │ │ ├── diff_wheeled_robot.urdf │ │ ├── diff_wheeled_robot.xacro │ │ ├── differential_wheeled_robot.gv │ │ ├── differential_wheeled_robot.pdf │ │ ├── grasp_object.urdf │ │ ├── grasp_object.xacro │ │ ├── pan_tilt.urdf │ │ ├── pan_tilt.xacro │ │ ├── sensors │ │ ├── xtion_pro_live.gazebo.xacro │ │ └── xtion_pro_live.urdf.xacro │ │ ├── seven_dof_arm.gv │ │ ├── seven_dof_arm.pdf │ │ ├── seven_dof_arm.urdf │ │ ├── seven_dof_arm.xacro │ │ └── wheel.urdf.xacro └── seven_dof_arm_gazebo │ ├── CMakeLists.txt │ ├── config │ ├── seven_dof_arm_gazebo_control.yaml │ ├── seven_dof_arm_gazebo_joint_position.yaml │ ├── seven_dof_arm_gazebo_joint_states.yaml │ ├── seven_dof_arm_grasp_data (copy).yaml │ ├── seven_dof_arm_grasp_data.yaml │ └── trajectory_control.yaml │ ├── launch │ ├── grasp_generator_server.launch │ ├── pick_place.launch │ ├── seven_dof_arm_bringup.launch │ ├── seven_dof_arm_bringup_grasping.launch │ ├── seven_dof_arm_bringup_moveit.launch │ ├── seven_dof_arm_gazebo_control.launch │ ├── seven_dof_arm_gazebo_position.launch │ ├── seven_dof_arm_gazebo_states.launch │ ├── seven_dof_arm_trajectory_controller.launch │ ├── seven_dof_arm_world.launch │ └── seven_dof_arm_world_grasping.launch │ ├── package.xml │ ├── scripts │ ├── pick_and_place.py │ ├── pick_and_place_both_working_good.py │ ├── pick_and_place_pick_working.py │ └── pick_and_place_working_1.py │ └── worlds │ ├── grasp_final.sdf │ └── grasping.world ├── chapter_4_codes ├── diff_wheeled_robot_control │ ├── CMakeLists.txt │ ├── config │ │ └── joint_position_control.yaml │ ├── launch │ │ └── keyboard_teleop.launch │ ├── package.xml │ └── scripts │ │ └── diff_wheeled_robot_key ├── diff_wheeled_robot_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── diff_wheeled_gazebo.launch │ │ ├── diff_wheeled_gazebo_full.launch │ │ ├── gazebo.rviz │ │ ├── gmapping.launch │ │ ├── includes │ │ │ ├── amcl.launch.xml │ │ │ ├── gmapping.launch.xml │ │ │ └── move_base.launch.xml │ │ └── test_world.launch │ ├── maps │ │ ├── willo.pgm │ │ └── willo.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── world │ │ └── test ├── seven_dof_arm_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── sensors_rgbd.yaml │ │ └── seven_dof_arm.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_planning_execution.launch │ │ ├── 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 │ │ ├── seven_dof_arm_moveit_controller_manager.launch.xml │ │ ├── seven_dof_arm_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── seven_dof_arm_gazebo │ ├── CMakeLists.txt │ ├── config │ │ ├── seven_dof_arm_gazebo_control.yaml │ │ ├── seven_dof_arm_gazebo_joint_position.yaml │ │ ├── seven_dof_arm_gazebo_joint_states.yaml │ │ ├── seven_dof_arm_grasp_data (copy).yaml │ │ ├── seven_dof_arm_grasp_data.yaml │ │ └── trajectory_control.yaml │ ├── launch │ │ ├── grasp_generator_server.launch │ │ ├── pick_place.launch │ │ ├── seven_dof_arm_bringup.launch │ │ ├── seven_dof_arm_bringup_grasping.launch │ │ ├── seven_dof_arm_bringup_moveit.launch │ │ ├── seven_dof_arm_gazebo_control.launch │ │ ├── seven_dof_arm_gazebo_position.launch │ │ ├── seven_dof_arm_gazebo_states.launch │ │ ├── seven_dof_arm_trajectory_controller.launch │ │ ├── seven_dof_arm_world.launch │ │ └── seven_dof_arm_world_grasping.launch │ ├── package.xml │ ├── scripts │ │ ├── pick_and_place.py │ │ ├── pick_and_place_both_working_good.py │ │ ├── pick_and_place_pick_working.py │ │ └── pick_and_place_working_1.py │ └── worlds │ │ ├── grasp_final.sdf │ │ └── grasping.world └── seven_dof_arm_test │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── add_collision_objct.cpp │ ├── check_collision (copy).cpp │ ├── check_collision.cpp │ ├── find_ee_coordinate.cpp │ ├── move_group_plan_group_state.cpp │ ├── remove_collision_objct.cpp │ ├── test_custom.cpp │ ├── test_custom_coord.cpp │ └── test_random.cpp ├── chapter_5_codes ├── gazebo_basic_world_plugin │ ├── CMakeLists.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── hello_world.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── hello_world.cc.o │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── libhello_world.so │ ├── hello.world │ └── hello_world.cc ├── nodelet_hello_world │ ├── CMakeLists.txt │ ├── hello_world.launch │ ├── hello_world.xml │ ├── package.xml │ └── src │ │ └── hello_world.cpp └── pluginlib_calculator │ ├── CMakeLists.txt │ ├── calculator_plugins.xml │ ├── include │ └── pluginlib_calculator │ │ ├── calculator_base.h │ │ └── calculator_plugins.h │ ├── package.xml │ └── src │ ├── calculator_loader.cpp │ └── calculator_plugins.cpp ├── chapter_6_codes ├── my_controller_pkg │ ├── CMakeLists.txt │ ├── controller_plugins.xml │ ├── include │ │ └── my_controller_pkg │ │ │ └── my_controller_file.h │ ├── launch │ │ └── my_controller.launch │ ├── my_controller.yaml │ ├── package.xml │ └── src │ │ └── my_controller_file.cpp ├── rviz_telop_commander │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin_description.xml │ ├── rosdoc.yaml │ └── src │ │ ├── teleop_pad.cpp │ │ └── teleop_pad.h └── sample_ros_controller │ ├── CMakeLists.txt │ ├── package.xml │ ├── sample_ros_controller.xml │ └── src │ └── sample_ros_controller.cpp ├── chapter_7_codes ├── ADXL3xx_ROS │ ├── ADXL.fzz │ └── ADXL3xx_ROS.ino ├── Hello_Publisher │ └── Hello_Publisher.ino ├── Odom │ └── Odom.ino ├── ROS_Odroid_Examples │ ├── CMakeLists.txt │ ├── blink_led │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ │ ├── blink.cpp │ │ │ └── button.cpp │ └── ros_wiring_examples │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ ├── blink.cpp │ │ └── button.cpp ├── Ultrasonic │ ├── Ultrasonic.ino │ └── Untitled Sketch 2.fzz └── button_example │ └── button_example.ino ├── chapter_8_codes ├── cv_bridge_tutorial_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── sample_cv_bridge_node.cpp ├── fake_laser_pkg │ ├── CMakeLists.txt │ ├── launch │ │ └── start_laser.launch │ └── package.xml ├── head_camera.yaml ├── hokuyo_start.launch.txt ├── pcl_ros_tutorial │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── pcl_filter.cpp │ │ ├── pcl_publisher.cpp │ │ ├── pcl_read.cpp │ │ └── pcl_write.cpp └── usb_cam-test.launch.txt └── chapter_9_codes ├── bag_encoder.bag ├── chefbot ├── chefbot │ ├── chefbot_bringup │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── 3dsensor.launch │ │ │ ├── amcl_demo.launch │ │ │ ├── gmapping_demo.launch │ │ │ ├── includes │ │ │ │ ├── amcl.launch.xml │ │ │ │ ├── gmapping.launch.xml │ │ │ │ ├── move_base.launch.xml │ │ │ │ ├── safety_controller.launch.xml │ │ │ │ └── velocity_smoother.launch.xml │ │ │ ├── keyboard_teleop.launch │ │ │ ├── model_robot.launch │ │ │ ├── robot_standalone.launch │ │ │ ├── view_navigation.launch │ │ │ └── view_robot.launch │ │ ├── map │ │ │ ├── hotel1.pgm │ │ │ └── hotel1.yaml │ │ ├── package.xml │ │ ├── param │ │ │ ├── base_local_planner_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── dwa_local_planner_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ ├── move_base_params.yaml │ │ │ ├── mux.yaml │ │ │ └── teleop.yaml │ │ ├── rviz │ │ │ ├── model.rviz │ │ │ ├── navigation.rviz │ │ │ └── robot.rviz │ │ └── scripts │ │ │ ├── SerialDataGateway.py │ │ │ ├── SerialDataGateway.pyc │ │ │ ├── bkup_working │ │ │ ├── DeadReckoning.py │ │ │ ├── GoalsSequencer.py │ │ │ ├── SerialDataGateway.pyc │ │ │ ├── arduino (copy).py │ │ │ ├── arduino.py │ │ │ ├── arduino.py_bkup │ │ │ ├── arduino_bkup.py │ │ │ ├── base_controller.py │ │ │ ├── err │ │ │ ├── launchpad_node (copy).py │ │ │ ├── launchpad_process_node (copy).py │ │ │ ├── launchpad_process_node.py │ │ │ ├── launchpad_process_node.py_edited_not_working │ │ │ ├── launchpad_robot_teleop_key │ │ │ ├── lpid_velocity.py │ │ │ ├── murray_demo.py │ │ │ ├── murray_demo_test.py │ │ │ ├── pid_velocity_sim.py │ │ │ ├── rpid_velocity.py │ │ │ ├── velocityLogger.py │ │ │ ├── velocityLogger.pyc │ │ │ ├── virtual_joystick.py │ │ │ ├── wheel_loopback.py │ │ │ └── wheel_scaler.py │ │ │ ├── chefbot_teleop_key │ │ │ ├── diff_tf.py │ │ │ ├── launchpad_node.py │ │ │ ├── pid_velocity.py │ │ │ ├── robot_gui.py │ │ │ ├── simple_navig_goals.py │ │ │ └── twist_to_motors.py │ ├── chefbot_description │ │ ├── CMakeLists.txt │ │ ├── meshes │ │ │ ├── base_plate.dae │ │ │ ├── create_body.tga │ │ │ └── wheel.dae │ │ ├── package.xml │ │ ├── robots │ │ │ ├── chefbot_circles_kinect.urdf.xacro │ │ │ └── roomba_circles_kinect.urdf.xacro │ │ └── urdf │ │ │ ├── bkup │ │ │ ├── chefbot_base.urdf.xacro │ │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ │ ├── chefbot_gazebo.urdf.xacro │ │ │ ├── chefbot_library.urdf.xacro │ │ │ ├── chefbot_properties.urdf.xacro │ │ │ └── common_properties.urdf.xacro │ │ │ ├── chefbot_base.urdf.xacro │ │ │ ├── chefbot_base.xacro │ │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ │ ├── chefbot_gazebo.urdf.xacro │ │ │ ├── chefbot_library.urdf.xacro │ │ │ ├── chefbot_properties.urdf.xacro │ │ │ ├── chefbot_rviz_base.urdf.xacro │ │ │ ├── chefbot_rviz_library.urdf.xacro │ │ │ ├── common_properties.urdf.xacro │ │ │ └── sensors │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ └── kinect.urdf.xacro │ └── chefbot_simulator │ │ └── chefbot_gazebo │ │ ├── CMakeLists.txt │ │ ├── launch │ │ ├── amcl_demo.launch │ │ ├── chefbot_empty_world.launch │ │ ├── chefbot_hotel_world.launch │ │ ├── chefbot_playground.launch │ │ ├── chefbot_room_world.launch │ │ ├── gmapping_demo.launch │ │ └── includes │ │ │ ├── chefbot_base.launch.xml │ │ │ └── chefbot_base.launch.xml~ │ │ ├── maps │ │ ├── playground.pgm │ │ ├── playground.yaml │ │ ├── room.pgm │ │ └── room.yaml │ │ ├── package.xml │ │ └── worlds │ │ ├── complete_hotel.sdf │ │ ├── empty.world │ │ ├── empty_.world │ │ ├── original │ │ └── empty.world │ │ ├── playground.world │ │ └── test_room.sdf ├── chefbot_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── 3dsensor.launch │ │ ├── amcl_demo.launch │ │ ├── gmapping_demo.launch │ │ ├── includes │ │ │ ├── amcl.launch.xml │ │ │ ├── gmapping.launch.xml │ │ │ ├── move_base.launch.xml │ │ │ ├── safety_controller.launch.xml │ │ │ └── velocity_smoother.launch.xml │ │ ├── keyboard_teleop.launch │ │ ├── model_robot.launch │ │ ├── robot_standalone.launch │ │ ├── view_navigation.launch │ │ └── view_robot.launch │ ├── map │ │ ├── hotel1.pgm │ │ └── hotel1.yaml │ ├── package.xml │ ├── param │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ └── text-base │ │ │ │ ├── ardros.yaml.svn-base │ │ │ │ ├── base_local_planner_params.yaml.svn-base │ │ │ │ ├── costmap_common_params.yaml.svn-base │ │ │ │ ├── global_costmap_params.yaml.svn-base │ │ │ │ ├── joystick.yaml.svn-base │ │ │ │ ├── local_costmap_params.yaml.svn-base │ │ │ │ └── teleop.yaml.svn-base │ │ ├── ardros.yaml │ │ ├── base_local_planner_params.yaml │ │ ├── board_config.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── encoders.yaml │ │ ├── global_costmap_params.yaml │ │ ├── joystick.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ ├── mux.yaml │ │ ├── serial.yaml │ │ └── teleop.yaml │ ├── rviz │ │ ├── model.rviz │ │ ├── navigation.rviz │ │ └── robot.rviz │ ├── scripts │ │ ├── SerialDataGateway.py │ │ ├── SerialDataGateway.pyc │ │ ├── bkup_working │ │ │ ├── DeadReckoning.py │ │ │ ├── GoalsSequencer.py │ │ │ ├── SerialDataGateway.pyc │ │ │ ├── arduino (copy).py │ │ │ ├── arduino.py │ │ │ ├── arduino.py_bkup │ │ │ ├── arduino_bkup.py │ │ │ ├── base_controller.py │ │ │ ├── err │ │ │ ├── launchpad_node (copy).py │ │ │ ├── launchpad_process_node (copy).py │ │ │ ├── launchpad_process_node.py │ │ │ ├── launchpad_process_node.py_edited_not_working │ │ │ ├── launchpad_robot_teleop_key │ │ │ ├── lpid_velocity.py │ │ │ ├── murray_demo.py │ │ │ ├── murray_demo_test.py │ │ │ ├── pid_velocity_sim.py │ │ │ ├── rpid_velocity.py │ │ │ ├── velocityLogger.py │ │ │ ├── velocityLogger.pyc │ │ │ ├── virtual_joystick.py │ │ │ ├── wheel_loopback.py │ │ │ └── wheel_scaler.py │ │ ├── chefbot_teleop_key │ │ ├── diff_tf.py │ │ ├── launchpad_node.py │ │ ├── pid_velocity.py │ │ ├── robot_gui.py │ │ ├── simple_navig_goals.py │ │ └── twist_to_motors.py │ └── src │ │ └── send_robot_goal.cpp ├── chefbot_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── base_plate.dae │ │ ├── create_body.tga │ │ └── wheel.dae │ ├── package.xml │ ├── robots │ │ ├── chefbot_circles_kinect.urdf.xacro │ │ └── roomba_circles_kinect.urdf.xacro │ └── urdf │ │ ├── bkup │ │ ├── chefbot_base.urdf.xacro │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ ├── chefbot_gazebo.urdf.xacro │ │ ├── chefbot_library.urdf.xacro │ │ ├── chefbot_properties.urdf.xacro │ │ └── common_properties.urdf.xacro │ │ ├── chefbot_base.urdf.xacro │ │ ├── chefbot_base.xacro │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ ├── chefbot_gazebo.urdf.xacro │ │ ├── chefbot_library.urdf.xacro │ │ ├── chefbot_properties.urdf.xacro │ │ ├── chefbot_rviz_base.urdf.xacro │ │ ├── chefbot_rviz_library.urdf.xacro │ │ ├── common_properties.urdf.xacro │ │ └── sensors │ │ ├── asus_xtion_pro.urdf.xacro │ │ └── kinect.urdf.xacro └── chefbot_simulator │ └── chefbot_gazebo │ ├── CMakeLists.txt │ ├── launch │ ├── amcl_demo.launch │ ├── chefbot_empty_world.launch │ ├── chefbot_hotel_world.launch │ ├── chefbot_playground.launch │ ├── chefbot_room_world.launch │ ├── gmapping_demo.launch │ └── includes │ │ ├── chefbot_base.launch.xml │ │ └── chefbot_base.launch.xml~ │ ├── maps │ ├── playground.pgm │ ├── playground.yaml │ ├── room.pgm │ └── room.yaml │ ├── package.xml │ └── worlds │ ├── complete_hotel.sdf │ ├── empty.world │ ├── empty.world(hotel) │ ├── empty.world11 │ ├── empty.world__ │ ├── empty.world__empty │ ├── empty.world_bkup │ ├── empty_.world │ ├── murray.world │ ├── original │ └── empty.world │ ├── playground.world │ └── test_room.sdf ├── chefbot_navig_cpp ├── CMakeLists.txt ├── launch │ └── robot_standalone.launch ├── package.xml └── src │ ├── bkup │ ├── diff_tf (copy).cpp │ ├── odometry_.cpp │ ├── wheel_odometry (copy).cpp │ └── wheel_odometry.cpp │ ├── diff_tf.cpp │ └── twist_to_motor.cpp ├── mastering_ros_robot_description_pkg ├── CMakeLists.txt ├── README.md ├── launch │ ├── view_arm.launch │ ├── view_mobile_robot.launch │ ├── view_pan_tilt_urdf.launch │ └── view_pan_tilt_xacro.launch ├── meshes │ ├── caster_wheel.stl │ └── sensors │ │ └── xtion_pro_live │ │ ├── xtion_pro_live.dae │ │ └── xtion_pro_live.png ├── package.xml ├── urdf.rviz ├── urdf.vcg └── urdf │ ├── diff_wheeled_robot.urdf │ ├── diff_wheeled_robot.xacro │ ├── differential_wheeled_robot.gv │ ├── differential_wheeled_robot.pdf │ ├── grasp_object.urdf │ ├── grasp_object.xacro │ ├── pan_tilt.urdf │ ├── pan_tilt.xacro │ ├── sensors │ ├── xtion_pro_live.gazebo.xacro │ └── xtion_pro_live.urdf.xacro │ ├── seven_dof_arm.gv │ ├── seven_dof_arm.pdf │ ├── seven_dof_arm.urdf │ ├── seven_dof_arm.xacro │ └── 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