├── LICENSE ├── README.md ├── sm_nav2_test_1 ├── CMakeLists.txt ├── README.md ├── config │ ├── mapper_params_online_sync.yaml │ ├── navigation_tree.xml │ ├── params_isaac_sim.yaml │ ├── rtx_carter_navigation_params.yaml │ ├── rtx_rviz_conf.rviz │ ├── sm_nav2_test_1_config.yaml │ └── waypoints_warehouse_1.yaml ├── docs │ ├── SmNav2Test1_2024-9-7_222547.svg │ └── SmNav2Test1_2024-9-7_222555.pdf ├── include │ └── sm_nav2_test_1 │ │ ├── modestates │ │ ├── ms_nav2_test_1_recovery_mode.hpp │ │ └── ms_nav2_test_1_run_mode.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_1.hpp │ │ ├── states │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_back_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_right_1.hpp │ │ └── st_switch_yard.hpp │ │ └── superstates │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── __pycache__ │ │ └── isaac_ros_detectnet_isaac_sim.launch.cpython-310.pyc │ ├── bringup_launch.py │ ├── carter_navigation_rtx.launch.py │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ ├── navigation_launch.py │ ├── online_sync_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ └── sm_nav2_test_1_launch.py ├── maps │ ├── carter_warehouse_navigation.png │ ├── carter_warehouse_navigation.yaml │ ├── improved_carter_warehouse_navigation.png │ └── improved_carter_warehouse_navigation.yaml ├── package.xml ├── scripts │ ├── __pycache__ │ │ └── isaac_ros_detectnet_isaac_sim.launch.cpython-310.pyc │ └── points_publisher.sh └── src │ └── sm_nav2_test_1 │ └── sm_nav2_test_1.cpp ├── sm_nav2_test_10 ├── CMakeLists.txt ├── README.md ├── config │ ├── default_nav_to_pose_bt.xml │ ├── extras │ │ ├── foundationpose_isaac_sim.rviz │ │ ├── params_isaac_sim.yaml │ │ ├── rtx_rviz_conf copy 2.rviz │ │ ├── rtx_rviz_conf copy.rviz │ │ └── rtx_rviz_conf2.rviz │ ├── nav2_config.yaml │ ├── navigation_waypoints_1.yaml │ ├── rviz_config.rviz │ ├── slam_toolbox_config.yaml │ └── sm_nav2_test_10_config.yaml ├── docs │ ├── SmNav2Test7_2025-4-11_224818.svg │ └── SmNav2Test7_2025-4-11_22484.pdf ├── include │ └── sm_nav2_test_10 │ │ ├── clients │ │ ├── cl_april_tag_detector │ │ │ ├── cl_april_tag_detector.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_detect_apriltag.hpp │ │ │ └── components │ │ │ │ └── cp_april_visualization.hpp │ │ ├── cl_foundationpose │ │ │ ├── cl_foundationpose.hpp │ │ │ ├── client_behaviors │ │ │ │ ├── cb_pause_object_tracking.hpp │ │ │ │ └── cb_track_object_pose.hpp │ │ │ └── components │ │ │ │ ├── cp_object_tracker_1.hpp │ │ │ │ ├── cp_object_tracker_tf.hpp │ │ │ │ └── tracker_utils.hpp │ │ ├── cl_lidar │ │ │ ├── cl_lidar.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_lidar_sensor.hpp │ │ │ └── components │ │ │ │ └── cp_forward_obstacle_detector.hpp │ │ ├── cl_mission_tracker │ │ │ ├── cl_mission_tracker.hpp │ │ │ └── client_behaviors │ │ │ │ └── cb_battery_decission.hpp │ │ └── cl_nav2z │ │ │ └── client_behaviors │ │ │ ├── cb_position_control_free_space.hpp │ │ │ ├── cb_spiral_motion.hpp │ │ │ ├── cb_track_path_odometry.hpp │ │ │ └── cb_track_path_slam.hpp │ │ ├── modestates │ │ ├── ms_nav2_test_10_recovery_mode.hpp │ │ ├── ms_nav2_test_10_run_mode.hpp │ │ └── ms_recover.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_mission_tracker.hpp │ │ ├── or_navigation.hpp │ │ ├── or_obstacle_perception.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_10.hpp │ │ ├── states │ │ ├── docking_sequence_states │ │ │ ├── st_recover_step_1.hpp │ │ │ ├── st_recover_step_10.hpp │ │ │ ├── st_recover_step_2.hpp │ │ │ ├── st_recover_step_3.hpp │ │ │ ├── st_recover_step_4.hpp │ │ │ ├── st_recover_step_5.hpp │ │ │ ├── st_recover_step_6.hpp │ │ │ ├── st_recover_step_7_a.hpp │ │ │ ├── st_recover_step_7_b.hpp │ │ │ ├── st_recover_step_8.hpp │ │ │ └── st_recover_step_9.hpp │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_battery_check.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_initial_return_to_origin.hpp │ │ ├── st_launch_nav_stack.hpp │ │ ├── st_launch_vision_pipeline.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_acquire_fp.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern_1.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_docking_sequence_1.hpp │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── extras │ │ ├── carter_navigation_rtx.launch original.py │ │ ├── carter_navigation_rtx.launch.py │ │ ├── fp_sim.launch.py │ │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ │ └── sm_nav2_test_6_launch - original.py │ ├── nav2_bringup_launch.py │ ├── nav2_launch.py │ ├── nav2_stack_launch.py │ ├── nav2_stack_launch2.py │ ├── rviz_launch.py │ ├── slam_stack_launch.py │ ├── slam_toolbox_launch.py │ ├── sm_nav2_test_10_launch.py │ ├── vision_pipeline_launch.py │ └── vision_pipeline_launch2.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ ├── extras │ │ └── fp_dock_pose_publisher.py │ └── lidar_completion.py └── src │ ├── clients │ └── nav2z_client │ │ └── client_behaviors │ │ ├── cb_position_control_free_space.cpp │ │ ├── cb_spiral_motion.cpp │ │ ├── cb_track_path_odometry.cpp │ │ └── cb_track_path_slam.cpp │ └── sm_nav2_test_10 │ └── sm_nav2_test_10.cpp ├── sm_nav2_test_2 ├── CMakeLists.txt ├── README.md ├── config │ ├── mapper_params_online_sync.yaml │ ├── navigation_tree.xml │ ├── params_isaac_sim.yaml │ ├── rtx_carter_navigation_params.yaml │ ├── rtx_rviz_conf.rviz │ ├── sm_nav2_test_2_config.yaml │ └── waypoints_warehouse_1.yaml ├── docs │ ├── SmNav2Test2_2024-11-11_231713.pdf │ └── SmNav2Test2_2024-11-11_231727.svg ├── include │ └── sm_nav2_test_2 │ │ ├── modestates │ │ ├── ms_nav2_test_2_recovery_mode.hpp │ │ └── ms_nav2_test_2_run_mode.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_2.hpp │ │ ├── states │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── bringup_launch.py │ ├── carter_navigation_rtx.launch.py │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ ├── navigation_launch.py │ ├── online_sync_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ └── sm_nav2_test_2_launch.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ └── lidar_completion.py └── src │ └── sm_nav2_test_2 │ └── sm_nav2_test_2.cpp ├── sm_nav2_test_3 ├── CMakeLists.txt ├── README.md ├── config │ ├── mapper_params_online_sync.yaml │ ├── navigation_tree.xml │ ├── params_isaac_sim.yaml │ ├── rtx_carter_navigation_params.yaml │ ├── rtx_rviz_conf.rviz │ ├── sm_nav2_test_3_config.yaml │ └── waypoints_warehouse_1.yaml ├── docs │ ├── SmNav2Test3_2024-9-7_222147.pdf │ └── SmNav2Test3_2024-9-7_222225.svg ├── include │ └── sm_nav2_test_3 │ │ ├── modestates │ │ ├── ms_nav2_test_3_recovery_mode.hpp │ │ └── ms_nav2_test_3_run_mode.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_3.hpp │ │ ├── states │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── bringup_launch.py │ ├── carter_navigation_rtx.launch.py │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ ├── navigation_launch.py │ ├── online_sync_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ └── sm_nav2_test_3_launch.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ └── lidar_completion.py └── src │ └── sm_nav2_test_3 │ └── sm_nav2_test_3.cpp ├── sm_nav2_test_4 ├── CMakeLists.txt ├── README.md ├── config │ ├── foundationpose_isaac_sim.rviz │ ├── mapper_params_online_sync.yaml │ ├── navigation_tree.xml │ ├── params_isaac_sim.yaml │ ├── rtx_carter_navigation_params.yaml │ ├── rtx_rviz_conf.rviz │ ├── rtx_rviz_conf2.rviz │ ├── sm_nav2_test_4_config.yaml │ └── waypoints_warehouse_1.yaml ├── docs │ ├── SmNav2Test4_2024-9-7_222147.pdf │ └── SmNav2Test4_2024-9-7_222225.svg ├── include │ └── sm_nav2_test_4 │ │ ├── clients │ │ └── cl_april_tag_detector │ │ │ ├── cl_april_tag_detector.hpp │ │ │ └── client_behaviors │ │ │ └── cb_detect_apriltag.hpp │ │ ├── modestates │ │ ├── ms_nav2_test_4_recovery_mode.hpp │ │ ├── ms_nav2_test_4_run_mode.hpp │ │ └── ms_recover.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_4.hpp │ │ ├── states │ │ ├── docking_sequence_states │ │ │ ├── st_recover_step_1.hpp │ │ │ ├── st_recover_step_2.hpp │ │ │ ├── st_recover_step_3.hpp │ │ │ ├── st_recover_step_4.hpp │ │ │ ├── st_recover_step_5.hpp │ │ │ ├── st_recover_step_6.hpp │ │ │ ├── st_recover_step_7.hpp │ │ │ └── st_recover_step_8.hpp │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_launch_vision_pipeline.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_docking_sequence_1.hpp │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── bringup_launch.py │ ├── carter_navigation_rtx.launch.py │ ├── extras │ │ ├── fp_sim.launch.py │ │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ │ └── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ ├── navigation_launch.py │ ├── online_sync_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ ├── sm_nav2_test_4_launch - original.py │ └── sm_nav2_test_4_launch.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ ├── fp_dock_pose_publisher.py │ └── lidar_completion.py └── src │ └── sm_nav2_test_4 │ └── sm_nav2_test_4.cpp ├── sm_nav2_test_5 ├── CMakeLists.txt ├── README.md ├── config │ ├── mapper_params_online_sync.yaml │ ├── navigation_tree.xml │ ├── params_isaac_sim.yaml │ ├── rtx_carter_navigation_params.yaml │ ├── rtx_rviz_conf.rviz │ ├── sm_nav2_test_5_config.yaml │ └── waypoints_warehouse_1.yaml ├── docs │ ├── SmNav2Test5_2024-9-7_222147.pdf │ └── SmNav2Test5_2024-9-7_222225.svg ├── include │ └── sm_nav2_test_5 │ │ ├── modestates │ │ ├── ms_nav2_test_5_recovery_mode.hpp │ │ └── ms_nav2_test_5_run_mode.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_5.hpp │ │ ├── states │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── bringup_launch.py │ ├── carter_navigation_rtx.launch.py │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ ├── navigation_launch.py │ ├── online_sync_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ └── sm_nav2_test_5_launch.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ └── lidar_completion.py └── src │ └── sm_nav2_test_5 │ └── sm_nav2_test_5.cpp ├── sm_nav2_test_6 ├── CMakeLists.txt ├── README.md ├── config │ ├── default_nav_to_pose_bt.xml │ ├── extras │ │ ├── foundationpose_isaac_sim.rviz │ │ ├── params_isaac_sim.yaml │ │ ├── rtx_rviz_conf copy 2.rviz │ │ ├── rtx_rviz_conf copy.rviz │ │ └── rtx_rviz_conf2.rviz │ ├── nav2_config.yaml │ ├── navigation_waypoints_1.yaml │ ├── rviz_config.rviz │ ├── slam_toolbox_config.yaml │ └── sm_nav2_test_6_config.yaml ├── docs │ ├── SmNav2Test6_2024-9-7_222147.pdf │ └── SmNav2Test6_2024-9-7_222225.svg ├── include │ └── sm_nav2_test_6 │ │ ├── clients │ │ ├── cl_april_tag_detector │ │ │ ├── cl_april_tag_detector.hpp │ │ │ └── client_behaviors │ │ │ │ └── cb_detect_apriltag.hpp │ │ └── cl_foundationpose │ │ │ ├── cl_foundationpose.hpp │ │ │ └── components │ │ │ └── cp_object_tracker_1.hpp │ │ ├── modestates │ │ ├── ms_nav2_test_4_recovery_mode.hpp │ │ ├── ms_nav2_test_4_run_mode.hpp │ │ └── ms_recover.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_6.hpp │ │ ├── states │ │ ├── docking_sequence_states │ │ │ ├── st_recover_step_1.hpp │ │ │ ├── st_recover_step_2.hpp │ │ │ ├── st_recover_step_3.hpp │ │ │ ├── st_recover_step_4.hpp │ │ │ ├── st_recover_step_5.hpp │ │ │ ├── st_recover_step_6.hpp │ │ │ ├── st_recover_step_7.hpp │ │ │ └── st_recover_step_8.hpp │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_acquire_sensors.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_launch_vision_pipeline.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_docking_sequence_1.hpp │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── extras │ │ ├── carter_navigation_rtx.launch original.py │ │ ├── carter_navigation_rtx.launch.py │ │ ├── fp_sim.launch.py │ │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ │ └── sm_nav2_test_6_launch - original.py │ ├── nav2_bringup_launch.py │ ├── nav2_launch.py │ ├── nav2_stack_launch.py │ ├── nav2_stack_launch2.py │ ├── rviz_launch.py │ ├── slam_stack_launch.py │ ├── slam_toolbox_launch.py │ ├── sm_nav2_test_6_launch.py │ ├── vision_pipeline_launch.py │ └── vision_pipeline_launch2.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ ├── extras │ │ └── fp_dock_pose_publisher.py │ └── lidar_completion.py └── src │ └── sm_nav2_test_6 │ └── sm_nav2_test_6.cpp ├── sm_nav2_test_7 ├── CMakeLists.txt ├── README.md ├── config │ ├── default_nav_to_pose_bt.xml │ ├── extras │ │ ├── foundationpose_isaac_sim.rviz │ │ ├── params_isaac_sim.yaml │ │ ├── rtx_rviz_conf copy 2.rviz │ │ ├── rtx_rviz_conf copy.rviz │ │ └── rtx_rviz_conf2.rviz │ ├── nav2_config.yaml │ ├── navigation_waypoints_1.yaml │ ├── rviz_config.rviz │ ├── slam_toolbox_config.yaml │ └── sm_nav2_test_7_config.yaml ├── docs │ ├── SmNav2Test7_2025-4-11_224818.svg │ └── SmNav2Test7_2025-4-11_22484.pdf ├── include │ └── sm_nav2_test_7 │ │ ├── clients │ │ ├── cl_april_tag_detector │ │ │ ├── cl_april_tag_detector.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_detect_apriltag.hpp │ │ │ └── components │ │ │ │ └── cp_april_visualization.hpp │ │ ├── cl_foundationpose │ │ │ ├── cl_foundationpose.hpp │ │ │ ├── client_behaviors │ │ │ │ ├── cb_pause_object_tracking.hpp │ │ │ │ └── cb_track_object_pose.hpp │ │ │ └── components │ │ │ │ ├── cp_object_tracker_1.hpp │ │ │ │ ├── cp_object_tracker_tf.hpp │ │ │ │ └── tracker_utils.hpp │ │ ├── cl_lidar │ │ │ ├── cl_lidar.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_lidar_sensor.hpp │ │ │ └── components │ │ │ │ └── cp_forward_obstacle_detector.hpp │ │ ├── cl_mission_tracker │ │ │ ├── cl_mission_tracker.hpp │ │ │ └── client_behaviors │ │ │ │ └── cb_battery_decission.hpp │ │ └── cl_nav2z │ │ │ └── client_behaviors │ │ │ ├── cb_position_control_free_space.hpp │ │ │ ├── cb_spiral_motion.hpp │ │ │ ├── cb_track_path_odometry.hpp │ │ │ └── cb_track_path_slam.hpp │ │ ├── modestates │ │ ├── ms_nav2_test_4_recovery_mode.hpp │ │ ├── ms_nav2_test_4_run_mode.hpp │ │ └── ms_recover.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_mission_tracker.hpp │ │ ├── or_navigation.hpp │ │ ├── or_obstacle_perception.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_7.hpp │ │ ├── states │ │ ├── docking_sequence_states │ │ │ ├── st_recover_step_1.hpp │ │ │ ├── st_recover_step_10.hpp │ │ │ ├── st_recover_step_2.hpp │ │ │ ├── st_recover_step_3.hpp │ │ │ ├── st_recover_step_4.hpp │ │ │ ├── st_recover_step_5.hpp │ │ │ ├── st_recover_step_6.hpp │ │ │ ├── st_recover_step_7_a.hpp │ │ │ ├── st_recover_step_7_b.hpp │ │ │ ├── st_recover_step_8.hpp │ │ │ └── st_recover_step_9.hpp │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── s_pattern_states │ │ │ ├── sti_spattern_forward_1.hpp │ │ │ ├── sti_spattern_forward_2.hpp │ │ │ ├── sti_spattern_forward_3.hpp │ │ │ ├── sti_spattern_forward_4.hpp │ │ │ ├── sti_spattern_loop_start.hpp │ │ │ ├── sti_spattern_rotate_1.hpp │ │ │ ├── sti_spattern_rotate_2.hpp │ │ │ ├── sti_spattern_rotate_3.hpp │ │ │ └── sti_spattern_rotate_4.hpp │ │ ├── st_backup_1.hpp │ │ ├── st_battery_check.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_initial_return_to_origin.hpp │ │ ├── st_launch_nav_stack.hpp │ │ ├── st_launch_vision_pipeline.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_to_waypoint_5.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_slam.hpp │ │ ├── st_pause_to_acquire_fp.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_pre_spiral_pattern.hpp │ │ ├── st_recovery_nav2.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_left_2.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern_1.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_docking_sequence_1.hpp │ │ ├── ss_f_pattern_1.hpp │ │ ├── ss_radial_pattern_1.hpp │ │ └── ss_s_pattern_1.hpp ├── launch │ ├── extras │ │ ├── carter_navigation_rtx.launch original.py │ │ ├── carter_navigation_rtx.launch.py │ │ ├── fp_sim.launch.py │ │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ │ └── sm_nav2_test_6_launch - original.py │ ├── nav2_bringup_launch.py │ ├── nav2_launch.py │ ├── nav2_stack_launch.py │ ├── nav2_stack_launch2.py │ ├── rviz_launch.py │ ├── slam_stack_launch.py │ ├── slam_toolbox_launch.py │ ├── sm_nav2_test_7_launch.py │ ├── vision_pipeline_launch.py │ └── vision_pipeline_launch2.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ ├── extras │ │ └── fp_dock_pose_publisher.py │ └── lidar_completion.py └── src │ ├── clients │ └── nav2z_client │ │ └── client_behaviors │ │ ├── cb_position_control_free_space.cpp │ │ ├── cb_spiral_motion.cpp │ │ ├── cb_track_path_odometry.cpp │ │ └── cb_track_path_slam.cpp │ └── sm_nav2_test_7 │ └── sm_nav2_test_7.cpp ├── sm_nav2_test_8 ├── CMakeLists.txt ├── README.md ├── config │ ├── default_nav_to_pose_bt.xml │ ├── extras │ │ ├── foundationpose_isaac_sim.rviz │ │ ├── params_isaac_sim.yaml │ │ ├── rtx_rviz_conf copy 2.rviz │ │ ├── rtx_rviz_conf copy.rviz │ │ └── rtx_rviz_conf2.rviz │ ├── nav2_config.yaml │ ├── navigation_waypoints_1.yaml │ ├── rviz_config.rviz │ ├── slam_toolbox_config.yaml │ └── sm_nav2_test_8_config.yaml ├── docs │ ├── SmNav2Test8_2025-4-16_05430.svg │ └── SmNav2Test8_2025-4-16_05444.pdf ├── include │ └── sm_nav2_test_8 │ │ ├── clients │ │ ├── cl_april_tag_detector │ │ │ ├── cl_april_tag_detector.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_detect_apriltag.hpp │ │ │ └── components │ │ │ │ └── cp_april_visualization.hpp │ │ ├── cl_foundationpose │ │ │ ├── cl_foundationpose.hpp │ │ │ ├── client_behaviors │ │ │ │ ├── cb_pause_object_tracking.hpp │ │ │ │ └── cb_track_object_pose.hpp │ │ │ └── components │ │ │ │ ├── cp_object_tracker_1.hpp │ │ │ │ ├── cp_object_tracker_tf.hpp │ │ │ │ └── tracker_utils.hpp │ │ ├── cl_lidar │ │ │ ├── cl_lidar.hpp │ │ │ ├── client_behaviors │ │ │ │ └── cb_lidar_sensor.hpp │ │ │ └── components │ │ │ │ └── cp_forward_obstacle_detector.hpp │ │ └── cl_nav2z │ │ │ └── client_behaviors │ │ │ ├── cb_position_control_free_space.hpp │ │ │ ├── cb_spiral_motion.hpp │ │ │ ├── cb_track_path_odometry.hpp │ │ │ └── cb_track_path_slam.hpp │ │ ├── modestates │ │ ├── ms_nav2_test_4_recovery_mode.hpp │ │ └── ms_nav2_test_4_run_mode.hpp │ │ ├── orthogonals │ │ ├── or_keyboard.hpp │ │ ├── or_lifecyclenode.hpp │ │ ├── or_localization.hpp │ │ ├── or_navigation.hpp │ │ ├── or_obstacle_perception.hpp │ │ ├── or_perception.hpp │ │ ├── or_slam.hpp │ │ └── or_timer.hpp │ │ ├── sm_nav2_test_8.hpp │ │ ├── states │ │ ├── f_pattern_states │ │ │ ├── sti_fpattern_forward_1.hpp │ │ │ ├── sti_fpattern_forward_2.hpp │ │ │ ├── sti_fpattern_loop_start.hpp │ │ │ ├── sti_fpattern_return_1.hpp │ │ │ ├── sti_fpattern_rotate_1.hpp │ │ │ └── sti_fpattern_rotate_2.hpp │ │ ├── radial_motion_states │ │ │ ├── sti_radial_end_point.hpp │ │ │ ├── sti_radial_loop_start.hpp │ │ │ ├── sti_radial_return.hpp │ │ │ └── sti_radial_rotate.hpp │ │ ├── st_final_return_to_origin.hpp │ │ ├── st_final_state.hpp │ │ ├── st_initial_move.hpp │ │ ├── st_initial_move_stop.hpp │ │ ├── st_launch_nav_stack.hpp │ │ ├── st_loading_waypoints_file.hpp │ │ ├── st_navigate_to_waypoint_1.hpp │ │ ├── st_navigate_to_waypoint_2.hpp │ │ ├── st_navigate_to_waypoint_3.hpp │ │ ├── st_navigate_to_waypoint_4.hpp │ │ ├── st_navigate_warehouse_waypoints.x.hpp │ │ ├── st_pause_to_setup_video.hpp │ │ ├── st_spin_left_1.hpp │ │ ├── st_spin_right_1.hpp │ │ ├── st_spiral_pattern_1.hpp │ │ ├── st_switch_yard.hpp │ │ ├── st_waypoint_spin_left.hpp │ │ └── st_waypoint_spin_right.hpp │ │ └── superstates │ │ ├── ss_f_pattern_1.hpp │ │ └── ss_radial_pattern_1.hpp ├── launch │ ├── extras │ │ ├── carter_navigation_rtx.launch original.py │ │ ├── carter_navigation_rtx.launch.py │ │ ├── fp_sim.launch.py │ │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ │ ├── sm_nav2_test_6_launch - original.py │ │ └── vision_pipeline_launch2.py │ ├── nav2_bringup_launch.py │ ├── nav2_launch.py │ ├── nav2_stack_launch.py │ ├── nav2_stack_launch2.py │ ├── rviz_launch.py │ ├── slam_stack_launch.py │ ├── slam_toolbox_launch.py │ ├── sm_nav2_test_8_launch.py │ └── vision_pipeline_launch2.py ├── maps │ ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png │ └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts │ ├── extras │ │ └── fp_dock_pose_publisher.py │ └── lidar_completion.py └── src │ ├── clients │ └── nav2z_client │ │ └── client_behaviors │ │ ├── cb_position_control_free_space.cpp │ │ ├── cb_spiral_motion.cpp │ │ ├── cb_track_path_odometry.cpp │ │ └── cb_track_path_slam.cpp │ └── sm_nav2_test_8 │ └── sm_nav2_test_8.cpp └── sm_nav2_test_9 ├── CMakeLists.txt ├── README.md ├── config ├── default_nav_to_pose_bt.xml ├── extras │ ├── foundationpose_isaac_sim.rviz │ ├── params_isaac_sim.yaml │ ├── rtx_rviz_conf copy 2.rviz │ ├── rtx_rviz_conf copy.rviz │ └── rtx_rviz_conf2.rviz ├── nav2_config.yaml ├── navigation_waypoints_1.yaml ├── rviz_config.rviz ├── slam_toolbox_config.yaml └── sm_nav2_test_9_config.yaml ├── docs ├── SmNav2Test7_2025-4-11_224818.svg └── SmNav2Test7_2025-4-11_22484.pdf ├── include └── sm_nav2_test_9 │ ├── clients │ ├── cl_april_tag_detector │ │ ├── cl_april_tag_detector.hpp │ │ ├── client_behaviors │ │ │ └── cb_detect_apriltag.hpp │ │ └── components │ │ │ └── cp_april_visualization.hpp │ ├── cl_foundationpose │ │ ├── cl_foundationpose.hpp │ │ ├── client_behaviors │ │ │ ├── cb_pause_object_tracking.hpp │ │ │ └── cb_track_object_pose.hpp │ │ └── components │ │ │ ├── cp_object_tracker_1.hpp │ │ │ ├── cp_object_tracker_tf.hpp │ │ │ └── tracker_utils.hpp │ ├── cl_lidar │ │ ├── cl_lidar.hpp │ │ ├── client_behaviors │ │ │ └── cb_lidar_sensor.hpp │ │ └── components │ │ │ └── cp_forward_obstacle_detector.hpp │ ├── cl_mission_tracker │ │ ├── cl_mission_tracker.hpp │ │ └── client_behaviors │ │ │ └── cb_battery_decision.hpp │ └── cl_nav2z │ │ └── client_behaviors │ │ ├── cb_position_control_free_space.hpp │ │ ├── cb_spiral_motion.hpp │ │ ├── cb_track_path_odometry.hpp │ │ └── cb_track_path_slam.hpp │ ├── modestates │ ├── ms_nav2_test_4_recovery_mode.hpp │ ├── ms_nav2_test_4_run_mode.hpp │ └── ms_recover.hpp │ ├── orthogonals │ ├── or_keyboard.hpp │ ├── or_lifecyclenode.hpp │ ├── or_localization.hpp │ ├── or_mission_tracker.hpp │ ├── or_navigation.hpp │ ├── or_obstacle_perception.hpp │ ├── or_perception.hpp │ ├── or_slam.hpp │ └── or_timer.hpp │ ├── sm_nav2_test_9.hpp │ ├── states │ ├── docking_sequence_states │ │ ├── st_recover_step_1.hpp │ │ ├── st_recover_step_10.hpp │ │ ├── st_recover_step_2.hpp │ │ ├── st_recover_step_3.hpp │ │ ├── st_recover_step_4.hpp │ │ ├── st_recover_step_5.hpp │ │ ├── st_recover_step_6.hpp │ │ ├── st_recover_step_7_a.hpp │ │ ├── st_recover_step_7_b.hpp │ │ ├── st_recover_step_8.hpp │ │ └── st_recover_step_9.hpp │ ├── f_pattern_states │ │ ├── sti_fpattern_forward_1.hpp │ │ ├── sti_fpattern_forward_2.hpp │ │ ├── sti_fpattern_loop_start.hpp │ │ ├── sti_fpattern_return_1.hpp │ │ ├── sti_fpattern_rotate_1.hpp │ │ └── sti_fpattern_rotate_2.hpp │ ├── radial_motion_states │ │ ├── sti_radial_end_point.hpp │ │ ├── sti_radial_loop_start.hpp │ │ ├── sti_radial_return.hpp │ │ └── sti_radial_rotate.hpp │ ├── s_pattern_states │ │ ├── sti_spattern_forward_1.hpp │ │ ├── sti_spattern_forward_2.hpp │ │ ├── sti_spattern_forward_3.hpp │ │ ├── sti_spattern_forward_4.hpp │ │ ├── sti_spattern_loop_start.hpp │ │ ├── sti_spattern_rotate_1.hpp │ │ ├── sti_spattern_rotate_2.hpp │ │ ├── sti_spattern_rotate_3.hpp │ │ └── sti_spattern_rotate_4.hpp │ ├── st_backup_1.hpp │ ├── st_battery_check.hpp │ ├── st_final_return_to_origin.hpp │ ├── st_final_state.hpp │ ├── st_initial_move.hpp │ ├── st_initial_move_stop.hpp │ ├── st_initial_return_to_origin.hpp │ ├── st_launch_nav_stack.hpp │ ├── st_launch_vision_pipeline.hpp │ ├── st_loading_waypoints_file.hpp │ ├── st_navigate_to_waypoint_1.hpp │ ├── st_navigate_to_waypoint_2.hpp │ ├── st_navigate_to_waypoint_3.hpp │ ├── st_navigate_to_waypoint_4.hpp │ ├── st_navigate_to_waypoint_5.hpp │ ├── st_navigate_warehouse_waypoints.x.hpp │ ├── st_pause_slam.hpp │ ├── st_pause_to_acquire_fp.hpp │ ├── st_pause_to_setup_video.hpp │ ├── st_pre_spiral_pattern.hpp │ ├── st_recovery_nav2.hpp │ ├── st_spin_left_1.hpp │ ├── st_spin_left_2.hpp │ ├── st_spin_right_1.hpp │ ├── st_spiral_pattern_1.hpp │ ├── st_switch_yard.hpp │ ├── st_waypoint_spin_left.hpp │ └── st_waypoint_spin_right.hpp │ └── superstates │ ├── ss_docking_sequence_1.hpp │ ├── ss_f_pattern_1.hpp │ ├── ss_radial_pattern_1.hpp │ └── ss_s_pattern_1.hpp ├── launch ├── extras │ ├── carter_navigation_rtx.launch original.py │ ├── carter_navigation_rtx.launch.py │ ├── fp_sim.launch.py │ ├── isaac_ros_apriltag_isaac_sim_pipeline.launch.py │ ├── isaac_ros_detectnet_isaac_sim.launch.py │ ├── isaac_ros_foundationpose_isaac_sim1.launch.py │ ├── isaac_ros_foundationpose_isaac_sim2.launch.py │ ├── isaac_ros_foundationpose_isaac_sim_tracking.launch.py │ ├── isaac_ros_occupancy_grid_localizer_nav2.launch.py │ ├── isaac_ros_occupancy_grid_localizer_no_nav2.launch.py │ └── sm_nav2_test_6_launch - original.py ├── nav2_bringup_launch.py ├── nav2_launch.py ├── nav2_stack_launch.py ├── nav2_stack_launch2.py ├── rviz_launch.py ├── slam_stack_launch.py ├── slam_toolbox_launch.py ├── sm_nav2_test_9_launch.py ├── vision_pipeline_launch.py └── vision_pipeline_launch2.py ├── maps ├── placeholder_for_when_isaacsim_gets_mapcreator_act_together.png └── placeholder_for_when_isaacsim_gets_mapcreator_act_together.yaml ├── package.xml ├── scripts ├── extras │ └── fp_dock_pose_publisher.py └── lidar_completion.py └── src ├── clients └── nav2z_client │ └── client_behaviors │ ├── 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