├── .github └── workflows │ └── conda-ci.yml ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── app ├── CMakeLists.txt ├── baseControl │ ├── CMakeLists.txt │ ├── conf │ │ ├── baseCtrl_cer.ini │ │ ├── baseCtrl_cer_with_oculus.ini │ │ ├── baseCtrl_ikartV1.ini │ │ ├── baseCtrl_ikartV2.ini │ │ └── joystick_configs.ini │ └── scripts │ │ ├── baseControl.xml │ │ ├── mobileBase Launch.sh │ │ ├── navigation.launch │ │ ├── transformServer.xml │ │ ├── visual_odometry.launch │ │ └── wheel_odometry.launch ├── baseControl2 │ ├── CMakeLists.txt │ └── conf │ │ ├── baseCtrl_cer.ini │ │ └── baseCtrl_cer_ros2.ini ├── baseControl2_SIM │ ├── CMakeLists.txt │ └── conf │ │ ├── baseControl2_r1mk3Sim.ini │ │ ├── cer_baseControl2.ini │ │ ├── cer_baseControl2_ros2.ini │ │ ├── robot_2wheels_baseControl2.ini │ │ └── robot_2wheels_baseControl2_ros2.ini ├── baseControl_SIM │ ├── CMakeLists.txt │ └── conf │ │ ├── baseCtrl_cer_sim.ini │ │ ├── joystick_configs.ini │ │ ├── robot_2wheels.ini │ │ └── robot_3wheels.ini ├── deprecated │ └── CMakeLists.txt ├── follower │ ├── conf │ │ ├── follower.ini │ │ ├── follower_SIM.ini │ │ └── log.txt │ └── scripts │ │ ├── demoHumanModelFollower.xml │ │ ├── demoPersonFollower.xml │ │ ├── demoRedBallFollower.xml │ │ └── navigationSetup.xml ├── freeFloorViewer │ ├── CMakeLists.txt │ ├── conf │ │ ├── freeFloorViewer_R1SN003.ini │ │ ├── freeFloorViewer_R1SN003_ROS2.ini │ │ ├── freeFloorViewer_R1_SIM.ini │ │ ├── freeFloorViewer_R1_SIM_ROS2.ini │ │ ├── freeFloorViewer_complete_R1SN003.ini │ │ ├── freeFloorViewer_sim.ini │ │ ├── freeFloorViewer_sim_tour.ini │ │ ├── gazeboLocalizer.ini │ │ ├── odomLocalizer_cer02.ini │ │ ├── robotGoto_cer02.ini │ │ ├── robotGoto_sim_cer.ini │ │ ├── robotPathPlanner_cer02.ini │ │ └── robotPathPlanner_sim_cer.ini │ └── scripts │ │ ├── freeFloorViewer_R1SN003.xml │ │ ├── freeFloorViewer_R1SN003_ROS2.xml │ │ ├── freeFloorViewer_R1_SIM.xml │ │ ├── freeFloorViewer_R1_SIM_DISTRIBUTED.xml │ │ ├── freeFloorViewer_R1_SIM_ROS2.xml │ │ ├── freeFloorViewer_complete_R1SN003.xml │ │ ├── freeFloorViewer_complete_R1SN003_ROS2.xml │ │ ├── freeFloorViewer_complete_R1_SIM.xml │ │ ├── freeFloorViewer_complete_R1_SIM_DISTRIBUTED.xml │ │ ├── freeFloorViewer_complete_R1_SIM_ROS2.xml │ │ └── freeFloorViewer_noROS_sim.xml ├── gazeboExamples │ ├── CMakeLists.txt │ ├── conf │ │ ├── gazeboLocalizer.ini │ │ ├── navigationGUI_sim_cer.ini │ │ ├── robotGoto_sim_cer.ini │ │ └── robotPathPlanner_sim_cer.ini │ └── scripts │ │ └── gazeboExample.xml ├── iKartNav │ ├── conf │ │ └── iKartNav.ini │ └── scripts │ │ └── iKartNav.xml.template ├── localizationServer │ ├── CMakeLists.txt │ ├── conf │ │ └── odomLocalizer.ini │ └── scripts │ │ └── odomLocalizer_test.xml ├── mapper2D │ ├── CMakeLists.txt │ ├── conf │ │ └── mapper2D.ini │ └── scripts │ │ └── mapper2D.xml ├── mapsExample │ ├── CMakeLists.txt │ ├── locations.ini │ ├── map_empty.map │ ├── map_empty_grid.pgm │ ├── map_empty_grid.yaml │ ├── map_empty_yarpflags.ppm │ ├── map_isaac.map │ ├── map_isaac.png │ ├── map_isaac_small.png │ ├── map_isaac_yarpflags.png │ ├── map_test.map │ ├── map_test2.map │ ├── map_test2_grid.pgm │ ├── map_test2_grid.yaml │ ├── map_test2_yarpflags.ppm │ ├── map_test_grid.pgm │ ├── map_test_grid.yaml │ ├── map_test_yarpflags.ppm │ └── maps_collection.ini ├── mapsSquirico │ ├── CMakeLists.txt │ ├── locations.ini │ ├── map_isaac.map │ ├── map_isaac_yarpflags.png │ └── maps_collection.ini ├── multipleLaserTest │ ├── CMakeLists.txt │ └── scripts │ │ ├── test1.xml │ │ ├── test2.xml │ │ ├── test3.xml │ │ ├── test4.xml │ │ ├── test5.xml │ │ └── test6.xml ├── navigationGUI │ ├── CMakeLists.txt │ ├── conf │ │ ├── navigationGUI_base.ini │ │ ├── navigationGUI_base_nws-nwc.ini │ │ ├── navigationGUI_cer.ini │ │ ├── navigationGUI_ikart.ini │ │ ├── navigationGUI_robot_2wheels.ini │ │ ├── navigationGUI_robot_2wheels_nws-nwc.ini │ │ ├── navigationGUI_robot_2wheels_sim_cer_nws-nwc.ini │ │ ├── navigationGUI_sim_cer.ini │ │ └── navigationGUI_sim_cerR1.ini │ └── scripts │ │ └── navigationGUI.xml ├── robotGoto │ ├── CMakeLists.txt │ ├── conf │ │ ├── robotGoto_cer.ini │ │ ├── robotGoto_cerSim.ini │ │ └── robotGoto_ikart.ini │ └── scripts │ │ ├── robotGoto.xml │ │ └── robotGoto_no_laser.xml ├── robotGotoExamples │ ├── CMakeLists.txt │ ├── conf │ │ ├── odomLocalizer.ini │ │ ├── robotGoto_cer.ini │ │ ├── robotGoto_ikart.ini │ │ ├── robotGoto_robot_2wheels.ini │ │ └── robotGoto_robot_3wheels.ini │ └── scripts │ │ ├── robotGotoExample1.xml │ │ └── robotGotoExample2.xml ├── robotPathPlanner │ ├── CMakeLists.txt │ ├── conf │ │ ├── robotPathPlanner_cer.ini │ │ ├── robotPathPlanner_cerSim.ini │ │ └── robotPathPlanner_ikart.ini │ └── scripts │ │ └── robotPathPlanner.xml ├── robotPathPlannerExamples │ ├── CMakeLists.txt │ ├── conf │ │ ├── amclLocalizer.ini │ │ ├── gazeboLocalizer.ini │ │ ├── localization2Dros2.ini │ │ ├── map2D_ros2.ini │ │ ├── odomLocalizer.ini │ │ ├── pozyxLocalizer.ini │ │ ├── robotGoto_cer.ini │ │ ├── robotGoto_ikart.ini │ │ ├── robotGoto_robot_2wheels.ini │ │ ├── robotGoto_robot_2wheels_with_recovery.ini │ │ ├── robotGoto_robot_3wheels.ini │ │ ├── robotGoto_sim_cer.ini │ │ ├── robotInterface │ │ │ ├── localization2Dros2.xml │ │ │ └── map2d_ros2.xml │ │ ├── robotPathPlanner_cer.ini │ │ ├── robotPathPlanner_ikart.ini │ │ ├── robotPathPlanner_robot_2wheels.ini │ │ ├── robotPathPlanner_robot_2wheels_with_recovery.ini │ │ ├── robotPathPlanner_robot_3wheels.ini │ │ └── robotPathPlanner_sim_cer.ini │ └── scripts │ │ ├── robotPathPlannerExample1.xml │ │ ├── robotPathPlannerExample2.xml │ │ ├── robotPathPlannerExample2_nws-nwc.xml │ │ ├── robotPathPlannerExample2_nws-nwc_ros2.xml │ │ ├── robotPathPlannerExample3.xml │ │ └── robotPathPlannerExample5.xml ├── ros2Examples │ └── amcl │ │ ├── README.md │ │ ├── amcl_sim.launch.py │ │ ├── amcl_sim.launch2.py │ │ └── amcl_sim_params.yml └── simpleVelocityNavigationExamples │ ├── CMakeLists.txt │ ├── conf │ └── localizationServer.ini │ └── scripts │ └── simpleVelocityNavigationExample1.xml ├── src ├── CMakeLists.txt ├── baseControl2 │ ├── CMakeLists.txt │ ├── baseControl.cpp │ ├── baseControl.h │ ├── cer │ │ ├── cer_motors.cpp │ │ └── cer_motors.h │ ├── controlThread.cpp │ ├── controlThread.h │ ├── filters.cpp │ ├── filters.h │ ├── ikart │ │ ├── ikart_motors.cpp │ │ └── ikart_motors.h │ ├── input.cpp │ ├── input.h │ ├── main.cpp │ ├── motors.cpp │ └── motors.h ├── common │ ├── CMakeLists.txt │ ├── areas │ │ ├── CMakeLists.txt │ │ ├── areas.cpp │ │ └── roomsSegmentation2.cpp │ ├── include │ │ └── navigation_defines.h │ ├── movable_localization_device │ │ ├── movable_localization_device.cpp │ │ └── movable_localization_device.h │ ├── odometry_estimation │ │ ├── localization_device_with_estimated_odometry.cpp │ │ └── localization_device_with_estimated_odometry.h │ ├── planner_aStar │ │ ├── aStar.cpp │ │ ├── aStar.h │ │ ├── mapUtils.cpp │ │ └── mapUtils.h │ └── recovery_behaviors │ │ ├── recovery_behaviors.cpp │ │ ├── recovery_behaviors.h │ │ ├── stuck_detection.cpp │ │ └── stuck_detection.h ├── deprecated │ └── CMakeLists.txt ├── follower │ ├── CMakeLists.txt │ └── src │ │ ├── BTMonitor.cpp │ │ ├── BTMonitor.h │ │ ├── Ball3DPointRetriever.cpp │ │ ├── Ball3DPointRetriever.h │ │ ├── Follower.cpp │ │ ├── Follower.h │ │ ├── FollowerModule.cpp │ │ ├── FollowerModule.h │ │ ├── GazeController.cpp │ │ ├── GazeController.h │ │ ├── HumanModel3DPointRetriever.cpp │ │ ├── HumanModel3DPointRetriever.h │ │ ├── NavigationController.cpp │ │ ├── NavigationController.h │ │ ├── ObstacleAvoidance.cpp │ │ ├── ObstacleAvoidance.h │ │ ├── Person3DPointRetriever.cpp │ │ ├── Person3DPointRetriever.h │ │ ├── SimFramePainter.cpp │ │ ├── SimFramePainter.h │ │ ├── TargetRetriever.cpp │ │ ├── TargetRetriever.h │ │ ├── TimedPath.cpp │ │ ├── TimedPath.h │ │ └── main.cpp ├── forceGuidance │ ├── CMakeLists.txt │ ├── ControlThread.cpp │ ├── ControlThread.h │ ├── README.md │ └── main.cpp ├── freeFloorViewer │ ├── CMakeLists.txt │ ├── freeFloorThread.cpp │ ├── freeFloorThread.h │ ├── freeFloorViewer.cpp │ ├── freeFloorViewer.h │ ├── headOrientator.cpp │ ├── headOrientator.h │ └── main.cpp ├── localizationDevices │ ├── CMakeLists.txt │ ├── amclLocalizer │ │ ├── CMakeLists.txt │ │ ├── amcl │ │ │ ├── map │ │ │ │ ├── map.c │ │ │ │ ├── map.h │ │ │ │ ├── map_cspace.cpp │ │ │ │ ├── map_draw.c │ │ │ │ ├── map_range.c │ │ │ │ └── map_store.c │ │ │ ├── pf │ │ │ │ ├── eig3.c │ │ │ │ ├── eig3.h │ │ │ │ ├── pf.c │ │ │ │ ├── pf.h │ │ │ │ ├── pf_draw.c │ │ │ │ ├── pf_kdtree.c │ │ │ │ ├── pf_kdtree.h │ │ │ │ ├── pf_pdf.c │ │ │ │ ├── pf_pdf.h │ │ │ │ ├── pf_vector.c │ │ │ │ └── pf_vector.h │ │ │ └── sensors │ │ │ │ ├── amcl_laser.cpp │ │ │ │ ├── amcl_laser.h │ │ │ │ ├── amcl_odom.cpp │ │ │ │ ├── amcl_odom.h │ │ │ │ ├── amcl_sensor.cpp │ │ │ │ └── amcl_sensor.h │ │ ├── amclLocalizer.cpp │ │ └── amclLocalizer.h │ ├── gazeboLocalizer │ │ ├── CMakeLists.txt │ │ ├── gazeboLocalizer.cpp │ │ └── gazeboLocalizer.h │ ├── odomLocalizer │ │ ├── CMakeLists.txt │ │ ├── odomLocalizer.cpp │ │ └── odomLocalizer.h │ ├── pozyxLocalizer │ │ ├── CMakeLists.txt │ │ ├── pozyxLocalizer.cpp │ │ └── pozyxLocalizer.h │ ├── ros2Localizer │ │ ├── CMakeLists.txt │ │ ├── Ros2Spinner.cpp │ │ ├── Ros2Spinner.h │ │ ├── Ros2Utils.cpp │ │ ├── Ros2Utils.h │ │ ├── ros2Localizer.cpp │ │ └── ros2Localizer.h │ └── t265Localizer │ │ ├── CMakeLists.txt │ │ ├── localizationServer_pb_on_ros_camera3.ini │ │ ├── t265Localizer.cpp │ │ └── t265Localizer.h ├── map2Gazebo │ ├── CMakeLists.txt │ └── main.cpp ├── navigationDevices │ ├── CMakeLists.txt │ ├── navigationDeviceTemplate │ │ ├── CMakeLists.txt │ │ ├── navigationDeviceTemplate.cpp │ │ └── navigationDeviceTemplate.h │ ├── robotGotoDevice │ │ ├── CMakeLists.txt │ │ ├── obstacles.cpp │ │ ├── obstacles.h │ │ ├── robotGotoCtrl.cpp │ │ ├── robotGotoCtrl.h │ │ ├── robotGotoDev.cpp │ │ └── robotGotoDev.h │ ├── robotPathPlannerDevice │ │ ├── CMakeLists.txt │ │ ├── pathPlannerCtrl.cpp │ │ ├── pathPlannerCtrl.h │ │ ├── pathPlannerCtrlActions.cpp │ │ ├── pathPlannerCtrlGets.cpp │ │ ├── pathPlannerCtrlHelpers.cpp │ │ ├── pathPlannerCtrlHelpers.h │ │ ├── pathPlannerCtrlInit.cpp │ │ ├── robotPathPlannerDev.cpp │ │ └── robotPathPlannerDev.h │ ├── ros2Navigator │ │ ├── CMakeLists.txt │ │ ├── Ros2Spinner.cpp │ │ ├── Ros2Spinner.h │ │ ├── Ros2Utils.cpp │ │ ├── Ros2Utils.h │ │ ├── ros2Navigator.cpp │ │ └── ros2Navigator.h │ ├── simpleVelocityNavigation │ │ ├── CMakeLists.txt │ │ ├── simpleVelocityNavigation.cpp │ │ └── simpleVelocityNavigation.h │ └── velocityInputHandler │ │ ├── CMakeLists.txt │ │ ├── velocityInputHandler.cpp │ │ └── velocityInputHandler.h ├── navigationGUI │ ├── CMakeLists.txt │ ├── main.cpp │ ├── map.cpp │ ├── map.h │ ├── navGui.cpp │ ├── navGui.h │ ├── navGuiHelpers.cpp │ └── navGuiInit.cpp ├── portmonitors │ ├── CMakeLists.txt │ └── joystick2velocityCommand │ │ ├── CMakeLists.txt │ │ ├── joystick2velocityCommand.cpp │ │ └── joystick2velocityCommand.h ├── tests │ ├── CMakeLists.txt │ ├── navigation2DClientSnippet │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── navigation2DClientTest │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ ├── navigation2DClientTestModule.cpp │ │ └── navigation2DClientTestModule.h │ ├── simpleVelocityNavigationTest1 │ │ ├── CMakeLists.txt │ │ └── main.cpp │ └── simpleVelocityNavigationTest2 │ │ ├── CMakeLists.txt │ │ └── main.cpp └── tutorials │ ├── CMakeLists.txt │ ├── robotGotoExample │ ├── CMakeLists.txt │ └── main.cpp │ └── robotPathPlannerExample │ ├── CMakeLists.txt │ └── main.cpp └── tests ├── CMakeLists.txt ├── YarpBuildLocation.h.in ├── harness.cpp ├── harness.h └── misc ├── CMakeLists.txt ├── check_license.pl ├── check_style.pl ├── check_style_skip.txt ├── check_tests.py └── check_tests_skip.txt /.github/workflows/conda-ci.yml: -------------------------------------------------------------------------------- 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