├── .gitignore ├── CMakeLists.txt ├── README.md └── src ├── CMakeLists.txt ├── localization ├── CMakeLists.txt ├── include │ └── localization │ │ └── particle_filter.h ├── map │ ├── house_map.pgm │ └── house_map.yaml ├── package.xml └── src │ └── particle_filter_node.cpp ├── occupancygrid_mapping ├── CMakeLists.txt ├── README.md ├── include │ └── occupancygrid_mapping │ │ ├── fake_localizer.h │ │ └── ray_tracing.h ├── launch │ └── occupancy_map.launch ├── msg │ └── LocalizedCloud.msg ├── package.xml └── src │ ├── fake_localizer_node.cpp │ ├── laserProjection_node.cpp │ └── occupancy_grid_node.cpp ├── odom_to_trajectory ├── CMakeLists.txt ├── Images │ └── Output.png ├── LICENSE ├── README.md ├── launch │ └── create_trajectory.launch ├── package.xml └── scripts │ ├── path_ekf_plotter.py │ ├── path_ground_truth_plotter.py │ └── path_odom_plotter.py ├── perception ├── CMakeLists.txt ├── include │ └── perception │ │ ├── perception_utilities.h │ │ └── scan_merger.h ├── package.xml └── src │ ├── nodes │ └── scan_merger_node.cpp │ └── scan_merger.cpp ├── robot_description ├── CMakeLists.txt ├── README.md ├── config │ └── control.yaml ├── launch │ ├── description.launch │ └── gazebo_automaton.launch ├── meshes │ ├── base.stl │ ├── d435.dae │ ├── hokuyo_ust10_lidar.stl │ └── wheel.stl ├── package.xml ├── rviz_config │ └── urdf.rviz └── urdf │ ├── automaton.gazebo │ ├── automaton.urdf.xacro │ └── laser.urdf.xacro ├── sensor_fusion ├── CMakeLists.txt ├── README.md ├── config │ └── sensor_fusion.yaml ├── include │ └── sensor_fusion │ │ ├── ekf.h │ │ ├── filter_base.h │ │ ├── filter_common.h │ │ ├── filter_utilities.h │ │ ├── ros_filter.h │ │ ├── ros_filter_types.h │ │ ├── ros_filter_utilities.h │ │ └── ukf.h ├── launch │ └── sensor_fusion.launch ├── package.xml ├── resources │ └── anim.gif ├── src │ ├── ekf.cpp │ ├── ekf_node.cpp │ ├── filter_base.cpp │ ├── filter_utilities.cpp │ ├── ros_filter.cpp │ ├── ros_filter_utilities.cpp │ ├── ukf.cpp │ └── ukf_node.cpp └── srv │ ├── 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