├── .gitignore ├── CMakeLists.txt ├── README-concept-graphs.md ├── README.md ├── launch ├── align.launch ├── include │ ├── cf_tools.launch │ ├── mission_planner.launch │ ├── move_base.launch │ └── pc_to_scan.launch ├── map.launch ├── nav.launch ├── nav_odom.launch └── publish_pcd.launch ├── package.xml ├── params ├── base_local_planner_params.yaml ├── base_local_planner_params_clearpath.yaml ├── costmap_common_params.yaml ├── global_localization.yaml ├── global_planner.yaml ├── map_nav_params │ ├── global_costmap_params.yaml │ └── local_costmap_params.yaml ├── missions │ └── mission.yaml ├── move_base_params.yaml ├── o3d │ ├── align.lua │ ├── default │ │ ├── default_parameters.lua │ │ └── parameter_structure_definitions.lua │ ├── jackal_localize.lua │ └── param_velodyne_puck16.lua ├── o3d_to_costmap.yaml └── odom_nav_params │ ├── global_costmap_params.yaml │ └── local_costmap_params.yaml ├── rviz ├── align.rviz ├── map.rviz ├── nav.rviz └── pcd.rviz ├── setup.py ├── src ├── __init__.py ├── cf_tools │ ├── ConceptGraphTools.py │ ├── __init__.py │ ├── llava_model.py │ ├── prompts │ │ └── concept_graphs_planner.txt │ └── utils.py ├── mission_planner │ ├── __init__.py │ ├── mission_planner.py │ ├── missions │ │ ├── object_mission.py │ │ └── waypoint_mission.py │ └── object_mission.py ├── move_base_custom │ ├── __init__.py │ ├── costmap_listener.py │ ├── go_to_object.py │ └── move_base_custom_client.py ├── o3d_odom_republisher.py └── tf_publishers │ ├── __init__.py │ ├── cfslam_pub.py │ ├── imu_to_cam.py │ ├── map_o3d_to_odom.py │ └── map_to_map_o3d.py └── srv ├── CheckCost.srv ├── DoISee.srv ├── GoToObject.srv └── QueryService.srv /.gitignore: -------------------------------------------------------------------------------- 1 | data/ 2 | *.pyc 3 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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