├── CMakeLists.txt ├── README.md ├── config ├── cartographer │ └── config.lua ├── move_base │ ├── base_global_planner_param.yaml │ ├── costmap_common_params.yaml │ ├── eband_local_planner_params.yaml │ ├── global_costmap_params.yaml │ └── local_costmap_params.yaml ├── rviz │ ├── cartographer.rviz │ ├── gmapping.rviz │ └── gmapping_stage.rviz └── test.yaml ├── include ├── actuator.h └── frontier_detector.h ├── launch ├── frontier_detector.launch ├── frontier_exploration.launch ├── move_cartographer.launch └── move_gmapping.launch ├── meshes ├── bases │ └── burger_base.stl ├── hexagons │ ├── images │ │ ├── 1f_pole.jpg │ │ ├── 1f_stack.jpg │ │ ├── 2f_pole.jpg │ │ ├── 2f_stack.jpg │ │ ├── 3f_pole.jpg │ │ ├── 3f_stack.jpg │ │ ├── 3f_stack1.jpg │ │ ├── kinect_pole.jpg │ │ └── kinect_pole_old.jpg │ ├── plate_bottom.dae │ ├── plate_middle.dae │ ├── plate_simple.stl │ ├── plate_top.dae │ ├── pole_bottom.dae │ ├── pole_kinect.dae │ ├── pole_middle.dae │ └── pole_top.dae └── sensors │ ├── astra.dae │ ├── astra.jpg │ ├── hokuyo.dae │ ├── kinect.dae │ ├── kinect.jpg │ ├── kinect.tga │ ├── lds.stl │ ├── r200.dae │ └── r200.jpg ├── msg └── PointArray.msg ├── package.xml ├── src ├── actuator.cpp ├── frontierMain.cpp └── frontier_detector.cpp ├── srv └── get_centroids.srv ├── urdf ├── sensor │ ├── IMU.urdf.xacro │ ├── hokuyo.urdf.xacro │ └── kinect_gazebo.urdf.xacro └── turtlebot2 │ ├── hexagons.urdf.xacro │ ├── hokuyo.urdf.xacro │ ├── kinect.urdf.xacro │ ├── kobuki │ ├── common_properties.urdf.xacro │ ├── kobuki.urdf.xacro │ ├── kobuki_gazebo.urdf.xacro │ └── mesh │ │ ├── images │ │ ├── main_body.jpg │ │ └── wheel.jpg │ │ ├── main_body.dae │ │ └── wheel.dae │ ├── turtlebot2.xacro │ ├── turtlebot_common_library.urdf.xacro │ ├── turtlebot_gazebo.urdf.xacro │ └── turtlebot_properties.urdf.xacro └── world ├── MTR.world ├── corrider.world ├── garage.world ├── hard.world ├── house.world ├── number.world ├── shopping_mall.world ├── super_mall.world └── unknown.world 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