├── .gitignore ├── LICENSE ├── Navigation2D.workspace ├── README.md ├── nav2d ├── CMakeLists.txt ├── nav2d.project └── package.xml ├── nav2d_exploration ├── CMakeLists.txt ├── exploration.xml ├── include │ └── nav2d_exploration │ │ ├── MinPosPlanner.h │ │ ├── MultiWavefrontPlanner.h │ │ └── NearestFrontierPlanner.h ├── nav2d_exploration.project ├── package.xml └── src │ ├── MinPosPlanner.cpp │ ├── MultiWavefrontPlanner.cpp │ ├── NearestFrontierPlanner.cpp │ └── exploration_plugins.cpp ├── nav2d_karto ├── CMakeLists.txt ├── OpenKarto │ ├── LICENSE │ ├── README.md │ └── source │ │ ├── Any.cpp │ │ ├── Dataset.cpp │ │ ├── Event.cpp │ │ ├── Exception.cpp │ │ ├── Geometry.cpp │ │ ├── Grid.cpp │ │ ├── GridIndexLookup.cpp │ │ ├── Identifier.cpp │ │ ├── Logger.cpp │ │ ├── Meta.cpp │ │ ├── MetaAttribute.cpp │ │ ├── MetaClass.cpp │ │ ├── MetaClassManager.cpp │ │ ├── MetaEnum.cpp │ │ ├── MetaEnumHelper.cpp │ │ ├── MetaEnumManager.cpp │ │ ├── Module.cpp │ │ ├── Mutex.cpp │ │ ├── Object.cpp │ │ ├── Objects.cpp │ │ ├── OccupancyGrid.cpp │ │ ├── OpenKarto.cpp │ │ ├── OpenKarto │ │ ├── AbstractGpsEstimationManager.h │ │ ├── Any.h │ │ ├── CoordinateConverter.h │ │ ├── Dataset.h │ │ ├── Deprecated.h │ │ ├── Event.h │ │ ├── Exception.h │ │ ├── Geometry.h │ │ ├── Grid.h │ │ ├── GridIndexLookup.h │ │ ├── Identifier.h │ │ ├── List.h │ │ ├── Logger.h │ │ ├── Macros.h │ │ ├── Math.h │ │ ├── Meta.h │ │ ├── MetaAttribute.h │ │ ├── MetaClass.h │ │ ├── MetaClassHelper.h │ │ ├── MetaClassManager.h │ │ ├── MetaEnum.h │ │ ├── MetaEnumHelper.h │ │ ├── MetaEnumManager.h │ │ ├── MetaType.h │ │ ├── Module.h │ │ ├── Mutex.h │ │ ├── Object.h │ │ ├── Objects.h │ │ ├── OccupancyGrid.h │ │ ├── OpenKarto.h │ │ ├── OpenMapper.h │ │ ├── Pair.h │ │ ├── Parameter.h │ │ ├── PoseTransform.h │ │ ├── RangeTransform.h │ │ ├── Referenced.h │ │ ├── RigidBodyTransform.h │ │ ├── Sensor.h │ │ ├── SensorData.h │ │ ├── SensorRegistry.h │ │ ├── SmartPointer.h │ │ ├── String.h │ │ ├── StringHelper.h │ │ ├── TypeCasts.h │ │ └── Types.h │ │ ├── OpenMapper.cpp │ │ ├── Parameter.cpp │ │ ├── PoseTransform.cpp │ │ ├── RangeTransform.cpp │ │ ├── Referenced.cpp │ │ ├── RigidBodyTransform.cpp │ │ ├── Sensor.cpp │ │ ├── SensorData.cpp │ │ ├── SensorRegistry.cpp │ │ ├── String.cpp │ │ └── StringHelper.cpp ├── cmake_modules │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindEigen3.cmake │ ├── FindG2O.cmake │ └── FindSuiteSparse.cmake ├── include │ └── nav2d_karto │ │ ├── MultiMapper.h │ │ ├── SpaSolver.h │ │ ├── csparse.h │ │ └── spa2d.h ├── nav2d_karto.project ├── package.xml └── src │ ├── MapperNode.cpp │ ├── MultiMapper.cpp │ ├── SpaSolver.cpp │ ├── csparse.cpp │ └── spa2d.cpp ├── nav2d_localizer ├── CMakeLists.txt ├── include │ └── nav2d_localizer │ │ ├── SelfLocalizer.h │ │ ├── eig3.h │ │ ├── map.h │ │ ├── pf.h │ │ ├── pf_kdtree.h │ │ ├── pf_pdf.h │ │ └── pf_vector.h ├── nav2d_localizer.project ├── package.xml └── src │ ├── LocalizerNode.cpp │ ├── SelfLocalizer.cpp │ ├── map │ ├── map.c │ ├── map_cspace.cpp │ ├── map_draw.c │ ├── map_range.c │ └── map_store.c │ └── pf │ ├── eig3.c │ ├── pf.c │ ├── pf_draw.c │ ├── pf_kdtree.c │ ├── pf_pdf.c │ └── pf_vector.c ├── nav2d_msgs ├── CMakeLists.txt ├── msg │ ├── LocalizedScan.msg │ └── RobotPose.msg ├── nav2d_msgs.project └── package.xml ├── nav2d_navigator ├── CMakeLists.txt ├── action │ ├── Explore.action │ ├── GetFirstMap.action │ ├── Localize.action │ └── MoveToPosition2D.action ├── include │ └── nav2d_navigator │ │ ├── ExplorationPlanner.h │ │ ├── GridMap.h │ │ ├── MapInflationTool.h │ │ ├── RobotNavigator.h │ │ └── commands.h ├── nav2d_navigator.project ├── package.xml └── src │ ├── MapInflationTool.cpp │ ├── RobotNavigator.cpp │ ├── explore_client.cpp │ ├── get_map_client.cpp │ ├── localize_client.cpp │ ├── navigator.cpp │ └── set_goal_client.cpp ├── nav2d_operator ├── CMakeLists.txt ├── include │ └── nav2d_operator │ │ └── RobotOperator.h ├── msg │ └── cmd.msg ├── nav2d_operator.project ├── package.xml └── src │ ├── 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