├── .github └── workflows │ ├── main.yml │ ├── release.yml │ └── test-release.yml ├── .gitignore ├── LICENSE ├── README.md ├── auv_ekf_localization ├── CATKIN_IGNORE ├── CMakeLists.txt ├── include │ ├── correspondence_class │ │ └── correspondence_class.hpp │ ├── ekf_localization │ │ └── ekf_localization.hpp │ ├── mbes_receptor │ │ └── mbes_receptor.hpp │ ├── noise_oneD_kf │ │ └── noise_oneD_kf.hpp │ ├── sonar_manipulator │ │ └── sonar_manipulator.hpp │ └── utils_matrices │ │ └── utils_matrices.hpp ├── launch │ └── ekf_localization.launch ├── package.xml ├── rosbags │ └── rosbag_handler.py ├── scripts │ └── map_provider_node.py ├── setup.py ├── src │ ├── correspondence_obj.cpp │ ├── ekf_localization.cpp │ ├── ekf_localization_node.cpp │ ├── mbes_receptor.cpp │ ├── mbes_receptor_node.cpp │ ├── noise_oneD_kf.cpp │ ├── sonar_manipulator.cpp │ └── utils_matrices.cpp ├── srv │ └── map_ekf.srv └── utils │ └── munkres │ ├── adapters │ ├── CMakeLists.txt │ ├── adapter.cpp │ ├── adapter.h │ ├── boostmatrixadapter.cpp │ ├── boostmatrixadapter.h │ ├── std2darrayadapter.cpp │ ├── std2darrayadapter.h │ ├── std2dvectordapter.cpp │ └── std2dvectordapter.h │ ├── matrix.cpp │ ├── matrix.h │ ├── munkres.cpp │ └── munkres.h ├── auv_ekf_slam ├── CATKIN_IGNORE ├── CMakeLists.txt ├── include │ ├── correspondence_class │ │ ├── correspondence_class.hpp │ │ ├── correspondence_fls.hpp │ │ └── correspondence_mbes.hpp │ ├── ekf_slam │ │ └── ekf_slam.hpp │ ├── ekf_slam_core │ │ └── ekf_slam_core.hpp │ └── utils │ │ └── ekf_utils.hpp ├── launch │ └── ekf_slam.launch ├── package.xml ├── src │ ├── correspondence_obj_fls.cpp │ ├── correspondence_obj_mbes.cpp │ ├── ekf_slam.cpp │ ├── ekf_slam_core.cpp │ └── ekf_slam_node.cpp └── utils │ ├── ekf_utils.cpp │ └── munkres │ ├── adapters │ ├── CMakeLists.txt │ ├── adapter.cpp │ ├── adapter.h │ ├── boostmatrixadapter.cpp │ ├── boostmatrixadapter.h │ ├── std2darrayadapter.cpp │ ├── std2darrayadapter.h │ ├── std2dvectordapter.cpp │ └── std2dvectordapter.h │ ├── matrix.cpp │ ├── matrix.h │ ├── munkres.cpp │ └── munkres.h ├── auv_odom_provider ├── CATKIN_IGNORE ├── CMakeLists.txt ├── include │ └── odom_provider │ │ └── odom_provider.hpp ├── package.xml └── src │ ├── odom_provider.cpp │ └── odom_provider_node.cpp ├── auv_particle_filter ├── CMakeLists.txt ├── launch │ └── auv_pf.launch ├── package.xml └── scripts │ ├── auv_particle.py │ ├── auv_pf.py │ ├── pf_loop.py │ ├── resampling.py │ └── visual_tools.py ├── auv_sensors ├── CATKIN_IGNORE ├── CMakeLists.txt ├── launch │ └── auv_sensors.launch └── package.xml ├── fls_processors ├── CATKIN_IGNORE ├── CMakeLists.txt ├── package.xml └── src │ └── fls_rock_detector.cpp ├── mbes_processors ├── CATKIN_IGNORE ├── mbes_mapper │ ├── CMakeLists.txt │ ├── include │ │ └── mbes_mapper │ │ │ └── mbes_receptor.hpp │ ├── package.xml │ └── src │ │ ├── mbes_receptor.cpp │ │ └── mbes_receptor_node.cpp └── mbes_toy_processor │ ├── CMakeLists.txt │ ├── include │ └── toy_mbes_receptor │ │ ├── toy_mbes_manipulator.hpp │ │ └── toy_mbes_receptor.hpp │ ├── package.xml │ └── src │ ├── toy_mbes_manipulator.cpp │ ├── toy_mbes_receptor.cpp │ └── toy_mbes_receptor_node.cpp ├── release_packages.yaml ├── sam_dead_reckoning ├── CHANGELOG.rst ├── CMakeLists.txt ├── docs │ └── dr.rst ├── launch │ ├── dual_ekf_test.launch │ ├── floatsam_dr.launch │ ├── nav_sat_interface.launch │ ├── sam_dr.launch │ └── sam_ext_dr.launch ├── package.xml ├── params │ ├── dual_ekf_sam.yaml │ ├── ekf_gps_sam.yaml │ └── ekf_sam.yaml ├── rviz │ └── dr.rviz └── scripts │ ├── algae_map.py │ ├── dr_node.py │ ├── gps_node.py │ ├── press_to_depth.py │ ├── publish_gps_path.py │ ├── publish_gps_pose.py │ ├── republish_yost_odom.py │ ├── sam_mm.py │ ├── sbg_to_ros.py │ ├── spoof_gps_imu.py │ ├── wp_vis_node.py │ └── yaw_2_heading.py ├── smarc_navigation.rosinstall ├── tf_convenience_topics ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ ├── odom_listener.launch │ └── tf_listener.launch ├── package.xml └── src │ ├── 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