├── .gitignore ├── LICENSE ├── README.md ├── smarc_auvs ├── CMakeLists.txt ├── models │ └── example_auv │ │ ├── launch │ │ └── upload_example_auv.launch │ │ ├── mesh │ │ ├── Fin.dae │ │ ├── Propeller.dae │ │ └── Romulus.dae │ │ ├── robots │ │ └── example_auv_default.urdf.xacro │ │ ├── rviz │ │ └── example_auv.rviz │ │ └── urdf │ │ └── example_auv_base.urdf.xacro ├── package.xml └── rviz │ └── example_auv.rviz ├── smarc_gazebo_plugins ├── smarc_gazebo_plugins │ ├── CMakeLists.txt │ ├── include │ │ └── smarc_gazebo_plugins │ │ │ ├── PopulationIntensities.hh │ │ │ ├── PopulationIntensitiesPrv.hh │ │ │ ├── SemanticMultiRayShape.hh │ │ │ ├── UnderwaterSonarPlugin.hh │ │ │ ├── UnderwaterSonarSensor.hh │ │ │ └── UnderwaterSonarSensorPrivate.hh │ ├── package.xml │ └── src │ │ ├── PopulationIntensities.cc │ │ ├── RegisterUnderwaterSonarSensor.cc │ │ ├── SemanticMultiRayShape.cc │ │ ├── UnderwaterSonarPlugin.cc │ │ └── UnderwaterSonarSensor.cc └── smarc_gazebo_ros_plugins │ ├── CMakeLists.txt │ ├── include │ └── smarc_gazebo_ros_plugins │ │ ├── gazebo_ros_image_sonar.h │ │ ├── gazebo_ros_underwater_sonar.h │ │ └── gazebo_ros_underwater_sonar_ray.h │ ├── msg │ └── SonarEntities.msg │ ├── package.xml │ └── src │ ├── gazebo_ros_image_sonar.cpp │ ├── gazebo_ros_underwater_sonar.cpp │ └── gazebo_ros_underwater_sonar_ray.cpp ├── smarc_sensor_plugins └── smarc_sensor_plugins_ros │ ├── CMakeLists.txt │ ├── launch │ └── waterfall.launch │ ├── package.xml │ ├── src │ ├── combine_waterfalls_node.cpp │ └── sidescan_waterfall_image_node.cpp │ └── urdf │ └── sonar_snippets.xacro ├── smarc_simulated_comms ├── CMakeLists.txt ├── README.md ├── launch │ └── smarc_simulated_comms.launch ├── package.xml └── scripts │ ├── comms_master.py │ └── comms_tester.py └── smarc_worlds ├── CMakeLists.txt ├── Media ├── materials │ ├── programs │ │ ├── SimpleWaves.frag │ │ └── SimpleWaves.vert │ ├── scripts │ │ ├── fiducials.material │ │ ├── sand.material │ │ ├── water.material │ │ ├── waves.material │ │ └── waves.program │ └── textures │ │ ├── License and source for textures.txt │ │ ├── clouds.jpg │ │ ├── clouds_bk.jpg │ │ ├── clouds_dn.jpg │ │ ├── clouds_fr.jpg │ │ ├── clouds_lf.jpg │ │ ├── clouds_rt.jpg │ │ ├── clouds_up.jpg │ │ ├── fiducials │ │ ├── License and source for textures.txt │ │ └── tag36_11_00000.jpg │ │ ├── soil_sand_0045_01.jpg │ │ ├── water_water_0046_01.jpg │ │ ├── water_water_0051_01.jpg │ │ ├── water_water_0076_03_s.jpg │ │ ├── water_water_0093_01.jpg │ │ └── wave_normals.dds └── models │ └── sea_surface_1000m_x_1000m.dae ├── launch ├── ekf_localization_tests.launch ├── pipe_following.launch ├── pool_world.launch ├── random_rocks.launch ├── skytteren.launch └── sonar_intensities.launch ├── package.xml ├── pool └── model.sdf ├── scripts └── spawn_model.py ├── world_models ├── duck │ ├── images │ │ └── duckCM.png │ ├── meshes │ │ └── duck.dae │ └── model.sdf ├── duckCM.png ├── dummy_laser │ ├── model.config │ └── model.sdf ├── large_rock │ ├── meshes │ │ ├── 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