├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── README_CN.md ├── TIANRACER.png ├── cartographer_ros.rosinstall ├── tianracer.rosinstall ├── tianracer ├── CMakeLists.txt └── package.xml ├── tianracer_bringup ├── CMakeLists.txt ├── env-hooks │ └── 99.default_tianracer.sh.em ├── install │ ├── _bin_ │ │ └── tianracer_bringup.sh │ ├── _service_ │ │ └── tianracer_bringup.service │ ├── _udev_ │ │ ├── 99-tianbot-gps.rules │ │ ├── 99-tianbot-joystick.rules │ │ ├── 99-tianbot-racecar.rules │ │ ├── 99-tianbot-rplidar.rules │ │ └── 99-tianbot-usb-cam.rules │ ├── install_udev.sh │ └── tianracer_autostart.sh ├── launch │ ├── bridge.launch │ ├── gps.launch │ ├── includes │ │ ├── astra.launch.xml │ │ ├── lidar │ │ │ ├── osight_iexxx.launch.xml │ │ │ ├── richbeam_lidar.launch.xml │ │ │ ├── rplidar.launch.xml │ │ │ ├── rslidar.launch.xml │ │ │ ├── rslidar_nodelet.launch.xml │ │ │ └── velodyne.launch.xml │ │ ├── rs_camera.launch.xml │ │ └── rs_camera_with_imu_stereo.launch.xml │ ├── lidar.launch │ ├── rgbd_camera.launch │ ├── tianracer_bringup.launch │ └── usb_cam.launch ├── package.xml └── param │ ├── osight_laser_filter.yaml │ ├── rplidar_laser_filter.yaml │ └── tianbot_laser_config.yaml ├── tianracer_competition ├── CMakeLists.txt ├── launch │ ├── closed_map.launch │ ├── open_map.launch │ ├── open_map_teb.launch │ └── param │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ └── teb_local_planner_params.yaml ├── package.xml ├── png │ ├── closed_map_no_obstacle.png │ ├── closed_map_obstacle.png │ ├── open_map_no_obstacle_5_2.png │ └── run_in_closed_map_obstacle.png ├── readme.txt └── script │ ├── nav_sim.py │ ├── run3.py │ ├── run_in_closed_map.py │ └── run_in_open_map.py ├── tianracer_core ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── include │ └── tianboard │ │ ├── protocol.h │ │ ├── serial.h │ │ └── tianboard.h ├── launch │ └── tianracer_core.launch ├── package.xml ├── param │ └── tianbot_ekf_params.yaml └── src │ ├── main.cpp │ ├── serial.cpp │ └── tianboard.cpp ├── tianracer_description ├── CMakeLists.txt ├── config │ └── joint_names_tianracer_description.yaml ├── launch │ ├── includes │ │ ├── compact_tf.launch.xml │ │ ├── fullsize_tf.launch.xml │ │ ├── standard_3d_points_tf.launch.xml │ │ ├── standard_osight_tf.launch.xml │ │ └── standard_rplidar_tf.launch.xml │ ├── tianracer_description.launch │ └── tianracer_tf.launch ├── meshes │ ├── base_link.STL │ ├── camera.STL │ ├── laser.STL │ ├── left_front_wheel.STL │ ├── left_rear_wheel.STL │ ├── left_steering_hinge.STL │ ├── real_sense.STL │ ├── right_front_wheel.STL │ ├── right_rear_wheel.STL │ └── right_steering_hinge.STL ├── package.xml └── urdf │ ├── tianracer_compact.urdf │ └── tianracer_compact.urdf.xacro ├── tianracer_gazebo ├── CMakeLists.txt ├── config │ ├── keyboard_teleop.yaml │ ├── spawn_pose.yaml │ ├── teb │ │ ├── base_global_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ └── teb_local_planner_params.yaml │ └── tianracer_control.yaml ├── launch │ ├── click_waypoint.launch │ ├── demo_sim_two_tianracer.launch │ ├── demo_tianracer_teb_nav.launch │ ├── follow_the_gap.launch │ ├── includes │ │ ├── amcl.launch.xml │ │ ├── model.launch.xml │ │ ├── teb_base.launch.xml │ │ ├── teleop.launch │ │ └── tianbot_amcl.launch.xml │ ├── navigation.launch │ ├── simulation.launch │ ├── spawn_model.launch │ ├── spawn_tianracer.launch │ ├── spawn_with_rviz.launch │ ├── tianracer_control.launch │ ├── tianracer_gmapping.launch │ └── tianracer_on_racetrack.launch ├── maps │ ├── room_mini.pgm │ ├── room_mini.yaml │ ├── tianracer_racetrack.pgm │ └── tianracer_racetrack.yaml ├── package.xml ├── rviz │ ├── demo_tf.rviz │ ├── gmapping.rviz │ ├── nav.rviz │ ├── nav_tianracer_01.rviz │ └── nav_tianracer_02.rviz ├── scripts │ ├── change_rviz_name.py │ ├── env_config.sh │ ├── f1tenth_racer.py │ ├── follow_the_gap.py │ ├── gazebo_odometry.py │ ├── initialpose_pub.py │ ├── judge_system.so │ ├── judge_system_node.py │ ├── keyboard_teleop.py │ ├── multi_goals.py │ ├── odom_pub.py │ ├── requirements.txt │ ├── servo_commands.py │ ├── spawn_xml_model.py │ ├── tianracer_tf.py │ ├── transform.py │ ├── upload.py │ ├── utils │ │ ├── display_dynamic_lidar_data.py │ │ └── position_check.py │ ├── waypoint_generator.py │ └── waypoint_race │ │ ├── check_points.yaml │ │ ├── points.yaml │ │ └── utils.py ├── urdf │ ├── macros.xacro │ ├── macros_tf.xacro │ ├── racecar.gazebo │ ├── racecar.urdf.gazebo │ ├── tianracer.urdf.xacro │ ├── tianracer.xacro │ ├── tianracer_run.urdf.xacro │ └── tianracer_run.xacro └── worlds │ ├── race_with_cones.world │ ├── room_mini.world │ ├── tianracer_racetrack.world │ └── tianracer_racetrack │ ├── meshes │ ├── aa2_iflytek.png │ ├── aa3.png │ ├── aa3_iflytek.png │ ├── base_link.STL │ ├── base_link.dae │ ├── base_link_iflytek.dae │ └── wall.STL │ ├── model.config │ └── tianracer_racetrack.sdf ├── tianracer_gps ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.rst ├── package.xml ├── scripts │ ├── nmea_serial_driver │ ├── nmea_socket_driver │ ├── nmea_topic_driver │ └── nmea_topic_serial_reader ├── setup.py └── src │ └── libnmea_navsat_driver │ ├── __init__.py │ ├── checksum_utils.py │ ├── driver.py │ └── parser.py ├── tianracer_jetson ├── CMakeLists.txt ├── ipynb │ ├── basic_motion_tianracer.ipynb │ ├── interactive_regression_tianracer.ipynb │ └── road_following_tianracer.ipynb └── package.xml ├── tianracer_navigation ├── CMakeLists.txt ├── launch │ ├── includes │ │ ├── tianbot_amcl.launch.xml │ │ ├── tianbot_amcl_2.launch.xml │ │ └── tianbot_move_base.launch.xml │ ├── simulator_wall_following.launch │ ├── tianracer_l1_nav.launch │ ├── tianracer_multi_goal.launch │ ├── tianracer_teb_nav.launch │ └── tianracer_teb_nav_2.launch ├── package.xml ├── param │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ └── teb_carlike │ │ ├── compact_teb_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── fullsize_teb_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── global_planner_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── standard_teb_local_planner_params.yaml ├── script │ ├── cmd_vel_to_ackermann_drive.py │ ├── multi_goals.py │ └── wall_following.py └── src │ └── L1_controller_v2.cpp ├── tianracer_rviz ├── CMakeLists.txt ├── launch │ ├── view_amcl.launch │ ├── view_cartographer.launch │ ├── view_image.launch │ ├── view_imu.launch │ ├── view_lidar.launch │ ├── view_mapping.launch │ ├── view_mapping_2.launch │ ├── view_odom.launch │ ├── view_rgbd_camera.launch │ ├── view_robot_model.launch │ ├── view_teb_planner.launch │ └── view_teb_planner_2.launch ├── package.xml └── rviz_cfg │ ├── demo_2d.rviz │ ├── demo_3d.rviz │ ├── rgbd_camera.rviz │ ├── robot_model.rviz │ ├── teb_navigation.rviz │ ├── teb_navigation_2.rviz │ ├── 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