├── .gitignore ├── docs ├── imgs │ └── patroller.gif └── scripts │ └── download.sh ├── micvision ├── CMakeLists.txt ├── action │ └── Exploration.action ├── cfg │ └── Localization.cfg ├── include │ └── micvision │ │ ├── commands.h │ │ ├── exploration.h │ │ ├── grid_map.h │ │ ├── localization.h │ │ └── patroller.h ├── launch │ ├── exploration.launch │ └── localization.launch ├── package.xml └── src │ ├── exploration.cpp │ ├── exploration_client.cpp │ ├── exploration_node.cpp │ ├── localization.cpp │ ├── localization_node.cpp │ └── patroller.cpp ├── micvision_gazebo ├── CMakeLists.txt ├── launch │ ├── includes │ │ └── kobuki.launch.xml │ ├── maze-mapping-gazebo.launch │ ├── maze-navigation-gazebo.launch │ └── turtlebot_world.launch ├── meshes │ └── rplidar_a2.dae ├── move_base_config │ ├── amcl.diff.xml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_common_params_sonar.yaml │ ├── global_costmap_params_sonar.yaml │ ├── local_costmap_common_params_sonar.yaml │ ├── local_costmap_params_sonar.yaml │ └── move_base_turtlebot2.xml ├── package.xml ├── robots │ └── kobuki_hexagons.urdf.xacro ├── rviz │ └── navigation.rviz ├── urdf │ ├── rplidar.urdf.xacro │ └── turtlebot_library.urdf.xacro └── worlds │ ├── maps │ ├── maze.pgm │ └── maze.yaml │ ├── maze.world │ ├── maze │ ├── model.config │ └── model.sdf │ ├── small_office.world │ └── willow_garage.world ├── micvision_mapping ├── CMakeLists.txt ├── launch │ ├── turtlebot2 │ │ ├── cartographer_turtlebot2.launch │ │ ├── hardware_turtlebot2.launch │ │ ├── mapping_turtlebot2.launch │ │ └── state_publisher.launch │ └── turtlebot3 │ │ ├── cartographer_turtlebot3.launch │ │ ├── hardware_turtlebot3.launch │ │ └── mapping_turtlebot3.launch └── package.xml ├── micvision_navigation ├── CMakeLists.txt ├── launch │ ├── turtlebot2 │ │ ├── hardware_turtlebot2.launch │ │ ├── move_base_amcl_turtlebot2.launch │ │ └── navigation_turtlebot2.launch │ └── turtlebot3 │ │ ├── hardware_turtlebot3.launch │ │ ├── move_base_amcl_turtlebot3.launch │ │ └── navigation_turtlebot3.launch └── package.xml ├── micvision_sim ├── CMakeLists.txt ├── launch │ ├── mapping_neo.launch │ ├── maze-mapping-sim.launch │ ├── maze-navigation-sim.launch │ ├── navigation_neo.launch │ ├── willow-mapping-sim.launch │ └── willow-navigation-sim.launch ├── move_base_config │ ├── amcl.diff.xml │ ├── amcl_node.xml │ ├── base_local_planner_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_common_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base.xml │ ├── move_base_turtlebot2.xml │ └── slam_gmapping.xml ├── package.xml ├── readme.md ├── rviz │ ├── bw_navigation.rviz │ └── navigation.rviz └── stage_config │ ├── map.pgm │ ├── map.yaml │ ├── maps │ ├── maze.pgm │ ├── maze.yaml │ ├── willow-full-0.025.pgm │ ├── willow-full-0.05.pgm │ ├── willow-full.pgm │ ├── willow.pgm │ └── willow.yaml │ └── worlds │ ├── floorplan.inc │ ├── 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