├── .github └── workflows │ └── manual.yml ├── CODEOWNERS ├── EKFLab.rviz ├── LICENSE ├── Outcome.png ├── README.md ├── RvizLaunch.launch ├── main ├── CMakeLists.txt ├── launch │ └── main.launch └── package.xml ├── odom_to_trajectory ├── CMakeLists.txt ├── README.md ├── launch │ └── create_trajectory.launch ├── package.xml └── scripts │ ├── path_ekf_plotter.py │ └── path_odom_plotter.py ├── robot_pose_ekf ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── example_with_gps.launch ├── include │ └── robot_pose_ekf │ │ ├── nonlinearanalyticconditionalgaussianodo.h │ │ ├── odom_estimation.h │ │ └── odom_estimation_node.h ├── package.xml ├── plotekf.m ├── robot_pose_ekf.launch ├── scripts │ └── wtf.py ├── src │ ├── nonlinearanalyticconditionalgaussianodo.cpp │ ├── odom_estimation.cpp │ └── odom_estimation_node.cpp ├── srv │ └── GetStatus.srv └── test │ ├── test_robot_pose_ekf.cpp │ ├── test_robot_pose_ekf.launch │ ├── test_robot_pose_ekf_zero_covariance.cpp │ └── test_robot_pose_ekf_zero_covariance.launch ├── turtlebot ├── .gitignore ├── README.md ├── setup_create.sh ├── setup_kobuki.sh ├── turtlebot.rosinstall ├── turtlebot │ ├── .cproject │ ├── .project │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot_bringup │ ├── .cproject │ ├── .project │ ├── .pydevproject │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── env-hooks │ │ └── 25.turtlebot.sh.em │ ├── icons │ │ └── turtlebot2.png │ ├── interactions │ │ ├── admin.interactions │ │ ├── documentation.interactions │ │ ├── pairing.interactions │ │ └── visualisation.interactions │ ├── launch │ │ ├── 3dsensor.launch │ │ ├── concert_client.launch │ │ ├── concert_minimal.launch │ │ ├── includes │ │ │ ├── 3dsensor │ │ │ │ ├── astra.launch.xml │ │ │ │ ├── asus_xtion_pro.launch.xml │ │ │ │ ├── asus_xtion_pro_offset.launch.xml │ │ │ │ ├── kinect.launch.xml │ │ │ │ └── r200.launch.xml │ │ │ ├── capabilities.launch.xml │ │ │ ├── create │ │ │ │ └── mobile_base.launch.xml │ │ │ ├── description.launch.xml │ │ │ ├── kobuki │ │ │ │ ├── bumper2pc.launch.xml │ │ │ │ ├── mobile_base.launch.xml │ │ │ │ └── safety_controller.launch.xml │ │ │ ├── mobile_base.launch.xml │ │ │ ├── netbook.launch.xml │ │ │ ├── robot.launch.xml │ │ │ ├── roomba │ │ │ │ └── mobile_base.launch.xml │ │ │ └── zeroconf.launch.xml │ │ └── minimal.launch │ ├── package.xml │ ├── param │ │ ├── 3dsensor.yaml │ │ ├── capabilities │ │ │ └── defaults_tb2.yaml │ │ ├── create │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── defaults │ │ │ ├── capability_providers.yaml │ │ │ └── smoother.yaml │ │ ├── kinect │ │ │ └── capability_providers.yaml │ │ ├── kobuki │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── mux.yaml │ │ ├── preferred_rapp.yaml │ │ ├── roomba │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── xtion │ │ │ └── capability_providers.yaml │ │ └── zeroconf.yaml │ └── scripts │ │ └── turtlebot_addr.py ├── turtlebot_capabilities.rosinstall ├── turtlebot_capabilities │ ├── .cproject │ ├── .project │ ├── .pydevproject │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── interfaces │ │ └── TurtleBotBringup.yaml │ ├── package.xml │ └── providers │ │ ├── depthimage_to_laserscan.yaml │ │ ├── diagnostics.yaml │ │ ├── differential_mobile_base.yaml │ │ ├── launch │ │ ├── depthimage_to_laserscan.launch │ │ ├── diagnostics.launch │ │ ├── placeholder.py │ │ ├── rgbd_sensor.launch │ │ ├── robot_state_publisher.launch │ │ ├── turtlebot2_bringup.launch │ │ └── turtlebot_bringup.launch │ │ ├── rgbd_sensor.yaml │ │ ├── robot_state_publisher.yaml │ │ ├── turtlebot2_bringup.yaml │ │ └── turtlebot_bringup.yaml ├── turtlebot_description │ ├── .cproject │ ├── .project │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── meshes │ │ ├── sensors │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ └── stacks │ │ │ ├── circles │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ ├── plate_0_logo.dae │ │ │ ├── plate_0_logo.tga │ │ │ ├── plate_1_logo.dae │ │ │ ├── plate_1_logo.tga │ │ │ ├── plate_2_logo.dae │ │ │ └── plate_2_logo.tga │ │ │ └── hexagons │ │ │ ├── images │ │ │ ├── 1f_pole.jpg │ │ │ ├── 1f_stack.jpg │ │ │ ├── 2f_pole.jpg │ │ │ ├── 2f_stack.jpg │ │ │ ├── 3f_pole.jpg │ │ │ ├── 3f_stack.jpg │ │ │ ├── 3f_stack1.jpg │ │ │ ├── kinect_pole.jpg │ │ │ └── kinect_pole_old.jpg │ │ │ ├── plate_bottom.dae │ │ │ ├── plate_middle.dae │ │ │ ├── plate_top.dae │ │ │ ├── pole_bottom.dae │ │ │ ├── pole_kinect.dae │ │ │ ├── pole_middle.dae │ │ │ └── pole_top.dae │ ├── package.xml │ ├── robots │ │ ├── create_circles_asus_xtion_pro.urdf.xacro │ │ ├── create_circles_kinect.urdf.xacro │ │ ├── kobuki_hexagons_astra.urdf.xacro │ │ ├── kobuki_hexagons_asus_xtion_pro.urdf.xacro │ │ ├── kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro │ │ ├── kobuki_hexagons_kinect.urdf.xacro │ │ ├── kobuki_hexagons_r200.urdf.xacro │ │ ├── roomba_circles_asus_xtion_pro.urdf.xacro │ │ └── roomba_circles_kinect.urdf.xacro │ ├── scripts │ │ └── calc_inertia.m │ ├── test.launch │ ├── test │ │ └── test_urdf.cpp │ └── urdf │ │ ├── common_properties.urdf.xacro │ │ ├── sensors │ │ ├── astra.urdf.xacro │ │ ├── asus_xtion_pro.urdf.xacro │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ ├── kinect.urdf.xacro │ │ └── r200.urdf.xacro │ │ ├── stacks │ │ ├── circles.urdf.xacro │ │ └── hexagons.urdf.xacro │ │ ├── turtlebot_common_library.urdf.xacro │ │ ├── turtlebot_gazebo.urdf.xacro │ │ └── turtlebot_properties.urdf.xacro └── turtlebot_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ ├── includes │ │ └── velocity_smoother.launch.xml │ ├── keyboard_teleop.launch │ ├── logitech.launch │ ├── ps3_teleop.launch │ └── xbox360_teleop.launch │ ├── package.xml │ ├── param │ └── mux.yaml │ ├── scripts │ └── turtlebot_teleop_key │ └── src │ └── turtlebot_joy.cpp └── turtlebot_simulator ├── .gitignore ├── README.md ├── turtlebot_gazebo ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── env-hooks │ └── 25.turtlebot-gazebo.sh.em ├── launch │ ├── amcl_demo.launch │ ├── gmapping_demo.launch │ ├── includes │ │ ├── create.launch.xml │ │ ├── kobuki.launch.xml │ │ └── roomba.launch.xml │ └── turtlebot_world.launch ├── maps │ ├── playground.pgm │ └── playground.yaml ├── package.xml └── worlds │ ├── corridor.world │ ├── empty.world │ └── playground.world ├── turtlebot_simulator.rosinstall ├── turtlebot_simulator ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── turtlebot_stage ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── env-hooks │ └── 25.turtlebot-stage.sh.em ├── launch │ └── turtlebot_in_stage.launch ├── maps │ ├── maze.png │ ├── maze.yaml │ ├── robopark2.bmp │ ├── robopark_plan.yaml │ └── stage │ │ ├── maze.world │ │ ├── robopark_plan.world │ │ └── turtlebot.inc ├── package.xml └── rviz │ └── robot_navigation.rviz └── turtlebot_stdr ├── .cproject ├── .project ├── .pydevproject ├── CHANGELOG.rst ├── CMakeLists.txt ├── documentation └── architecture_overview.png ├── env-hooks └── 25.turtlebot-stdr.sh.em ├── launch ├── includes │ └── relays.launch.xml └── turtlebot_in_stdr.launch ├── maps ├── frieburg.png ├── 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