├── .gitattributes ├── README.md ├── docs └── images │ ├── pluto_botanical_garden1.jpg │ └── pluto_botanical_garden2.jpg ├── pluto_bringup ├── CMakeLists.txt ├── config │ ├── ekf_navsat.yaml │ └── joint_state_publisher.yaml ├── launch │ ├── hyperspectral.launch │ ├── localization.launch │ ├── phidgets_imu.launch │ ├── pluto.launch │ ├── ps3joy.launch │ └── riegl_vz400i.launch └── package.xml ├── pluto_description ├── CMakeLists.txt ├── launch │ ├── pluto_rviz.launch │ └── upload_pluto.launch ├── meshes │ ├── pluto_base.stl │ ├── pluto_base_collision.stl │ ├── pluto_lever.stl │ ├── pluto_lever_collision.stl │ ├── pluto_wheel.stl │ └── pluto_wheel_collision.stl ├── package.xml └── urdf │ ├── pluto.urdf.xacro │ └── wheel.urdf.xacro ├── pluto_gazebo ├── CMakeLists.txt ├── config │ └── control.yaml ├── launch │ ├── pluto_botanical_garden.launch │ ├── pluto_gazebo.launch │ ├── pluto_physics.launch │ ├── pluto_stone_quarry.launch │ ├── robot_pose_ekf.launch │ └── spawn_pluto.launch ├── models │ ├── botanical_garden_gazebo.dae │ ├── botanical_garden_gazebo.ply │ ├── botanical_garden_gazebo.stl │ ├── physics.dae │ └── stone_quarry_brockum.dae ├── package.xml └── worlds │ ├── botanical_garden.world │ ├── physics.world │ └── stone_quarry_brockum.world ├── pluto_navigation ├── CMakeLists.txt ├── config │ └── 2d_nav │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_params.yaml │ │ ├── dem_navigation.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml ├── experiments │ ├── botanical_garden_1_dijkstra.bagy │ ├── botanical_garden_1_vfp.bagy │ ├── botanical_garden_2_dijkstra.bagy │ ├── botanical_garden_2_vfp.bagy │ ├── botanical_garden_3_dijkstra.bagy │ ├── botanical_garden_3_vfp.bagy │ ├── botanical_garden_4_dijkstra.bagy │ ├── botanical_garden_4_mmp.bagy │ ├── botanical_garden_4_vfp.bagy │ ├── farmers_pit_1_dijkstra.bagy │ ├── farmers_pit_1_vfp.bagy │ ├── farmers_pit_2_dijkstra.bagy │ ├── farmers_pit_2_vfp.bagy │ ├── farmers_pit_3_dijkstra.bagy │ ├── farmers_pit_3_mmp.bagy │ ├── farmers_pit_3_vfp.bagy │ ├── farmers_pit_4_dijkstra.bagy │ ├── farmers_pit_4_vfp.bagy │ ├── market_garden_all_2_dijkstra.bagy │ ├── market_garden_all_2_mmp.bagy │ ├── market_garden_all_2_vfp.bagy │ ├── market_garden_inner_1_dijkstra.bagy │ ├── market_garden_inner_1_mmp.bagy │ ├── market_garden_inner_1_vfp.bagy │ ├── physics_campus_1_dijkstra.bagy │ ├── physics_campus_1_mmp.bagy │ ├── physics_campus_1_vfp.bagy │ ├── physics_campus_2_dijkstra.bagy │ ├── physics_campus_2_vfp.bagy │ ├── physics_campus_3_dijkstra.bagy │ ├── physics_campus_3_vfp.bagy │ ├── stone_quarry_1_dijkstra.bagy │ ├── stone_quarry_1_vfp.bagy │ ├── stone_quarry_2_dijkstra.bagy │ ├── stone_quarry_2_vfp.bagy │ ├── stone_quarry_3_dijkstra.bagy │ ├── stone_quarry_3_mmp.bagy │ ├── stone_quarry_3_vfp.bagy │ ├── stone_quarry_4_dijkstra.bagy │ └── stone_quarry_4_vfp.bagy ├── launch │ ├── botanical_garden_osnabrueck.launch │ ├── dem_navigation.launch │ ├── experiment.launch │ ├── farmers_pit_stemwede.launch │ ├── market_garden_ibbenbueren_all.launch │ ├── market_garden_ibbenbueren_inner.launch │ ├── physics_campus_westerberg.launch │ ├── pluto_navigation.launch │ └── stone_quarry_brockum.launch ├── maps │ ├── botanical_garden_osnabrueck │ │ ├── botanical_garden_osnabrueck.h5 │ │ ├── botanical_garden_osnabrueck.rviz │ │ ├── botanical_garden_osnabrueck_experiment_1_vfp.png │ │ ├── botanical_garden_osnabrueck_experiment_2_vfp.png │ │ ├── botanical_garden_osnabrueck_experiment_3_vfp.png │ │ ├── botanical_garden_osnabrueck_experiment_4_vfp.png │ │ ├── botanical_garden_osnabrueck_map.yaml │ │ ├── botanical_garden_osnabrueck_mesh.ply │ │ ├── botanical_garden_osnabrueck_nav.yaml │ │ └── botanical_garden_osnabrueck_sideview.png │ ├── farmers_pit_stemwede │ │ ├── farmers_pit_stemwede.h5 │ │ ├── farmers_pit_stemwede.rviz │ │ ├── farmers_pit_stemwede_detail.png │ │ ├── farmers_pit_stemwede_detail_wireframe.png │ │ ├── farmers_pit_stemwede_experiment_1_vfp.png │ │ ├── farmers_pit_stemwede_experiment_2_vfp.png │ │ ├── farmers_pit_stemwede_experiment_3_vfp.png │ │ ├── farmers_pit_stemwede_experiment_4_vfp.png │ │ ├── farmers_pit_stemwede_map.yaml │ │ ├── farmers_pit_stemwede_mesh.ply │ │ ├── farmers_pit_stemwede_nav.yaml │ │ ├── farmers_pit_stemwede_overview.png │ │ ├── farmers_pit_stemwede_sideview.png │ │ └── farmers_pit_stemwede_sideview_wireframe.png │ ├── market_garden_ibbenbueren │ │ ├── market_garden_ibbenbueren_all.h5 │ │ ├── market_garden_ibbenbueren_all.rviz │ │ ├── market_garden_ibbenbueren_all_closeup.png │ │ ├── market_garden_ibbenbueren_all_map.yaml │ │ ├── market_garden_ibbenbueren_all_mesh.ply │ │ ├── market_garden_ibbenbueren_all_nav.yaml │ │ ├── market_garden_ibbenbueren_all_overview.png │ │ ├── market_garden_ibbenbueren_all_sideview.png │ │ ├── market_garden_ibbenbueren_inner.h5 │ │ ├── market_garden_ibbenbueren_inner.rviz │ │ ├── market_garden_ibbenbueren_inner_closeup.png │ │ ├── market_garden_ibbenbueren_inner_experiment_1_vfp.png │ │ ├── market_garden_ibbenbueren_inner_map.yaml │ │ ├── market_garden_ibbenbueren_inner_mesh.ply │ │ ├── market_garden_ibbenbueren_inner_nav.yaml │ │ ├── market_garden_ibbenbueren_inner_overview_side.png │ │ ├── market_garden_ibbenbueren_inner_overview_top.png │ │ └── market_garden_ibbenbueren_inner_sideview.png │ ├── physics_campus_westerberg │ │ ├── physics_campus_westerberg.h5 │ │ ├── physics_campus_westerberg.rviz │ │ ├── physics_campus_westerberg_experiment_1_vfp.png │ │ ├── physics_campus_westerberg_experiment_2_vfp.png │ │ ├── physics_campus_westerberg_experiment_3_vfp.png │ │ ├── physics_campus_westerberg_map.yaml │ │ ├── physics_campus_westerberg_mesh.ply │ │ ├── physics_campus_westerberg_nav.yaml │ │ └── physics_campus_westerberg_sideview.png │ └── stone_quarry_brockum │ │ ├── stone_quarry_brockum.h5 │ │ ├── stone_quarry_brockum.rviz │ │ ├── stone_quarry_brockum_cloud.ply │ │ ├── stone_quarry_brockum_experiment_1_vfp.png │ 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