├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── ekf_fusion_turtlebot.yaml └── ekf_fusion_turtlebot_semslam.yaml ├── examples ├── human_following.gif └── spirit_outdoor.gif ├── extras ├── meshes │ ├── cart.mat │ ├── chair.mat │ ├── gascan.mat │ ├── ladder.mat │ ├── pelican.mat │ └── tableclosed.mat └── object_pose_interface_msgs │ ├── CMakeLists.txt │ ├── msg │ ├── Classification.msg │ ├── KeypointDetection3D.msg │ ├── KeypointDetections3D.msg │ ├── ObjectClass.msg │ ├── SemanticMapObject.msg │ └── SemanticMapObjectArray.msg │ └── package.xml ├── include ├── earcut.hpp ├── polygeom_lib.h └── reactive_planner_lib.h ├── launch ├── bringup_minitaur.launch ├── bringup_spirit.launch ├── bringup_turtlebot.launch ├── navigation_debug.launch ├── navigation_spirit_humanfollowing_onboard.launch ├── navigation_spirit_humanfollowingsignal_onboard.launch ├── navigation_turtlebot_humanfollowing_onboard.launch ├── navigation_turtlebot_humanfollowingfallen_onboard.launch ├── navigation_turtlebot_humanfollowingsignal_onboard.launch ├── navigation_turtlebot_humans_onboard.launch ├── navigation_turtlebot_offboard.launch ├── navigation_turtlebot_onboard.launch ├── navigation_turtlebot_semantic_offboard.launch ├── navigation_turtlebot_semantic_onboard.launch ├── tracking_spirit_semslam_indoor.launch ├── tracking_spirit_semslam_outdoor.launch ├── tracking_turtlebot_datacollection_vicon.launch ├── tracking_turtlebot_playback.launch ├── tracking_turtlebot_semslam_offboard.launch └── tracking_turtlebot_semslam_onboard.launch ├── package.xml └── src ├── fake_lidar_publisher.cpp ├── fake_odometry_publisher.cpp ├── human_following.cpp ├── human_following_fallen.cpp ├── human_following_signal.cpp ├── libraries ├── __init__.py ├── polygeom_lib.cpp ├── polygeom_lib.py ├── reactive_planner_lib.cpp ├── reactive_planner_lib.py ├── ros_functions.py └── visualization.py ├── map_debug.cpp ├── navigation.cpp ├── navigation_humans.cpp ├── navigation_semantic.cpp └── tracking ├── 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