├── Cartographer源码分析.pdf ├── README.md ├── picture ├── 1.1.jpg ├── 1.jpg ├── 2.jpg ├── 3.jpg ├── 4.png └── 5.png ├── shell_carto ├── carto_localization.sh ├── gazebo_empty_start.sh ├── map_tools.sh ├── mapping_cartographer.sh ├── savemap.sh ├── shutAll.sh ├── tools_carto_localization.sh └── waypoints.xml ├── turtlebot3 ├── .travis.yml ├── turtlebot3 │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot3_bringup │ ├── 99-turtlebot3-cdc.rules │ ├── CMakeLists.txt │ ├── camera_info │ │ └── turtlebot3_rpicamera.yaml │ ├── launch │ │ ├── includes │ │ │ └── description.launch.xml │ │ ├── turtlebot3_core.launch │ │ ├── turtlebot3_lidar.launch │ │ ├── turtlebot3_model.launch │ │ ├── turtlebot3_realsense.launch │ │ ├── turtlebot3_remote.launch │ │ ├── turtlebot3_robot.launch │ │ └── turtlebot3_rpicamera.launch │ ├── package.xml │ ├── scripts │ │ └── create_udev_rules │ └── src │ │ └── turtlebot3_diagnostics.cpp ├── turtlebot3_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── bases │ │ │ ├── burger_base.stl │ │ │ ├── waffle_base.stl │ │ │ ├── waffle_base_for_open_manipulator.stl │ │ │ ├── waffle_pi_base.stl │ │ │ └── waffle_pi_base_for_open_manipulator.stl │ │ ├── sensors │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── lds.stl │ │ │ ├── r200.dae │ │ │ └── r200.jpg │ │ └── wheels │ │ │ ├── left_tire.stl │ │ │ └── right_tire.stl │ ├── package.xml │ ├── rviz │ │ └── model.rviz │ └── urdf │ │ ├── common_properties.xacro │ │ ├── turtlebot3_burger.gazebo.xacro │ │ ├── turtlebot3_burger.urdf.xacro │ │ ├── turtlebot3_burger_for_autorace.gazebo.xacro │ │ ├── turtlebot3_burger_for_autorace.urdf.xacro │ │ ├── turtlebot3_waffle.gazebo.xacro │ │ ├── turtlebot3_waffle.urdf.xacro │ │ ├── turtlebot3_waffle_for_open_manipulator.urdf.xacro │ │ ├── turtlebot3_waffle_pi.gazebo.xacro │ │ ├── turtlebot3_waffle_pi.urdf.xacro │ │ └── turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro ├── turtlebot3_example │ ├── CMakeLists.txt │ ├── action │ │ └── Turtlebot3.action │ ├── launch │ │ ├── interactive_markers.launch │ │ ├── turtlebot3_bumper.launch │ │ ├── turtlebot3_client.launch │ │ ├── turtlebot3_cliff.launch │ │ ├── turtlebot3_illumination.launch │ │ ├── turtlebot3_obstacle.launch │ │ ├── turtlebot3_pointop_key.launch │ │ └── turtlebot3_sonar.launch │ ├── nodes │ │ ├── turtlebot3_bumper │ │ ├── turtlebot3_client │ │ ├── turtlebot3_cliff │ │ ├── turtlebot3_illumination │ │ ├── turtlebot3_marker_server │ │ ├── turtlebot3_obstacle │ │ ├── turtlebot3_pointop_key │ │ ├── turtlebot3_server │ │ └── turtlebot3_sonar │ ├── package.xml │ ├── rviz │ │ └── turtlebot3_interactive.rviz │ ├── setup.py │ └── src │ │ └── turtlebot3_example │ │ └── __init__.py ├── turtlebot3_navigation │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── move_base.launch │ │ └── turtlebot3_navigation.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params_burger.yaml │ │ ├── costmap_common_params_waffle.yaml │ │ ├── costmap_common_params_waffle_pi.yaml │ │ ├── dwa_local_planner_params_burger.yaml │ │ ├── dwa_local_planner_params_waffle.yaml │ │ ├── dwa_local_planner_params_waffle_pi.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── rviz │ │ └── turtlebot3_navigation.rviz ├── turtlebot3_slam │ ├── CMakeLists.txt │ ├── bag │ │ └── bag_files.md │ ├── config │ │ ├── frontier_exploration.yaml │ │ ├── karto_mapper_params.yaml │ │ ├── mymap.pbstream │ │ ├── turtlebot3_lds_2d.lua │ │ └── turtlebot3_lds_2d_gazebo.lua │ ├── include │ │ └── turtlebot3_slam │ │ │ └── flat_world_imu_node.h │ ├── launch │ │ ├── demo_backpack_2d_localization.launch │ │ ├── graph_turtlebot3_slam.launch │ │ ├── turtlebot3_cartographer.launch │ │ ├── turtlebot3_cartographer_mapping.launch │ │ ├── turtlebot3_frontier_exploration.launch │ │ ├── turtlebot3_gmapping.launch │ │ ├── turtlebot3_hector.launch │ │ ├── turtlebot3_karto.launch │ │ ├── turtlebot3_slam.launch │ │ └── turtlebot3_slam_mapping.launch │ ├── package.xml │ ├── rviz │ │ ├── turtlebot3_cartographer.rviz │ │ ├── turtlebot3_frontier_exploration.rviz │ │ ├── turtlebot3_gmapping.rviz │ │ ├── turtlebot3_hector.rviz │ │ └── turtlebot3_karto.rviz │ └── src │ │ └── flat_world_imu_node.cpp └── turtlebot3_teleop │ ├── CMakeLists.txt │ ├── launch │ └── turtlebot3_teleop_key.launch │ ├── nodes │ └── turtlebot3_teleop_key │ ├── package.xml │ ├── setup.py │ └── src │ └── turtlebot3_teleop │ └── __init__.py ├── turtlebot3_msgs ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── msg │ ├── SensorState.msg │ ├── Sound.msg │ └── VersionInfo.msg └── package.xml ├── turtlebot3_simulations ├── .travis.yml ├── README.md ├── turtlebot3_fake │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── turtlebot3_fake │ │ │ └── turtlebot3_fake.h │ ├── launch │ │ └── turtlebot3_fake.launch │ ├── package.xml │ ├── rviz │ │ └── turtlebot3_fake.rviz │ └── src │ │ └── turtlebot3_fake.cpp ├── turtlebot3_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── turtlebot3_gazebo │ │ │ └── turtlebot3_drive.h │ ├── launch │ │ ├── multi_map_merge.launch │ │ ├── multi_turtlebot3.launch │ │ ├── multi_turtlebot3_slam.launch │ │ ├── turtlebot3_autorace.launch │ │ ├── turtlebot3_autorace_mission.launch │ │ ├── turtlebot3_empty_world.launch │ │ ├── turtlebot3_gazebo_rviz.launch │ │ ├── turtlebot3_house.launch │ │ ├── turtlebot3_simulation.launch │ │ ├── turtlebot3_stage_1.launch │ │ ├── turtlebot3_stage_2.launch │ │ ├── turtlebot3_stage_3.launch │ │ ├── turtlebot3_stage_4.launch │ │ └── turtlebot3_world.launch │ ├── models │ │ ├── turtlebot3_autorace │ │ │ ├── course │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── course.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── course.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_down │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_bar_up │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_bar.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_bar.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_green │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_red │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_light_yellow │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_parking │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_parking.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_parking.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── traffic_stop │ │ │ │ ├── materials │ │ │ │ │ ├── scripts │ │ │ │ │ │ └── traffic_stop.material │ │ │ │ │ └── textures │ │ │ │ │ │ └── traffic_stop.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── traffic_tunnel │ │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── tunnel.material │ │ │ │ └── textures │ │ │ │ │ └── tunnel.png │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ ├── turtlebot3_burger │ │ │ ├── meshes │ │ │ │ ├── burger_base.dae │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ └── right_tire.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_house │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_plaza │ │ │ ├── goal_box │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_square │ │ │ ├── goal_box │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_waffle │ │ │ ├── meshes │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ ├── r200.dae │ │ │ │ ├── right_tire.dae │ │ │ │ └── waffle_base.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── turtlebot3_waffle_pi │ │ │ ├── meshes │ │ │ │ ├── lds.dae │ │ │ │ ├── left_tire.dae │ │ │ │ ├── right_tire.dae │ │ │ │ └── waffle_pi_base.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── turtlebot3_world │ │ │ ├── meshes │ │ │ ├── hexagon.dae │ │ │ └── wall.dae │ │ │ ├── model-1_4.sdf │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── package.xml │ ├── rviz │ │ ├── multi_turtlebot3_slam.rviz │ │ └── turtlebot3_gazebo_model.rviz │ ├── src │ │ └── turtlebot3_drive.cpp │ └── worlds │ │ ├── empty.world │ │ ├── turtlebot3_autorace.world │ │ ├── turtlebot3_house.world │ │ ├── turtlebot3_stage_1.world │ │ ├── turtlebot3_stage_2.world │ │ ├── turtlebot3_stage_3.world │ │ ├── turtlebot3_stage_4.world │ │ └── turtlebot3_world.world └── turtlebot3_simulations │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── waterplus_map_tools ├── CMakeLists.txt ├── icons └── classes │ └── AddWaypoint.png ├── include ├── UDPClient.h ├── UDPServer.h └── add_waypoint_tool.h ├── launch ├── add_waypoint.launch ├── add_waypoint_ai.launch ├── add_waypoint_app.launch ├── add_waypoint_monitor.launch ├── add_waypoint_wpr1.launch ├── wpb_ai_nav_test.launch ├── wpb_home_nav_remote.launch ├── wpb_home_nav_test.launch ├── wpr1_nav_remote.launch ├── wpr1_nav_test.launch └── wpv3_nav_test.launch ├── media ├── add_waypoint.png ├── map.png ├── map_tools.png ├── toolbar.png ├── waypoint.png └── wpb_home_nav.png ├── meshes └── waypoint.dae ├── msg └── Waypoint.msg ├── package.xml ├── rviz ├── addwaypoint.rviz └── nav.rviz ├── src ├── add_waypoint_tool.cpp ├── network │ ├── UDPClient.c │ └── UDPServer.c ├── wp_manager.cpp ├── wp_nav_odom_report.cpp ├── wp_nav_remote.cpp ├── wp_nav_test.cpp └── wp_saver.cpp ├── srv ├── AddNewWaypoint.srv ├── GetNumOfWaypoints.srv ├── GetWaypointByIndex.srv ├── GetWaypointByName.srv └── SaveWaypoints.srv └── waterplus_map_tools_plugin.xml /Cartographer源码分析.pdf: -------------------------------------------------------------------------------- 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