├── README.md ├── applications ├── app1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── app1_plugin.xml │ ├── include │ │ └── app1 │ │ │ └── app1.h │ ├── package.xml │ └── src │ │ └── app1.cpp ├── app2 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── app2_plugin.xml │ ├── include │ │ └── app2 │ │ │ └── app2.h │ ├── package.xml │ └── src │ │ └── app2.cpp ├── app3 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── app3_plugin.xml │ ├── include │ │ └── app3 │ │ │ └── app3.h │ ├── package.xml │ └── src │ │ └── app3.cpp └── gazebo_flocking │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── gazebo_flocking_plugin.xml │ ├── include │ └── gazebo_flocking │ │ └── gazebo_flocking.h │ ├── package.xml │ └── src │ └── gazebo_flocking.cpp ├── core ├── app_loader │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── app_loader │ │ │ └── app_loader.h │ ├── package.xml │ ├── src │ │ ├── app_loader.cpp │ │ └── app_loader_node.cpp │ └── srv │ │ ├── AppLoad.srv │ │ ├── AppUnload.srv │ │ └── RTDestroy.srv ├── gsdf_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── BarrierAck.msg │ │ ├── BarrierSyn.msg │ │ ├── BlackBoardAck.msg │ │ ├── BlackBoardPut.msg │ │ ├── BlackBoardQuery.msg │ │ ├── CommContent.msg │ │ ├── CommHeader.msg │ │ ├── CommPacket.msg │ │ ├── JoinSwarm.msg │ │ ├── LeaveSwarm.msg │ │ ├── NeighborBroadcastKeyValue.msg │ │ ├── RobotBase.msg │ │ ├── SCDSPSOGet.msg │ │ ├── SCDSPSOPut.msg │ │ ├── SwarmList.msg │ │ ├── VirtualStigmergyPut.msg │ │ ├── VirtualStigmergyPuts.msg │ │ └── VirtualStigmergyQuery.msg │ └── package.xml ├── micros_swarm │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── micros_swarm │ │ │ ├── app_manager.h │ │ │ ├── application.h │ │ │ ├── blackboard.h │ │ │ ├── check_neighbor.h │ │ │ ├── circular_queue.h │ │ │ ├── comm_interface.h │ │ │ ├── data_type.h │ │ │ ├── listener_helper.h │ │ │ ├── micros_swarm.h │ │ │ ├── msg_queue_manager.h │ │ │ ├── neighbor_comm.h │ │ │ ├── neighbors.h │ │ │ ├── packet_parser.h │ │ │ ├── packet_type.h │ │ │ ├── random.h │ │ │ ├── runtime_core.h │ │ │ ├── runtime_handle.h │ │ │ ├── scds_pso.h │ │ │ ├── scds_pso_tuple.h │ │ │ ├── semaphore.h │ │ │ ├── serialize.h │ │ │ ├── singleton.h │ │ │ ├── swarm.h │ │ │ └── virtual_stigmergy.h │ ├── package.xml │ └── src │ │ ├── app_manager.cpp │ │ ├── application.cpp │ │ ├── check_neighbor.cpp │ │ ├── daemon_node.cpp │ │ ├── msg_queue_manager.cpp │ │ ├── packet_parser.cpp │ │ ├── random.cpp │ │ ├── runtime_core.cpp │ │ ├── runtime_handle.cpp │ │ ├── scds_pso.cpp │ │ ├── scds_pso_tuple.cpp │ │ └── swarm.cpp ├── opensplice_dds_broker │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── idl │ │ └── GSDFPacket.idl │ ├── include │ │ └── opensplice_dds_broker │ │ │ ├── GSDFPacket.h │ │ │ ├── GSDFPacketDcps.h │ │ │ ├── GSDFPacketDcps_impl.h │ │ │ ├── GSDFPacketSplDcps.h │ │ │ ├── GSDFPacket_listener.h │ │ │ ├── ccpp_GSDFPacket.h │ │ │ ├── check_status.h │ │ │ ├── example_main.h │ │ │ ├── opensplice_dds_broker.h │ │ │ ├── publisher.h │ │ │ └── subscriber.h │ ├── opensplice_dds_broker.xml │ ├── package.xml │ └── src │ │ ├── GSDFPacket.cpp │ │ ├── GSDFPacketDcps.cpp │ │ ├── GSDFPacketDcps_impl.cpp │ │ ├── GSDFPacketSplDcps.cpp │ │ ├── GSDFPacket_listener.cpp │ │ ├── check_status.cpp │ │ ├── opensplice_dds_broker.cpp │ │ ├── pub.cpp │ │ ├── publisher.cpp │ │ ├── sub.cpp │ │ └── subscriber.cpp ├── ros_broker │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ros_broker │ │ │ └── ros_broker.h │ ├── msg │ │ └── GSDFPacket.msg │ ├── package.xml │ ├── ros_broker.xml │ └── src │ │ └── ros_broker.cpp └── udp_bc_broker │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── udp_bc_broker │ │ ├── recv.h │ │ ├── send.h │ │ └── udp_bc_broker.h │ ├── package.xml │ ├── src │ ├── recv.cpp │ ├── send.cpp │ ├── test_recv.cpp │ ├── test_send.cpp │ └── udp_bc_broker.cpp │ └── udp_bc_broker.xml ├── documents └── images │ ├── app1.png │ ├── app2.png │ ├── app3.png │ └── architecture.png ├── micros_swarm_framework ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── swarm_library ├── olfati_saber_flocking │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── olfati_saber_flocking │ │ │ └── olfati_saber_flocking.h │ ├── olfati_saber_plugin.xml │ ├── package.xml │ └── src │ │ └── olfati_saber_flocking.cpp └── pso │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── pso │ │ └── pso.h │ ├── package.xml │ └── src │ └── testpso.cpp ├── tests ├── test_statistic │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── app1_statistic.cpp │ │ ├── app2_statistic.cpp │ │ ├── app3_statistic.cpp │ │ ├── test_pso.cpp │ │ └── uav_statistic.cpp ├── testbb │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── testbb │ │ │ └── testbb.h │ ├── package.xml │ ├── src │ │ └── testbb.cpp │ └── testbb_plugin.xml ├── testnc │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── testnc │ │ │ └── testnc.h │ ├── package.xml │ ├── src │ │ └── testnc.cpp │ └── testnc_plugin.xml ├── testrth │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── testrth │ │ │ └── testrtp.h │ ├── package.xml │ └── src │ │ └── testrth.cpp ├── testscdspso │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── testscdspso │ │ │ └── testscdspso.h │ ├── package.xml │ ├── src │ │ └── testscdspso.cpp │ └── testscdspso_plugin.xml └── testvstig │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── testvstig │ │ └── testvstig.h │ ├── package.xml │ ├── src │ └── testvstig.cpp │ └── testvstig_plugin.xml └── tools ├── hector_quadrotor └── hector_uav_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ ├── Landing.action │ ├── Pose.action │ └── Takeoff.action │ ├── include │ └── hector_uav_msgs │ │ ├── Altimeter │ │ └── pressure_height.h │ │ ├── ControlSource.h │ │ └── RC │ │ └── functions.h │ ├── msg │ ├── Altimeter.msg │ ├── AttitudeCommand.msg │ ├── Compass.msg │ ├── ControllerState.msg │ ├── HeadingCommand.msg │ ├── HeightCommand.msg │ ├── MotorCommand.msg │ ├── MotorPWM.msg │ ├── MotorStatus.msg │ ├── PositionXYCommand.msg │ ├── RC.msg │ ├── RawImu.msg │ ├── RawMagnetic.msg │ ├── RawRC.msg │ ├── RuddersCommand.msg │ ├── ServoCommand.msg │ ├── Supply.msg │ ├── ThrustCommand.msg │ ├── VelocityXYCommand.msg │ ├── VelocityZCommand.msg │ └── YawrateCommand.msg │ ├── package.xml │ └── srv │ └── EnableMotors.srv ├── micros_swarm_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── launch │ ├── daemon_node.launch │ ├── gazebo_flocking.launch │ ├── includes │ │ └── uav_models.launch │ └── swarm_in_gazebo.launch ├── package.xml └── planworld.world └── micros_swarm_stage ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch ├── app1.launch ├── app1_swarm.launch ├── app2.launch ├── app3.launch ├── bb10.launch ├── bb20.launch ├── bb30.launch ├── bb40.launch ├── bb50.launch ├── bb60.launch ├── daemon10.launch ├── daemon20.launch ├── daemon30.launch ├── daemon40.launch ├── daemon50.launch ├── daemon60.launch ├── daemon_node.launch ├── daemon_swarm.launch ├── rand10.launch ├── rand20.launch ├── rand30.launch ├── rand40.launch ├── rand50.launch ├── rand60.launch ├── swarm_bb.launch ├── swarm_in_stage.launch ├── swarm_in_stage2.launch ├── test_app_manager.launch ├── test_scds_pso.launch ├── test_swarm.launch ├── test_vstig.launch ├── testnc_app.launch ├── testnc_manager.launch ├── vstig10.launch ├── vstig20.launch ├── vstig30.launch ├── vstig40.launch ├── vstig50.launch └── vstig60.launch ├── maps ├── maze.png ├── maze.yaml ├── maze_white.png ├── rand.png ├── rand.yaml ├── robopark2.bmp ├── robopark_plan.yaml ├── swarm.png ├── swarm.yaml ├── three_rooms.png ├── three_rooms.yaml └── willow-full.pgm ├── package.xml ├── src └── rand_world.cpp └── worlds ├── big_swarm.world ├── maze.world ├── rand10.world ├── rand20.world ├── rand30.world ├── rand40.world ├── rand50.world ├── rand60.world ├── robopark_plan.world ├── swarm.inc ├── swarm.world ├── swarm2.world ├── swarm3.world ├── three_rooms.world ├── turtlebot.inc ├── turtlebot_intruder.inc 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