├── .gitignore ├── LICENSE ├── LMS1xx ├── .gitignore ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── LMS1xx │ │ ├── LMS1xx.h │ │ ├── lms_buffer.h │ │ └── lms_structs.h ├── launch │ └── LMS1xx.launch ├── meshes │ ├── sick-lms1xx.dae │ └── sick-lms1xx.stl ├── package.xml ├── scripts │ ├── find_sick │ └── set_sick_ip ├── src │ ├── LMS1xx.cpp │ └── LMS1xx_node.cpp ├── test │ └── test_buffer.cpp └── urdf │ └── sick_lms1xx.urdf.xacro ├── README.md ├── driver_common ├── driver_base │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── driver_base │ │ │ ├── driver.h │ │ │ └── driver_node.h │ ├── msg │ │ ├── ConfigString.msg │ │ ├── ConfigValue.msg │ │ └── SensorLevels.msg │ └── package.xml ├── driver_common │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── timestamp_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── timestamp_tools │ │ ├── periodic_timestamp_min_filter.h │ │ └── trigger_matcher.h │ ├── package.xml │ └── test │ └── test_trigger_matcher.cpp ├── gazebo_ros_pkgs ├── .gitignore ├── .travis.yml ├── CONTRIBUTING.md ├── README.md ├── gazebo_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── ContactState.msg │ │ ├── ContactsState.msg │ │ ├── LinkState.msg │ │ ├── LinkStates.msg │ │ ├── ModelState.msg │ │ ├── ModelStates.msg │ │ ├── ODEJointProperties.msg │ │ ├── ODEPhysics.msg │ │ └── WorldState.msg │ ├── package.xml │ └── srv │ │ ├── ApplyBodyWrench.srv │ │ ├── ApplyJointEffort.srv │ │ ├── BodyRequest.srv │ │ ├── DeleteModel.srv │ │ ├── GetJointProperties.srv │ │ ├── GetLinkProperties.srv │ │ ├── GetLinkState.srv │ │ ├── GetModelProperties.srv │ │ ├── GetModelState.srv │ │ ├── GetPhysicsProperties.srv │ │ ├── GetWorldProperties.srv │ │ ├── JointRequest.srv │ │ ├── SetJointProperties.srv │ │ ├── SetJointTrajectory.srv │ │ ├── SetLinkProperties.srv │ │ ├── SetLinkState.srv │ │ ├── SetModelConfiguration.srv │ │ ├── SetModelState.srv │ │ ├── SetPhysicsProperties.srv │ │ └── SpawnModel.srv ├── gazebo_plugins │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── Media │ │ └── models │ │ │ └── chair │ │ │ ├── doc.kml │ │ │ ├── images │ │ │ ├── texture0.jpg │ │ │ └── texture1.jpg │ │ │ ├── models │ │ │ ├── Chair.dae │ │ │ └── Chair.stl │ │ │ └── textures.txt │ ├── cfg │ │ ├── CameraSynchronizer.cfg │ │ ├── GazeboRosCamera.cfg │ │ ├── GazeboRosOpenniKinect.cfg │ │ └── Hokuyo.cfg │ ├── include │ │ └── gazebo_plugins │ │ │ ├── MultiCameraPlugin.h │ │ │ ├── PubQueue.h │ │ │ ├── gazebo_ros_block_laser.h │ │ │ ├── gazebo_ros_bumper.h │ │ │ ├── gazebo_ros_camera.h │ │ │ ├── gazebo_ros_camera_utils.h │ │ │ ├── gazebo_ros_depth_camera.h │ │ │ ├── gazebo_ros_diff_drive.h │ │ │ ├── gazebo_ros_elevator.h │ │ │ ├── gazebo_ros_f3d.h │ │ │ ├── gazebo_ros_force.h │ │ │ ├── gazebo_ros_ft_sensor.h │ │ │ ├── gazebo_ros_gpu_laser.h │ │ │ ├── gazebo_ros_hand_of_god.h │ │ │ ├── gazebo_ros_imu.h │ │ │ ├── gazebo_ros_joint_pose_trajectory.h │ │ │ ├── gazebo_ros_joint_state_publisher.h │ │ │ ├── gazebo_ros_joint_trajectory.h │ │ │ ├── gazebo_ros_laser.h │ │ │ ├── gazebo_ros_multicamera.h │ │ │ ├── gazebo_ros_openni_kinect.h │ │ │ ├── gazebo_ros_p3d.h │ │ │ ├── gazebo_ros_planar_move.h │ │ │ ├── gazebo_ros_projector.h │ │ │ ├── gazebo_ros_prosilica.h │ │ │ ├── gazebo_ros_range.h │ │ │ ├── gazebo_ros_skid_steer_drive.h │ │ │ ├── gazebo_ros_template.h │ │ │ ├── gazebo_ros_tricycle_drive.h │ │ │ ├── gazebo_ros_utils.h │ │ │ ├── gazebo_ros_vacuum_gripper.h │ │ │ ├── gazebo_ros_video.h │ │ │ └── vision_reconfigure.h │ ├── package.xml │ ├── scripts │ │ ├── gazebo_model │ │ ├── set_pose.py │ │ ├── set_wrench.py │ │ └── test_range.py │ ├── setup.py │ ├── src │ │ ├── MultiCameraPlugin.cpp │ │ ├── camera_synchronizer.cpp │ │ ├── gazebo_plugins │ │ │ ├── __init__.py │ │ │ └── gazebo_plugins_interface.py │ │ ├── gazebo_ros_block_laser.cpp │ │ ├── gazebo_ros_bumper.cpp │ │ ├── gazebo_ros_camera.cpp │ │ ├── gazebo_ros_camera_utils.cpp │ │ ├── gazebo_ros_depth_camera.cpp │ │ ├── gazebo_ros_diff_drive.cpp │ │ ├── gazebo_ros_elevator.cpp │ │ ├── gazebo_ros_f3d.cpp │ │ ├── gazebo_ros_force.cpp │ │ ├── gazebo_ros_ft_sensor.cpp │ │ ├── gazebo_ros_gpu_laser.cpp │ │ ├── gazebo_ros_hand_of_god.cpp │ │ ├── gazebo_ros_imu.cpp │ │ ├── gazebo_ros_joint_pose_trajectory.cpp │ │ ├── gazebo_ros_joint_state_publisher.cpp │ │ ├── gazebo_ros_joint_trajectory.cpp │ │ ├── gazebo_ros_laser.cpp │ │ ├── gazebo_ros_multicamera.cpp │ │ ├── gazebo_ros_openni_kinect.cpp │ │ ├── gazebo_ros_p3d.cpp │ │ ├── gazebo_ros_planar_move.cpp │ │ ├── gazebo_ros_projector.cpp │ │ ├── gazebo_ros_prosilica.cpp │ │ ├── gazebo_ros_range.cpp │ │ ├── gazebo_ros_skid_steer_drive.cpp │ │ ├── gazebo_ros_template.cpp │ │ ├── gazebo_ros_tricycle_drive.cpp │ │ ├── gazebo_ros_utils.cpp │ │ ├── gazebo_ros_vacuum_gripper.cpp │ │ ├── gazebo_ros_video.cpp │ │ ├── hokuyo_node.cpp │ │ └── vision_reconfigure.cpp │ ├── test │ │ ├── bumper_test │ │ │ ├── gazebo_ros_bumper.world │ │ │ ├── test_bumper.launch │ │ │ └── test_bumper.py │ │ ├── config │ │ │ └── example_models.yaml │ │ ├── multi_robot_scenario │ │ │ ├── launch │ │ │ │ ├── multi_robot_scenario.launch │ │ │ │ ├── pioneer3dx.gazebo.launch │ │ │ │ ├── pioneer3dx.rviz │ │ │ │ └── pioneer3dx.urdf.launch │ │ │ ├── meshes │ │ │ │ ├── laser │ │ │ │ │ └── hokuyo.dae │ │ │ │ └── p3dx │ │ │ │ │ ├── Coordinates │ │ │ │ │ ├── back_rim.stl │ │ │ │ │ ├── back_sonar.stl │ │ │ │ │ ├── center_hubcap.stl │ │ │ │ │ ├── center_wheel.stl │ │ │ │ │ ├── chassis.stl │ │ │ │ │ ├── front_rim.stl │ │ │ │ │ ├── front_sonar.stl │ │ │ │ │ ├── left_hubcap.stl │ │ │ │ │ ├── left_wheel.stl │ │ │ │ │ ├── right_hubcap.stl │ │ │ │ │ ├── right_wheel.stl │ │ │ │ │ ├── swivel.stl │ │ │ │ │ └── top.stl │ │ │ └── xacro │ │ │ │ ├── camera │ │ │ │ └── camera.xacro │ │ │ │ ├── laser │ │ │ │ ├── hokuyo.xacro │ │ │ │ └── hokuyo_gpu.xacro │ │ │ │ ├── materials.xacro │ │ │ │ └── p3dx │ │ │ │ ├── battery_block.xacro │ │ │ │ ├── inertia_tensors.xacro │ │ │ │ ├── pioneer3dx.xacro │ │ │ │ ├── pioneer3dx_body.xacro │ │ │ │ ├── pioneer3dx_chassis.xacro │ │ │ │ ├── pioneer3dx_plugins.xacro │ │ │ │ ├── pioneer3dx_sonar.xacro │ │ │ │ ├── pioneer3dx_swivel.xacro │ │ │ │ └── pioneer3dx_wheel.xacro │ │ ├── p3d_test │ │ │ ├── test_3_double_pendulums.launch │ │ │ ├── test_3_single_pendulums.launch │ │ │ ├── test_double_pendulum.launch │ │ │ ├── test_link_pose.py │ │ │ ├── test_single_pendulum.launch │ │ │ └── worlds │ │ │ │ ├── 3_double_pendulums.world │ │ │ │ ├── 3_single_pendulums.world │ │ │ │ ├── double_pendulum.world │ │ │ │ └── single_pendulum.world │ │ ├── pub_joint_trajectory_test.cpp │ │ ├── range │ │ │ └── range_plugin.test │ │ ├── set_model_state_test │ │ │ ├── set_model_state_test.cpp │ │ │ ├── set_model_state_test.test │ │ │ └── set_model_state_test_p2dx.world │ │ ├── spawn_test │ │ │ ├── parameter_server_test.launch │ │ │ └── spawn_robots.sh │ │ ├── test_worlds │ │ │ ├── bumper_test.world │ │ │ ├── elevator.world │ │ │ ├── gazebo_ros_block_laser.world │ │ │ ├── gazebo_ros_camera.world │ │ │ ├── gazebo_ros_depth_camera.world │ │ │ ├── gazebo_ros_gpu_laser.world │ │ │ ├── gazebo_ros_laser.world │ │ │ ├── gazebo_ros_range.world │ │ │ ├── gazebo_ros_trimesh_collision.world │ │ │ └── test_lasers.world │ │ └── tricycle_drive │ │ │ ├── launch │ │ │ ├── .directory │ │ │ ├── tricycle.gazebo.launch │ │ │ ├── tricycle.rviz │ │ │ ├── tricycle.urdf.launch │ │ │ ├── tricycle_drive_scenario.launch │ │ │ └── tricycle_rviz.launch │ │ │ └── xacro │ │ │ ├── .directory │ │ │ ├── materials.xacro │ │ │ └── tricycle │ │ │ ├── inertia_tensors.xacro │ │ │ ├── tricycle.xacro │ │ │ ├── tricycle_body.xacro │ │ │ ├── tricycle_chassis.xacro │ │ │ ├── tricycle_plugins.xacro │ │ │ ├── wheel.xacro │ │ │ └── wheel_actuated.xacro │ └── test2 │ │ ├── CMakeLists_tests_pkg.txt │ │ ├── contact_tolerance │ │ ├── contact_tolerance.cpp │ │ └── contact_tolerance.launch │ │ ├── large_models │ │ ├── large_model.launch │ │ ├── large_model.urdf.xacro │ │ ├── large_models.world │ │ ├── smaller_large_model.launch │ │ └── smaller_large_model.urdf.xacro │ │ ├── lcp_tests │ │ ├── balance.launch │ │ ├── balance.world │ │ ├── stack.launch │ │ ├── stack.world │ │ ├── stacks.launch │ │ └── stacks.world │ │ ├── meshes │ │ ├── cube.wings │ │ ├── cube_20k.stl │ │ └── cube_30k.stl │ │ ├── spawn_model │ │ ├── check_model.cpp │ │ ├── spawn_box.cpp │ │ ├── spawn_box.launch │ │ ├── spawn_box_file.launch │ │ └── spawn_box_param.launch │ │ ├── trimesh_tests │ │ └── test_trimesh.launch │ │ ├── urdf │ │ ├── box.urdf │ │ └── cube.urdf │ │ └── worlds │ │ └── empty.world ├── gazebo_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── Physics.cfg │ ├── include │ │ └── gazebo_ros │ │ │ └── gazebo_ros_api_plugin.h │ ├── launch │ │ ├── elevator_world.launch │ │ ├── empty_world.launch │ │ ├── mud_world.launch │ │ ├── range_world.launch │ │ ├── rubble_world.launch │ │ ├── shapes_world.launch │ │ └── willowgarage_world.launch │ ├── package.xml │ ├── scripts │ │ ├── debug │ │ ├── gazebo │ │ ├── gdbrun │ │ ├── gzclient │ │ ├── gzserver │ │ ├── perf │ │ └── spawn_model │ ├── setup.py │ └── src │ │ ├── gazebo_ros │ │ ├── __init__.py │ │ └── gazebo_interface.py │ │ ├── gazebo_ros_api_plugin.cpp │ │ └── gazebo_ros_paths_plugin.cpp ├── gazebo_ros_control │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── gazebo_ros_control │ │ │ ├── default_robot_hw_sim.h │ │ │ ├── gazebo_ros_control_plugin.h │ │ │ └── robot_hw_sim.h │ ├── package.xml │ ├── robot_hw_sim_plugins.xml │ └── src │ │ ├── default_robot_hw_sim.cpp │ │ └── gazebo_ros_control_plugin.cpp └── gazebo_ros_pkgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── documentation │ ├── gazebo_ros_api.odg │ ├── gazebo_ros_api.pdf │ ├── gazebo_ros_api.png │ ├── gazebo_ros_transmission.odg │ ├── gazebo_ros_transmission.pdf │ └── gazebo_ros_transmission.png │ └── package.xml ├── husky ├── .gitignore ├── README.md ├── husky_control │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── control.yaml │ │ ├── control_ur5.yaml │ │ ├── localization.yaml │ │ ├── teleop.yaml │ │ └── twist_mux.yaml │ ├── launch │ │ ├── control.launch │ │ └── teleop.launch │ ├── package.xml │ └── scripts │ │ └── stow_ur5 ├── husky_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── env-hooks │ │ └── 50.husky_description.sh │ ├── launch │ │ └── description.launch │ ├── meshes │ │ ├── accessories │ │ │ ├── 300_mm_sensor_arch.dae │ │ │ ├── 300_mm_sensor_arch.stl │ │ │ ├── 510_mm_sensor_arch.dae │ │ │ ├── 510_mm_sensor_arch.stl │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── lidar_mount.stl │ │ │ ├── lms1xx_mount.dae │ │ │ └── lms1xx_mount.stl │ │ ├── base_link.dae │ │ ├── base_link.stl │ │ ├── bumper.dae │ │ ├── bumper.stl │ │ ├── top_chassis.dae │ │ ├── top_chassis.stl │ │ ├── top_plate.dae │ │ ├── top_plate.stl │ │ ├── user_rail.dae │ │ ├── user_rail.stl │ │ ├── wheel.dae │ │ └── wheel.stl │ ├── package.xml │ └── urdf │ │ ├── accessories │ │ ├── kinect_camera.urdf.xacro │ │ ├── sensor_arch.urdf.xacro │ │ └── sick_lms1xx_mount.urdf.xacro │ │ ├── decorations.urdf.xacro │ │ ├── description.xacro │ │ ├── husky.urdf.xacro │ │ └── wheel.urdf.xacro ├── husky_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ └── HuskyStatus.msg │ └── package.xml ├── husky_navigation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── costmap_common.yaml │ │ ├── costmap_exploration.yaml │ │ ├── costmap_global_laser.yaml │ │ ├── costmap_global_static.yaml │ │ ├── costmap_local.yaml │ │ └── planner.yaml │ ├── launch │ │ ├── amcl.launch │ │ ├── amcl_demo.launch │ │ ├── exploration.launch │ │ ├── exploration_demo.launch │ │ ├── gmapping.launch │ │ ├── gmapping_demo.launch │ │ ├── move_base.launch │ │ └── move_base_mapless_demo.launch │ ├── maps │ │ ├── playpen_map.pgm │ │ └── playpen_map.yaml │ └── package.xml └── husky_ur5_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── husky_ur5.srdf │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── sensors_rgbd.yaml │ ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── husky_ur5_moveit_controller_manager.launch.xml │ ├── husky_ur5_moveit_sensor_manager.launch.xml │ ├── husky_ur5_planning_execution.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml │ └── package.xml ├── husky_simulator ├── .gitignore ├── README.md ├── husky_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── env-hooks │ │ └── 50.husky_gazebo.sh │ ├── launch │ │ ├── husky_empty_world.launch │ │ ├── husky_playpen.launch │ │ └── spawn_husky.launch │ ├── package.xml │ ├── urdf │ │ ├── accessories │ │ │ └── kinect_camera.gazebo.xacro │ │ ├── description.gazebo.xacro │ │ └── husky.gazebo.xacro │ └── worlds │ │ └── clearpath_playpen.world └── husky_simulator │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── interactive_marker_twist_server ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── aerial.yaml │ ├── linear.yaml │ └── planar.yaml ├── launch │ └── interactive_markers.launch ├── package.xml └── src │ └── marker_server.cpp ├── teleop_twist_joy ├── .gitignore ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── config │ ├── atk3.config.yaml │ ├── ps3-holonomic.config.yaml │ ├── ps3.config.yaml │ ├── xbox.config.yaml │ └── xd3.config.yaml ├── include │ └── teleop_twist_joy │ │ └── teleop_twist_joy.h ├── launch │ └── teleop.launch ├── package.xml ├── src │ ├── teleop_node.cpp │ └── teleop_twist_joy.cpp └── test │ ├── differential_joy.test │ ├── holonomic_joy.test │ ├── no_enable_joy.test │ ├── only_turbo_joy.test │ ├── six_dof_joy.test │ ├── test_joy_twist.py │ ├── turbo_angular_enable_joy.test │ ├── turbo_angular_enable_joy_with_rosparam_map.test │ └── turbo_enable_joy.test ├── twist_mux ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── joystick.yaml │ ├── twist_mux_locks.yaml │ └── twist_mux_topics.yaml ├── include │ └── twist_mux │ │ ├── topic_handle.h │ │ ├── twist_mux.h │ │ ├── twist_mux_diagnostics.h │ │ ├── twist_mux_diagnostics_status.h │ │ ├── utils.h │ │ └── xmlrpc_helpers.h ├── launch │ └── twist_mux.launch ├── package.xml ├── scripts │ └── joystick_relay.py ├── src │ ├── twist_marker.cpp │ ├── twist_mux.cpp │ ├── twist_mux_diagnostics.cpp │ └── twist_mux_node.cpp └── test │ ├── rate_publishers.py │ ├── system.test │ ├── system_blackbox.py │ └── system_config.yaml └── wall_following_assignment ├── CMakeLists.txt ├── cfg └── Follower.cfg ├── description ├── Assig1.odt └── Assignment1.pdf ├── include └── wall_following_assignment │ └── pid.h ├── launch ├── control.launch ├── gazebo_world.launch ├── husky_follower.launch ├── spawn_husky.launch ├── teleop.launch ├── wall_follower_cpp.launch └── wall_follower_python.launch ├── package.xml ├── python ├── f.py ├── ground_truth_tf_publisher.py ├── m.py ├── o.py └── wall_follower.py ├── resources ├── comp417.rviz ├── control.yaml ├── control_ur5.yaml ├── holonomic_simulator.yaml ├── localization.yaml ├── localization_3d.yaml ├── teleop.yaml └── twist_mux.yaml ├── setup.py ├── src └── wall_follower_node.cpp ├── urdf ├── accessories │ ├── kinect_camera.gazebo.xacro │ ├── kinect_camera.urdf.xacro │ ├── sensor_arch.urdf.xacro │ └── sick_lms1xx_mount.urdf.xacro ├── decorations.urdf.xacro ├── description.gazebo.xacro ├── description.xacro ├── husky.gazebo.xacro ├── husky.urdf.xacro └── wheel.urdf.xacro └── worlds ├── basic.world ├── house.world ├── pelican.world ├── powerplant.world ├── 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