2026机器人工程一套基于ROS2插件热切换的最优组合决策研究2.34-AI1.9(论文+程序代码源码+运行指导.md)定稿.zip

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2026-09-18
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2206044149_郑志凌_机器人工程_基于ROS2插件热切换的最优组合决策研究_附件
- 项目代码
  - .git
    - hooks
      - applypatch-msg.sample(478 B)
      - commit-msg.sample(896 B)
      - fsmonitor-watchman.sample(4.62 KB)
      - post-update.sample(189 B)
      - pre-applypatch.sample(424 B)
      - pre-commit.sample(1.61 KB)
      - pre-merge-commit.sample(416 B)
      - pre-push.sample(1.34 KB)
      - pre-rebase.sample(4.78 KB)
      - pre-receive.sample(544 B)
      - prepare-commit-msg.sample(1.46 KB)
      - push-to-checkout.sample(2.72 KB)
      - sendemail-validate.sample(2.25 KB)
      - update.sample(3.56 KB)
    - info
      - exclude(240 B)
    - logs
      - refs
        heads
        master(186 B)
        remotes
        origin
        HEAD(186 B)
      - HEAD(186 B)
    - objects
      - info
      - pack
        pack-04a552f511cb9cb1991a0354b280df897c9b5378.idx(440.73 KB)
        pack-04a552f511cb9cb1991a0354b280df897c9b5378.pack(132.17 MB)
        pack-04a552f511cb9cb1991a0354b280df897c9b5378.rev(62.86 KB)
    - refs
      - heads
        master(41 B)
      - remotes
        origin
        HEAD(32 B)
      - tags
    - config(306 B)
    - description(73 B)
    - HEAD(23 B)
    - packed-refs(183 B)
  - .vscode
    - settings.json(78 B)
  - benchmark_charts
    - decision_table_heatmap.png(76.48 KB)
    - grouped_num_replans_corridor_drift0_obst_none.png(40.99 KB)
    - grouped_num_replans_corridor_drift0_obst_uniform.png(40.63 KB)
    - grouped_num_replans_corridor_drift1_obst_none.png(41.65 KB)
    - grouped_num_replans_corridor_drift1_obst_uniform.png(41.23 KB)
    - grouped_num_replans_corridor_drift2_obst_none.png(38.02 KB)
    - grouped_num_replans_corridor_drift2_obst_uniform.png(39.93 KB)
    - grouped_num_replans_depot_drift0_obst_none.png(39.93 KB)
    - grouped_num_replans_depot_drift0_obst_uniform.png(40.61 KB)
    - grouped_num_replans_depot_drift1_obst_none.png(40.39 KB)
    - grouped_num_replans_depot_drift1_obst_uniform.png(39.99 KB)
    - grouped_num_replans_depot_drift2_obst_none.png(40.88 KB)
    - grouped_num_replans_depot_drift2_obst_uniform.png(40.19 KB)
    - grouped_num_replans_maze_drift0_obst_none.png(42.17 KB)
    - grouped_num_replans_maze_drift0_obst_uniform.png(39.75 KB)
    - grouped_num_replans_maze_drift1_obst_none.png(36.7 KB)
    - grouped_num_replans_maze_drift1_obst_uniform.png(37.15 KB)
    - grouped_num_replans_maze_drift2_obst_none.png(42.46 KB)
    - grouped_num_replans_maze_drift2_obst_uniform.png(42.79 KB)
    - grouped_path_efficiency_corridor_drift0_obst_none.png(39.97 KB)
    - grouped_path_efficiency_corridor_drift0_obst_uniform.png(41.93 KB)
    - grouped_path_efficiency_corridor_drift1_obst_none.png(41.7 KB)
    - grouped_path_efficiency_corridor_drift1_obst_uniform.png(40.27 KB)
    - grouped_path_efficiency_corridor_drift2_obst_none.png(39.51 KB)
    - grouped_path_efficiency_corridor_drift2_obst_uniform.png(45.01 KB)
    - grouped_path_efficiency_depot_drift0_obst_none.png(40.97 KB)
    - grouped_path_efficiency_depot_drift0_obst_uniform.png(42.2 KB)
    - grouped_path_efficiency_depot_drift1_obst_none.png(40.29 KB)
    - grouped_path_efficiency_depot_drift1_obst_uniform.png(41.74 KB)
    - grouped_path_efficiency_depot_drift2_obst_none.png(41.55 KB)
    - grouped_path_efficiency_depot_drift2_obst_uniform.png(40.88 KB)
    - grouped_path_efficiency_maze_drift0_obst_none.png(41.89 KB)
    - grouped_path_efficiency_maze_drift0_obst_uniform.png(41.78 KB)
    - grouped_path_efficiency_maze_drift1_obst_none.png(39.74 KB)
    - grouped_path_efficiency_maze_drift1_obst_uniform.png(44.46 KB)
    - grouped_path_efficiency_maze_drift2_obst_none.png(40.28 KB)
    - grouped_path_efficiency_maze_drift2_obst_uniform.png(44.78 KB)
    - grouped_path_length_corridor_drift0_obst_none.png(39.38 KB)
    - grouped_path_length_corridor_drift0_obst_uniform.png(39.8 KB)
    - grouped_path_length_corridor_drift1_obst_none.png(39.05 KB)
    - grouped_path_length_corridor_drift1_obst_uniform.png(41.58 KB)
    - grouped_path_length_corridor_drift2_obst_none.png(42.67 KB)
    - grouped_path_length_corridor_drift2_obst_uniform.png(40.93 KB)
    - grouped_path_length_depot_drift0_obst_none.png(40.02 KB)
    - grouped_path_length_depot_drift0_obst_uniform.png(39.96 KB)
    - grouped_path_length_depot_drift1_obst_none.png(41.29 KB)
    - grouped_path_length_depot_drift1_obst_uniform.png(41.34 KB)
    - grouped_path_length_depot_drift2_obst_none.png(41.16 KB)
    - grouped_path_length_depot_drift2_obst_uniform.png(42.28 KB)
    - grouped_path_length_maze_drift0_obst_none.png(39.09 KB)
    - grouped_path_length_maze_drift0_obst_uniform.png(39.13 KB)
    - grouped_path_length_maze_drift1_obst_none.png(38.15 KB)
    - grouped_path_length_maze_drift1_obst_uniform.png(39.06 KB)
    - grouped_path_length_maze_drift2_obst_none.png(38.52 KB)
    - grouped_path_length_maze_drift2_obst_uniform.png(38.4 KB)
    - grouped_path_length_plan_corridor_drift0_obst_none.png(45.85 KB)
    - grouped_path_length_plan_corridor_drift0_obst_uniform.png(46.06 KB)
    - grouped_path_length_plan_corridor_drift1_obst_none.png(42.03 KB)
    - grouped_path_length_plan_corridor_drift1_obst_uniform.png(48.72 KB)
    - grouped_path_length_plan_corridor_drift2_obst_none.png(46.2 KB)
    - grouped_path_length_plan_corridor_drift2_obst_uniform.png(50.8 KB)
    - grouped_path_length_plan_depot_drift0_obst_none.png(42.83 KB)
    - grouped_path_length_plan_depot_drift0_obst_uniform.png(45.13 KB)
    - grouped_path_length_plan_depot_drift1_obst_none.png(42.28 KB)
    - grouped_path_length_plan_depot_drift1_obst_uniform.png(44.75 KB)
    - grouped_path_length_plan_depot_drift2_obst_none.png(48.45 KB)
    - grouped_path_length_plan_depot_drift2_obst_uniform.png(48.84 KB)
    - grouped_path_length_plan_maze_drift0_obst_none.png(42.72 KB)
    - grouped_path_length_plan_maze_drift0_obst_uniform.png(44.27 KB)
    - grouped_path_length_plan_maze_drift1_obst_none.png(43.92 KB)
    - grouped_path_length_plan_maze_drift1_obst_uniform.png(42.47 KB)
    - grouped_path_length_plan_maze_drift2_obst_none.png(44.44 KB)
    - grouped_path_length_plan_maze_drift2_obst_uniform.png(42.74 KB)
    - grouped_smoothness_curvature_avg_corridor_drift0_obst_none.png(43.24 KB)
    - grouped_smoothness_curvature_avg_corridor_drift0_obst_uniform.png(46.84 KB)
    - grouped_smoothness_curvature_avg_corridor_drift1_obst_none.png(44.84 KB)
    - grouped_smoothness_curvature_avg_corridor_drift1_obst_uniform.png(40.23 KB)
    - grouped_smoothness_curvature_avg_corridor_drift2_obst_none.png(43.99 KB)
    - grouped_smoothness_curvature_avg_corridor_drift2_obst_uniform.png(40.49 KB)
    - grouped_smoothness_curvature_avg_depot_drift0_obst_none.png(45.26 KB)
    - grouped_smoothness_curvature_avg_depot_drift0_obst_uniform.png(45.55 KB)
    - grouped_smoothness_curvature_avg_depot_drift1_obst_none.png(43.39 KB)
    - grouped_smoothness_curvature_avg_depot_drift1_obst_uniform.png(42.1 KB)
    - grouped_smoothness_curvature_avg_depot_drift2_obst_none.png(46.93 KB)
    - grouped_smoothness_curvature_avg_depot_drift2_obst_uniform.png(40.48 KB)
    - grouped_smoothness_curvature_avg_maze_drift0_obst_none.png(46.35 KB)
    - grouped_smoothness_curvature_avg_maze_drift0_obst_uniform.png(42.85 KB)
    - grouped_smoothness_curvature_avg_maze_drift1_obst_none.png(43.35 KB)
    - grouped_smoothness_curvature_avg_maze_drift1_obst_uniform.png(43.66 KB)
    - grouped_smoothness_curvature_avg_maze_drift2_obst_none.png(43.69 KB)
    - grouped_smoothness_curvature_avg_maze_drift2_obst_uniform.png(40.22 KB)
    - grouped_smoothness_jerk_corridor_drift0_obst_none.png(36.51 KB)
    - grouped_smoothness_jerk_corridor_drift0_obst_uniform.png(37.67 KB)
    - grouped_smoothness_jerk_corridor_drift1_obst_none.png(35.15 KB)
    - grouped_smoothness_jerk_corridor_drift1_obst_uniform.png(36.85 KB)
    - grouped_smoothness_jerk_corridor_drift2_obst_none.png(35.37 KB)
    - grouped_smoothness_jerk_corridor_drift2_obst_uniform.png(36.2 KB)
    - grouped_smoothness_jerk_depot_drift0_obst_none.png(38.38 KB)
    - grouped_smoothness_jerk_depot_drift0_obst_uniform.png(36.06 KB)
    - grouped_smoothness_jerk_depot_drift1_obst_none.png(37.6 KB)
    - grouped_smoothness_jerk_depot_drift1_obst_uniform.png(39.29 KB)
    - grouped_smoothness_jerk_depot_drift2_obst_none.png(37.29 KB)
    - grouped_smoothness_jerk_depot_drift2_obst_uniform.png(36.1 KB)
    - grouped_smoothness_jerk_maze_drift0_obst_none.png(38 KB)
    - grouped_smoothness_jerk_maze_drift0_obst_uniform.png(36.41 KB)
    - grouped_smoothness_jerk_maze_drift1_obst_none.png(38.9 KB)
    - grouped_smoothness_jerk_maze_drift1_obst_uniform.png(38.34 KB)
    - grouped_smoothness_jerk_maze_drift2_obst_none.png(39.17 KB)
    - grouped_smoothness_jerk_maze_drift2_obst_uniform.png(38.41 KB)
    - grouped_success_rate_corridor_drift0_obst_none.png(40.83 KB)
    - grouped_success_rate_corridor_drift0_obst_uniform.png(40.9 KB)
    - grouped_success_rate_corridor_drift1_obst_none.png(40.51 KB)
    - grouped_success_rate_corridor_drift1_obst_uniform.png(40.64 KB)
    - grouped_success_rate_corridor_drift2_obst_none.png(40.79 KB)
    - grouped_success_rate_corridor_drift2_obst_uniform.png(40.86 KB)
    - grouped_success_rate_depot_drift0_obst_none.png(40.31 KB)
    - grouped_success_rate_depot_drift0_obst_uniform.png(40.39 KB)
    - grouped_success_rate_depot_drift1_obst_none.png(39.93 KB)
    - grouped_success_rate_depot_drift1_obst_uniform.png(40 KB)
    - grouped_success_rate_depot_drift2_obst_none.png(40.27 KB)
    - grouped_success_rate_depot_drift2_obst_uniform.png(40.23 KB)
    - grouped_success_rate_maze_drift0_obst_none.png(40.31 KB)
    - grouped_success_rate_maze_drift0_obst_uniform.png(40.26 KB)
    - grouped_success_rate_maze_drift1_obst_none.png(40.02 KB)
    - grouped_success_rate_maze_drift1_obst_uniform.png(40.1 KB)
    - grouped_success_rate_maze_drift2_obst_none.png(40.25 KB)
    - grouped_success_rate_maze_drift2_obst_uniform.png(40.29 KB)
    - grouped_summary_corridor_drift0_obst_none.png(66.63 KB)
    - grouped_summary_corridor_drift0_obst_uniform.png(67.33 KB)
    - grouped_summary_corridor_drift1_obst_none.png(66.42 KB)
    - grouped_summary_corridor_drift1_obst_uniform.png(69.63 KB)
    - grouped_summary_corridor_drift2_obst_none.png(68.57 KB)
    - grouped_summary_corridor_drift2_obst_uniform.png(67.07 KB)
    - grouped_summary_depot_drift0_obst_none.png(66.43 KB)
    - grouped_summary_depot_drift0_obst_uniform.png(68.43 KB)
    - grouped_summary_depot_drift1_obst_none.png(65.62 KB)
    - grouped_summary_depot_drift1_obst_uniform.png(67.68 KB)
    - grouped_summary_depot_drift2_obst_none.png(66 KB)
    - grouped_summary_depot_drift2_obst_uniform.png(68.56 KB)
    - grouped_summary_maze_drift0_obst_none.png(68.96 KB)
    - grouped_summary_maze_drift0_obst_uniform.png(64.93 KB)
    - grouped_summary_maze_drift1_obst_none.png(64.43 KB)
    - grouped_summary_maze_drift1_obst_uniform.png(64.65 KB)
    - grouped_summary_maze_drift2_obst_none.png(68.98 KB)
    - grouped_summary_maze_drift2_obst_uniform.png(65.33 KB)
    - grouped_total_time_s_corridor_drift0_obst_none.png(41.35 KB)
    - grouped_total_time_s_corridor_drift0_obst_uniform.png(41.34 KB)
    - grouped_total_time_s_corridor_drift1_obst_none.png(41.04 KB)
    - grouped_total_time_s_corridor_drift1_obst_uniform.png(44.03 KB)
    - grouped_total_time_s_corridor_drift2_obst_none.png(42.43 KB)
    - grouped_total_time_s_corridor_drift2_obst_uniform.png(40.49 KB)
    - grouped_total_time_s_depot_drift0_obst_none.png(41.51 KB)
    - grouped_total_time_s_depot_drift0_obst_uniform.png(42.52 KB)
    - grouped_total_time_s_depot_drift1_obst_none.png(41.16 KB)
    - grouped_total_time_s_depot_drift1_obst_uniform.png(42.17 KB)
    - grouped_total_time_s_depot_drift2_obst_none.png(41.25 KB)
    - grouped_total_time_s_depot_drift2_obst_uniform.png(42.59 KB)
    - grouped_total_time_s_maze_drift0_obst_none.png(43.58 KB)
    - grouped_total_time_s_maze_drift0_obst_uniform.png(39.21 KB)
    - grouped_total_time_s_maze_drift1_obst_none.png(39.38 KB)
    - grouped_total_time_s_maze_drift1_obst_uniform.png(39.06 KB)
    - grouped_total_time_s_maze_drift2_obst_none.png(43.52 KB)
    - grouped_total_time_s_maze_drift2_obst_uniform.png(39.22 KB)
  - build
    - costmap_converter
      - .cmake
        api
        v1
        query
        client-colcon-cmake
        codemodel-v2(0 B)
        reply
        codemodel-v2-adebeab89679aa6cad58.json(3.13 KB)
        directory-.-Release-8ff92710e5ef155f1536.json(12.35 KB)
        directory-gtest-Release-a2408fe1a73b92c5e636.json(203 B)
        index-2026-02-18T08-39-59-0116.json(848 B)
        target-costmap_converter-Release-59ba187533cb269d239f.json(53.41 KB)
        target-costmap_converter_uninstall-Release-f2b77182fbaef58bb10f.json(1.91 KB)
        target-gtest-Release-1067ab017d606e13a40b.json(3.2 KB)
        target-gtest_main-Release-e79a5d9f438b9a5f44f1.json(2.95 KB)
        target-standalone_converter-Release-59a8f86a559b5dd70c83.json(53.25 KB)
        target-test_costmap_polygons-Release-011b2aa19b9f9f3dd893.json(54.32 KB)
        target-uninstall-Release-0da280af8c28990180d9.json(1.56 KB)
      - ament_cmake_core
        stamps
        ament_cmake_export_dependencies-extras.cmake.stamp(4.12 KB)
        ament_cmake_export_include_directories-extras.cmake.stamp(813 B)
        ament_cmake_export_libraries-extras.cmake.stamp(5.15 KB)
        ament_prefix_path.sh.stamp(164 B)
        library_path.sh.stamp(427 B)
        nameConfig-version.cmake.in.stamp(458 B)
        nameConfig.cmake.in.stamp(1.42 KB)
        package.xml.stamp(1.41 KB)
        package_xml_2_cmake.py.stamp(5.34 KB)
        path.sh.stamp(190 B)
        templates_2_cmake.py.stamp(3.71 KB)
        costmap_converterConfig-version.cmake(446 B)
        costmap_converterConfig.cmake(1.49 KB)
        package.cmake(1002 B)
      - ament_cmake_environment_hooks
        ament_prefix_path.dsv(42 B)
        library_path.dsv(43 B)
        local_setup.bash(1.6 KB)
        local_setup.dsv(177 B)
        local_setup.sh(5.21 KB)
        local_setup.zsh(1.97 KB)
        package.dsv(192 B)
        path.dsv(42 B)
      - ament_cmake_export_dependencies
        ament_cmake_export_dependencies-extras.cmake(4.12 KB)
      - ament_cmake_export_include_directories
        ament_cmake_export_include_directories-extras.cmake(813 B)
      - ament_cmake_export_libraries
        ament_cmake_export_libraries-extras.cmake(5.15 KB)
      - ament_cmake_index
        share
        ament_index
        resource_index
        costmap_converter__pluginlib__plugin
        costmap_converter(55 B)
        packages
        costmap_converter(0 B)
        package_run_dependencies
        costmap_converter(104 B)
        parent_prefix_path
        costmap_converter(459 B)
      - ament_cmake_package_templates
        templates.cmake(1.96 KB)
      - ament_cmake_uninstall_target
        ament_cmake_uninstall_target.cmake(2.16 KB)
      - CMakeFiles
        3.22.1
        CompilerIdC
        a.out(15.71 KB)
        CMakeCCompilerId.c(25.05 KB)
        CompilerIdCXX
        a.out(15.72 KB)
        CMakeCXXCompilerId.cpp(24.79 KB)
        CMakeCCompiler.cmake(2.45 KB)
        CMakeCXXCompiler.cmake(5.39 KB)
        CMakeDetermineCompilerABI_C.bin(15.59 KB)
        CMakeDetermineCompilerABI_CXX.bin(15.62 KB)
        CMakeSystem.cmake(413 B)
        costmap_converter.dir
        src
        costmap_to_lines_convex_hull.cpp.o(104.46 KB)
        costmap_to_lines_convex_hull.cpp.o.d(75.14 KB)
        costmap_to_lines_ransac.cpp.o(110.76 KB)
        costmap_to_lines_ransac.cpp.o.d(75.28 KB)
        costmap_to_polygons.cpp.o(113.57 KB)
        costmap_to_polygons.cpp.o.d(75.02 KB)
        costmap_to_polygons_concave.cpp.o(94.04 KB)
        costmap_to_polygons_concave.cpp.o.d(75.13 KB)
        build.make(41.08 KB)
        cmake_clean.cmake(846 B)
        compiler_depend.internal(292.7 KB)
        compiler_depend.make(381.67 KB)
        compiler_depend.ts(126 B)
        depend.make(103 B)
        DependInfo.cmake(1.32 KB)
        flags.make(3.08 KB)
        link.txt(21.31 KB)
        progress.make(112 B)
        costmap_converter_uninstall.dir
        build.make(2.96 KB)
        cmake_clean.cmake(244 B)
        compiler_depend.make(139 B)
        compiler_depend.ts(133 B)
        DependInfo.cmake(441 B)
        progress.make(2 B)
        standalone_converter.dir
        src
        costmap_converter_node.cpp.o(995.6 KB)
        costmap_converter_node.cpp.o.d(67.1 KB)
        build.make(34.06 KB)
        cmake_clean.cmake(402 B)
        compiler_depend.internal(65.48 KB)
        compiler_depend.make(135.25 KB)
        compiler_depend.ts(129 B)
        depend.make(106 B)
        DependInfo.cmake(764 B)
        flags.make(3.05 KB)
        link.txt(21.12 KB)
        progress.make(48 B)
        test_costmap_polygons.dir
        test
        costmap_polygons.cpp.o(156.54 KB)
        costmap_polygons.cpp.o.d(77.37 KB)
        build.make(34.43 KB)
        cmake_clean.cmake(397 B)
        compiler_depend.internal(75.42 KB)
        compiler_depend.make(155.86 KB)
        compiler_depend.ts(130 B)
        depend.make(107 B)
        DependInfo.cmake(938 B)
        flags.make(3.1 KB)
        link.txt(21.16 KB)
        progress.make(48 B)
        uninstall.dir
        build.make(2.47 KB)
        cmake_clean.cmake(158 B)
        compiler_depend.make(121 B)
        compiler_depend.ts(115 B)
        DependInfo.cmake(441 B)
        progress.make(2 B)
        cmake.check_cache(86 B)
        CMakeDirectoryInformation.cmake(672 B)
        CMakeOutput.log(48.9 KB)
        CMakeRuleHashes.txt(104 B)
        Makefile.cmake(103.74 KB)
        Makefile2(13.33 KB)
        progress.marks(4 B)
        TargetDirectories.txt(1.53 KB)
      - gtest
        CMakeFiles
        gtest.dir
        src
        gtest-all.cc.o(757.74 KB)
        gtest-all.cc.o.d(17.83 KB)
        build.make(5.06 KB)
        cmake_clean.cmake(307 B)
        cmake_clean_target.cmake(40 B)
        compiler_depend.internal(17.42 KB)
        compiler_depend.make(36.6 KB)
        compiler_depend.ts(114 B)
        depend.make(91 B)
        DependInfo.cmake(600 B)
        flags.make(435 B)
        link.txt(95 B)
        progress.make(46 B)
        gtest_main.dir
        src
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        feedback_msg__functions.c.o.d(6.43 KB)
        trajectory_msg__functions.c.o(6.02 KB)
        trajectory_msg__functions.c.o.d(5.51 KB)
        trajectory_point_msg__functions.c.o(6.51 KB)
        trajectory_point_msg__functions.c.o.d(5.32 KB)
        build.make(26 KB)
        cmake_clean.cmake(2 KB)
        compiler_depend.internal(16.88 KB)
        compiler_depend.make(23.99 KB)
        compiler_depend.ts(137 B)
        depend.make(114 B)
        DependInfo.cmake(4.08 KB)
        flags.make(758 B)
        link.txt(928 B)
        progress.make(112 B)
        teb_msgs__rosidl_generator_py.dir
        rosidl_generator_py
        teb_msgs
        msg
        _feedback_msg_s.c.o(6.55 KB)
        _feedback_msg_s.c.o.d(13.59 KB)
        _trajectory_msg_s.c.o(5.45 KB)
        _trajectory_msg_s.c.o.d(12.96 KB)
        _trajectory_point_msg_s.c.o(5.23 KB)
        _trajectory_point_msg_s.c.o.d(12.36 KB)
        build.make(13.55 KB)
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        compiler_depend.ts(138 B)
        depend.make(115 B)
        DependInfo.cmake(1.53 KB)
        flags.make(833 B)
        link.txt(1.68 KB)
        progress.make(92 B)
        teb_msgs__rosidl_typesupport_c.dir
        rosidl_typesupport_c
        teb_msgs
        msg
        feedback_msg__type_support.cpp.o(3.76 KB)
        feedback_msg__type_support.cpp.o.d(3.81 KB)
        trajectory_msg__type_support.cpp.o(3.77 KB)
        trajectory_msg__type_support.cpp.o.d(3.18 KB)
        trajectory_point_msg__type_support.cpp.o(3.82 KB)
        trajectory_point_msg__type_support.cpp.o.d(2.78 KB)
        build.make(23.54 KB)
        cmake_clean.cmake(1.22 KB)
        compiler_depend.internal(9.63 KB)
        compiler_depend.make(13.36 KB)
        compiler_depend.ts(139 B)
        depend.make(116 B)
        DependInfo.cmake(2.05 KB)
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        link.txt(1.35 KB)
        progress.make(117 B)
        teb_msgs__rosidl_typesupport_cpp.dir
        rosidl_typesupport_cpp
        teb_msgs
        msg
        feedback_msg__type_support.cpp.o(4.08 KB)
        feedback_msg__type_support.cpp.o.d(11.14 KB)
        trajectory_msg__type_support.cpp.o(4.09 KB)
        trajectory_msg__type_support.cpp.o.d(10.49 KB)
        trajectory_point_msg__type_support.cpp.o(4.16 KB)
        trajectory_point_msg__type_support.cpp.o.d(10.23 KB)
        build.make(23.6 KB)
        cmake_clean.cmake(1.25 KB)
        compiler_depend.internal(31.1 KB)
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        compiler_depend.ts(141 B)
        depend.make(118 B)
        DependInfo.cmake(1.99 KB)
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        teb_msgs__rosidl_typesupport_c__pyext.dir
        rosidl_generator_py
        teb_msgs
        _teb_msgs_s.ep.rosidl_typesupport_c.c.o(8.43 KB)
        _teb_msgs_s.ep.rosidl_typesupport_c.c.o.d(13.84 KB)
        build.make(14.36 KB)
        cmake_clean.cmake(666 B)
        compiler_depend.internal(13.56 KB)
        compiler_depend.make(27.52 KB)
        compiler_depend.ts(146 B)
        depend.make(123 B)
        DependInfo.cmake(1.08 KB)
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        progress.make(48 B)
        teb_msgs__rosidl_typesupport_fastrtps_c.dir
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        teb_msgs
        msg
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        feedback_msg__type_support_c.cpp.o(7.92 KB)
        feedback_msg__type_support_c.cpp.o.d(13.23 KB)
        trajectory_msg__type_support_c.cpp.o(7.09 KB)
        trajectory_msg__type_support_c.cpp.o.d(12.31 KB)
        trajectory_point_msg__type_support_c.cpp.o(6.53 KB)
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        build.make(29.96 KB)
        cmake_clean.cmake(1.76 KB)
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        compiler_depend.make(52.1 KB)
        compiler_depend.ts(148 B)
        depend.make(125 B)
        DependInfo.cmake(3.13 KB)
        flags.make(1.11 KB)
        link.txt(1.58 KB)
        progress.make(117 B)
        teb_msgs__rosidl_typesupport_fastrtps_cpp.dir
        rosidl_typesupport_fastrtps_cpp
        teb_msgs
        msg
        detail
        dds_fastrtps
        feedback_msg__type_support.cpp.o(12.95 KB)
        feedback_msg__type_support.cpp.o.d(13.47 KB)
        trajectory_msg__type_support.cpp.o(9.75 KB)
        trajectory_msg__type_support.cpp.o.d(12.82 KB)
        trajectory_point_msg__type_support.cpp.o(7.8 KB)
        trajectory_point_msg__type_support.cpp.o.d(12.57 KB)
        build.make(30.42 KB)
        cmake_clean.cmake(1.91 KB)
        compiler_depend.internal(37.93 KB)
        compiler_depend.make(53.37 KB)
        compiler_depend.ts(150 B)
        depend.make(127 B)
        DependInfo.cmake(3.22 KB)
        flags.make(1.08 KB)
        link.txt(1.24 KB)
        progress.make(117 B)
        teb_msgs__rosidl_typesupport_fastrtps_c__pyext.dir
        rosidl_generator_py
        teb_msgs
        _teb_msgs_s.ep.rosidl_typesupport_fastrtps_c.c.o(8.45 KB)
        _teb_msgs_s.ep.rosidl_typesupport_fastrtps_c.c.o.d(13.87 KB)
        build.make(15.45 KB)
        cmake_clean.cmake(729 B)
        compiler_depend.internal(13.58 KB)
        compiler_depend.make(27.55 KB)
        compiler_depend.ts(155 B)
        depend.make(132 B)
        DependInfo.cmake(1.23 KB)
        flags.make(1.35 KB)
        link.txt(3.76 KB)
        progress.make(48 B)
        teb_msgs__rosidl_typesupport_introspection_c.dir
        rosidl_typesupport_introspection_c
        teb_msgs
        msg
        detail
        feedback_msg__type_support.c.o(6.09 KB)
        feedback_msg__type_support.c.o.d(7.55 KB)
        trajectory_msg__type_support.c.o(5.77 KB)
        trajectory_msg__type_support.c.o.d(6.04 KB)
        trajectory_point_msg__type_support.c.o(4.76 KB)
        trajectory_point_msg__type_support.c.o.d(6.22 KB)
        build.make(31.08 KB)
        cmake_clean.cmake(1.84 KB)
        compiler_depend.internal(19.43 KB)
        compiler_depend.make(28.37 KB)
        compiler_depend.ts(153 B)
        depend.make(130 B)
        DependInfo.cmake(3.24 KB)
        flags.make(912 B)
        link.txt(1.5 KB)
        progress.make(117 B)
        teb_msgs__rosidl_typesupport_introspection_cpp.dir
        rosidl_typesupport_introspection_cpp
        teb_msgs
        msg
        detail
        feedback_msg__type_support.cpp.o(13.65 KB)
        feedback_msg__type_support.cpp.o.d(12.17 KB)
        trajectory_msg__type_support.cpp.o(9.51 KB)
        trajectory_msg__type_support.cpp.o.d(11.52 KB)
        trajectory_point_msg__type_support.cpp.o(5.63 KB)
        trajectory_point_msg__type_support.cpp.o.d(11.26 KB)
        build.make(31.72 KB)
        cmake_clean.cmake(1.91 KB)
        compiler_depend.internal(34.11 KB)
        compiler_depend.make(48.07 KB)
        compiler_depend.ts(155 B)
        depend.make(132 B)
        DependInfo.cmake(3.25 KB)
        flags.make(1.02 KB)
        link.txt(1.25 KB)
        progress.make(117 B)
        teb_msgs__rosidl_typesupport_introspection_c__pyext.dir
        rosidl_generator_py
        teb_msgs
        _teb_msgs_s.ep.rosidl_typesupport_introspection_c.c.o(8.45 KB)
        _teb_msgs_s.ep.rosidl_typesupport_introspection_c.c.o.d(13.88 KB)
        build.make(15.98 KB)
        cmake_clean.cmake(764 B)
        compiler_depend.internal(13.6 KB)
        compiler_depend.make(27.57 KB)
        compiler_depend.ts(160 B)
        depend.make(137 B)
        DependInfo.cmake(1.26 KB)
        flags.make(1.36 KB)
        link.txt(3.79 KB)
        progress.make(48 B)
        uninstall.dir
        build.make(2.4 KB)
        cmake_clean.cmake(158 B)
        compiler_depend.make(121 B)
        compiler_depend.ts(115 B)
        DependInfo.cmake(441 B)
        progress.make(2 B)
        cmake.check_cache(86 B)
        CMakeDirectoryInformation.cmake(654 B)
        CMakeOutput.log(46.68 KB)
        CMakeRuleHashes.txt(1.43 KB)
        Makefile.cmake(48.09 KB)
        Makefile2(36.84 KB)
        progress.marks(4 B)
        TargetDirectories.txt(2.37 KB)
      - rosidl_adapter
        teb_msgs
        msg
        FeedbackMsg.idl(1.05 KB)
        TrajectoryMsg.idl(546 B)
        TrajectoryPointMsg.idl(1.26 KB)
        teb_msgs.idls(243 B)
      - rosidl_cmake
        rosidl_cmake-extras.cmake(266 B)
        rosidl_cmake_export_typesupport_libraries-extras.cmake(1.91 KB)
        rosidl_cmake_export_typesupport_targets-extras.cmake(1.32 KB)
      - rosidl_generator_c
        teb_msgs
        msg
        detail
        feedback_msg__functions.c(8.45 KB)
        feedback_msg__functions.h(6.08 KB)
        feedback_msg__struct.h(1.72 KB)
        feedback_msg__type_support.h(888 B)
        trajectory_msg__functions.c(7.59 KB)
        trajectory_msg__functions.h(6.18 KB)
        trajectory_msg__struct.h(1.34 KB)
        trajectory_msg__type_support.h(898 B)
        trajectory_point_msg__functions.c(8.95 KB)
        trajectory_point_msg__functions.h(6.44 KB)
        trajectory_point_msg__struct.h(1.98 KB)
        trajectory_point_msg__type_support.h(926 B)
        feedback_msg.h(463 B)
        rosidl_generator_c__visibility_control.h(1.45 KB)
        trajectory_msg.h(477 B)
        trajectory_point_msg.h(518 B)
      - rosidl_generator_cpp
        teb_msgs
        msg
        detail
        feedback_msg__builder.hpp(2.44 KB)
        feedback_msg__struct.hpp(5.72 KB)
        feedback_msg__traits.hpp(4.44 KB)
        feedback_msg__type_support.hpp(905 B)
        trajectory_msg__builder.hpp(1.59 KB)
        trajectory_msg__struct.hpp(4.54 KB)
        trajectory_msg__traits.hpp(3.56 KB)
        trajectory_msg__type_support.hpp(915 B)
        trajectory_point_msg__builder.hpp(2.57 KB)
        trajectory_point_msg__struct.hpp(5.38 KB)
        trajectory_point_msg__traits.hpp(4.21 KB)
        trajectory_point_msg__type_support.hpp(943 B)
        feedback_msg.hpp(485 B)
        rosidl_generator_cpp__visibility_control.hpp(1.5 KB)
        trajectory_msg.hpp(499 B)
        trajectory_point_msg.hpp(541 B)
      - rosidl_generator_py
        teb_msgs
        msg
        _feedback_msg.py(8.16 KB)
        _feedback_msg_s.c(7.32 KB)
        _trajectory_msg.py(6.15 KB)
        _trajectory_msg_s.c(5.82 KB)
        _trajectory_point_msg.py(7.43 KB)
        _trajectory_point_msg_s.c(6.18 KB)
        __init__.py(217 B)
        libteb_msgs__rosidl_generator_py.so(25.34 KB)
        teb_msgs_s__rosidl_typesupport_c.cpython-310-x86_64-linux-gnu.so(17.29 KB)
        teb_msgs_s__rosidl_typesupport_fastrtps_c.cpython-310-x86_64-linux-gnu.so(17.3 KB)
        teb_msgs_s__rosidl_typesupport_introspection_c.cpython-310-x86_64-linux-gnu.so(17.31 KB)
        _teb_msgs_s.ep.rosidl_typesupport_c.c(14.82 KB)
        _teb_msgs_s.ep.rosidl_typesupport_fastrtps_c.c(14.83 KB)
        _teb_msgs_s.ep.rosidl_typesupport_introspection_c.c(14.83 KB)
        __init__.py(0 B)
      - rosidl_typesupport_c
        teb_msgs
        msg
        feedback_msg__type_support.cpp(2.97 KB)
        trajectory_msg__type_support.cpp(3.02 KB)
        trajectory_point_msg__type_support.cpp(3.15 KB)
      - rosidl_typesupport_cpp
        teb_msgs
        msg
        feedback_msg__type_support.cpp(3.34 KB)
        trajectory_msg__type_support.cpp(3.39 KB)
        trajectory_point_msg__type_support.cpp(3.52 KB)
      - rosidl_typesupport_fastrtps_c
        teb_msgs
        msg
        detail
        feedback_msg__rosidl_typesupport_fastrtps_c.h(1.25 KB)
        feedback_msg__type_support_c.cpp(13.14 KB)
        trajectory_msg__rosidl_typesupport_fastrtps_c.h(1.27 KB)
        trajectory_msg__type_support_c.cpp(10.25 KB)
        trajectory_point_msg__rosidl_typesupport_fastrtps_c.h(1.31 KB)
        trajectory_point_msg__type_support_c.cpp(12.75 KB)
        rosidl_typesupport_fastrtps_c__visibility_control.h(1.65 KB)
      - rosidl_typesupport_fastrtps_cpp
        teb_msgs
        msg
        detail
        dds_fastrtps
        feedback_msg__type_support.cpp(11.21 KB)
        trajectory_msg__type_support.cpp(8.95 KB)
        trajectory_point_msg__type_support.cpp(10.64 KB)
        feedback_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.11 KB)
        trajectory_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.13 KB)
        trajectory_point_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.18 KB)
        rosidl_typesupport_fastrtps_cpp__visibility_control.h(1.68 KB)
      - rosidl_typesupport_introspection_c
        teb_msgs
        msg
        detail
        feedback_msg__rosidl_typesupport_introspection_c.h(955 B)
        feedback_msg__type_support.c(10.14 KB)
        trajectory_msg__rosidl_typesupport_introspection_c.h(965 B)
        trajectory_msg__type_support.c(8.56 KB)
        trajectory_point_msg__rosidl_typesupport_introspection_c.h(993 B)
        trajectory_point_msg__type_support.c(7.7 KB)
        rosidl_typesupport_introspection_c__visibility_control.h(1.74 KB)
      - rosidl_typesupport_introspection_cpp
        teb_msgs
        msg
        detail
        feedback_msg__rosidl_typesupport_introspection_cpp.hpp(1.01 KB)
        feedback_msg__type_support.cpp(7.78 KB)
        trajectory_msg__rosidl_typesupport_introspection_cpp.hpp(1.02 KB)
        trajectory_msg__type_support.cpp(6.4 KB)
        trajectory_point_msg__rosidl_typesupport_introspection_cpp.hpp(1.05 KB)
        trajectory_point_msg__type_support.cpp(6.16 KB)
      - teb_msgs__py
        CMakeFiles
        teb_msgs__py.dir
        build.make(17.92 KB)
        cmake_clean.cmake(886 B)
        compiler_depend.make(124 B)
        compiler_depend.ts(118 B)
        DependInfo.cmake(2.34 KB)
        progress.make(24 B)
        CMakeDirectoryInformation.cmake(669 B)
        progress.marks(3 B)
        CMakeLists.txt(1.75 KB)
        cmake_install.cmake(1.3 KB)
        CTestTestfile.cmake(309 B)
        Makefile(7.34 KB)
      - CMakeCache.txt(36.86 KB)
      - cmake_args.last(4 B)
      - cmake_install.cmake(44.13 KB)
      - colcon_build.rc(3 B)
      - colcon_command_prefix_build.sh(160 B)
      - colcon_command_prefix_build.sh.env(6.08 KB)
      - CTestConfiguration.ini(2.36 KB)
      - CTestCustom.cmake(106 B)
      - CTestTestfile.cmake(306 B)
      - install_manifest.txt(13.4 KB)
      - libteb_msgs__rosidl_generator_c.so(27.17 KB)
      - libteb_msgs__rosidl_typesupport_c.so(17.31 KB)
      - libteb_msgs__rosidl_typesupport_cpp.so(18.03 KB)
      - libteb_msgs__rosidl_typesupport_fastrtps_c.so(28.31 KB)
      - libteb_msgs__rosidl_typesupport_fastrtps_cpp.so(36.84 KB)
      - libteb_msgs__rosidl_typesupport_introspection_c.so(25.63 KB)
      - libteb_msgs__rosidl_typesupport_introspection_cpp.so(35.82 KB)
      - Makefile(79.13 KB)
      - rosidl_adapter__arguments__teb_msgs.json(250 B)
      - rosidl_generator_cpp__arguments.json(11.13 KB)
      - rosidl_generator_c__arguments.json(10.93 KB)
      - rosidl_generator_py__arguments.json(10.96 KB)
      - rosidl_typesupport_cpp__arguments.json(10.27 KB)
      - rosidl_typesupport_c__arguments.json(10.25 KB)
      - rosidl_typesupport_fastrtps_cpp__arguments.json(10.59 KB)
      - rosidl_typesupport_fastrtps_c__arguments.json(10.56 KB)
      - rosidl_typesupport_introspection_cpp__arguments.json(10.66 KB)
      - rosidl_typesupport_introspection_c__arguments.json(10.62 KB)
    - .built_by(8 B)
    - COLCON_IGNORE(0 B)
  - data
    - corridor_drift0_obst_none
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(648 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(642 B)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(652 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.csv(645 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(652 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.csv(644 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(651 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(644 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(655 B)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.csv(650 B)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
    - corridor_drift0_obst_uniform
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(652 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(646 B)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(652 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1016 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(649 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(652 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1015 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(639 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.json(994 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(654 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(647 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(653 B)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
    - corridor_drift1_obst_none
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(650 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.07 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(644 B)
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      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(651 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1017 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.csv(644 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.json(1007 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(654 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.08 KB)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift1_obst_none.csv(647 B)
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      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(653 B)
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      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(646 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.json(1.07 KB)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(657 B)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.08 KB)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_none.csv(651 B)
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    - corridor_drift1_obst_uniform
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(654 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(647 B)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(657 B)
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      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(651 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(657 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(650 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(656 B)
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      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(649 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(662 B)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(657 B)
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    - corridor_drift2_obst_none
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(648 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(637 B)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1002 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(650 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.csv(644 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(652 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.08 KB)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.csv(641 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.json(1005 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(650 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.08 KB)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(643 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(654 B)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.08 KB)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.csv(644 B)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.json(1009 B)
    - corridor_drift2_obst_uniform
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(653 B)
      - benchmark_results_corridor_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(644 B)
      - benchmark_results_corridor_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(654 B)
      - benchmark_results_corridor_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(649 B)
      - benchmark_results_corridor_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(654 B)
      - benchmark_results_corridor_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(648 B)
      - benchmark_results_corridor_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(649 B)
      - benchmark_results_corridor_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1014 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(646 B)
      - benchmark_results_corridor_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(653 B)
      - benchmark_results_corridor_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1017 B)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(651 B)
      - benchmark_results_corridor_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
    - depot_drift0_obst_none
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(645 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(634 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1000 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(648 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.csv(642 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.csv(638 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.json(1004 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(647 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(640 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(653 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.08 KB)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.csv(647 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.json(1.07 KB)
    - depot_drift0_obst_uniform
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(649 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(641 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(652 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(645 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(652 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(646 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(650 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(643 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(656 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(651 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.08 KB)
    - depot_drift1_obst_none
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(643 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1007 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(640 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift1_obst_none.json(1.06 KB)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(651 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.08 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.csv(640 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.json(1002 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(647 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1014 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift1_obst_none.csv(640 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift1_obst_none.json(1005 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(645 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1011 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(642 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.json(1.06 KB)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(655 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.08 KB)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_none.csv(650 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_none.json(1.07 KB)
    - depot_drift1_obst_uniform
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(651 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(644 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(654 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(647 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(655 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(647 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(652 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(642 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1008 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(657 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(653 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.08 KB)
    - depot_drift2_obst_none
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(644 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(637 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1.06 KB)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(649 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.csv(641 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.json(1.06 KB)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(647 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.csv(639 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.json(1.06 KB)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(646 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(638 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1.06 KB)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(646 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1012 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.csv(647 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.json(1.07 KB)
    - depot_drift2_obst_uniform
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(647 B)
      - benchmark_results_depot_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(641 B)
      - benchmark_results_depot_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(650 B)
      - benchmark_results_depot_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(645 B)
      - benchmark_results_depot_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(652 B)
      - benchmark_results_depot_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(644 B)
      - benchmark_results_depot_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(649 B)
      - benchmark_results_depot_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.08 KB)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(643 B)
      - benchmark_results_depot_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.06 KB)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(649 B)
      - benchmark_results_depot_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1014 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(650 B)
      - benchmark_results_depot_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.07 KB)
    - depot_hotswitch_drift0_obst_none
      - benchmark_results_hot_switch_depot_slam_toolbox_localization_drift0_obst_none.json(1.58 KB)
    - maze_drift0_obst_none
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(599 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(592 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(602 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_none.json(1.03 KB)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.csv(596 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(599 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_none.json(962 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.csv(594 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(597 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_none.json(960 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.csv(594 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.csv(602 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_none.json(962 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.csv(599 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_none.json(1.02 KB)
    - maze_drift0_obst_uniform
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(602 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(595 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(605 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(595 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift0_obst_uniform.json(956 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(606 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(597 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(600 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(961 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_uniform.csv(610 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift0_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.csv(602 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift0_obst_uniform.json(1.02 KB)
    - maze_drift1_obst_none
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(601 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.03 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(590 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift1_obst_none.json(951 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(601 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_none.json(963 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.csv(598 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift1_obst_none.json(1.02 KB)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(603 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.03 KB)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift1_obst_none.csv(596 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift1_obst_none.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(603 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.03 KB)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.csv(596 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift1_obst_none.json(1.02 KB)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.csv(608 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_none.json(1.03 KB)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_none.csv(601 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_none.json(1.02 KB)
    - maze_drift1_obst_uniform
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(604 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(597 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(607 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(601 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(606 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(599 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(606 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(599 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.csv(611 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_uniform.csv(604 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift1_obst_uniform.json(1.03 KB)
    - maze_drift2_obst_none
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(598 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.02 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(591 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1.01 KB)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(598 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_none.json(961 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.csv(595 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift2_obst_none.json(1.02 KB)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(600 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.03 KB)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.csv(593 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift2_obst_none.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(599 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.03 KB)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.csv(593 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift2_obst_none.json(1.02 KB)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.csv(605 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_none.json(1.03 KB)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.csv(598 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_none.json(1.02 KB)
    - maze_drift2_obst_uniform
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(601 B)
      - benchmark_results_maze_AStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(594 B)
      - benchmark_results_maze_AStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(603 B)
      - benchmark_results_maze_DStarLite_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(598 B)
      - benchmark_results_maze_DStarLite_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(605 B)
      - benchmark_results_maze_GridBased_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(596 B)
      - benchmark_results_maze_GridBased_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(603 B)
      - benchmark_results_maze_LPAStar_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(596 B)
      - benchmark_results_maze_LPAStar_TEB_slam_toolbox_localization_drift2_obst_uniform.json(1.02 KB)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.csv(608 B)
      - benchmark_results_maze_SmacLattice_FollowPath_slam_toolbox_localization_drift2_obst_uniform.json(1.03 KB)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.csv(597 B)
      - benchmark_results_maze_SmacLattice_TEB_slam_toolbox_localization_drift2_obst_uniform.json(959 B)
    - verification
      - verification_compare.csv(8.03 KB)
      - verification_num_replans.png(291.26 KB)
      - verification_path_efficiency.png(324.84 KB)
      - verification_path_length.png(278.85 KB)
      - verification_smoothness_jerk.png(318.57 KB)
      - verification_success.png(244.03 KB)
      - verification_total_time_s.png(314.04 KB)
    - decision_table.csv(3.11 KB)
    - decision_table.json(130.91 KB)
  - figs
    - fig4_1_depot_static_compare.png(215.97 KB)
    - fig4_2_maze_static_compare.png(205.72 KB)
    - fig4_3_corridor_static_compare.png(219.35 KB)
    - fig4_5_corridor_drift_degradation.png(190.65 KB)
    - fig4_5_depot_drift_degradation.png(191 KB)
    - fig4_5_maze_drift_degradation.png(222.01 KB)
    - fig4_6_num_replans_boxplot.png(103.71 KB)
    - fig4_7_corridor_obst_none_compare.png(141.27 KB)
    - fig4_7_corridor_obst_uniform_compare.png(148.32 KB)
    - fig4_7_depot_obst_none_compare.png(145.65 KB)
    - fig4_7_depot_obst_uniform_compare.png(149.11 KB)
    - fig4_7_maze_obst_none_compare.png(151.29 KB)
    - fig4_7_maze_obst_uniform_compare.png(149.13 KB)
    - fig4_9_hot_switch_time_speed.png(173.23 KB)
  - install
    - costmap_converter
      - bin
        standalone_converter(569.12 KB)
      - include
        costmap_converter
        costmap_to_dynamic_obstacles
        multitarget_tracker
        Ctracker.h(2.58 KB)
        defines.h(265 B)
        HungarianAlg.h(3.41 KB)
        Kalman.h(625 B)
        README.md(498 B)
        background_subtractor.h(4.47 KB)
        blob_detector.h(4.49 KB)
        costmap_to_dynamic_obstacles.h(7.19 KB)
        costmap_converter_interface.h(14.17 KB)
        costmap_to_lines_convex_hull.h(5.49 KB)
        costmap_to_lines_ransac.h(8.71 KB)
        costmap_to_polygons.h(14.3 KB)
        costmap_to_polygons_concave.h(8.01 KB)
        misc.h(6.67 KB)
      - lib
        libcostmap_converter.so(193.64 KB)
      - share
        ament_index
        resource_index
        costmap_converter__pluginlib__plugin
        costmap_converter(55 B)
        packages
        costmap_converter(0 B)
        package_run_dependencies
        costmap_converter(104 B)
        parent_prefix_path
        costmap_converter(459 B)
        colcon-core
        packages
        costmap_converter(86 B)
        costmap_converter
        cmake
        ament_cmake_export_dependencies-extras.cmake(4.12 KB)
        ament_cmake_export_include_directories-extras.cmake(813 B)
        ament_cmake_export_libraries-extras.cmake(5.15 KB)
        costmap_converterConfig-version.cmake(446 B)
        costmap_converterConfig.cmake(1.49 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
        library_path.sh(427 B)
        path.dsv(42 B)
        path.sh(190 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
        ld_library_path_lib.sh(147 B)
        path.dsv(32 B)
        path.ps1(146 B)
        path.sh(136 B)
        pythonscriptspath.dsv(32 B)
        pythonscriptspath.ps1(146 B)
        pythonscriptspath.sh(136 B)
        costmap_converter_plugins.xml(1.88 KB)
        local_setup.bash(1.6 KB)
        local_setup.dsv(177 B)
        local_setup.sh(5.21 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.39 KB)
        package.dsv(911 B)
        package.ps1(3.64 KB)
        package.sh(3.2 KB)
        package.xml(1.41 KB)
        package.zsh(1.68 KB)
    - costmap_converter_msgs
      - include
        costmap_converter_msgs
        costmap_converter_msgs
        msg
        detail
        obstacle_array_msg__builder.hpp(1.85 KB)
        obstacle_array_msg__functions.c(8.54 KB)
        obstacle_array_msg__functions.h(7.08 KB)
        obstacle_array_msg__rosidl_typesupport_fastrtps_c.h(1.44 KB)
        obstacle_array_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.39 KB)
        obstacle_array_msg__rosidl_typesupport_introspection_c.h(1.06 KB)
        obstacle_array_msg__rosidl_typesupport_introspection_cpp.hpp(1.11 KB)
        obstacle_array_msg__struct.h(1.73 KB)
        obstacle_array_msg__struct.hpp(4.97 KB)
        obstacle_array_msg__traits.hpp(3.88 KB)
        obstacle_array_msg__type_support.c(9.44 KB)
        obstacle_array_msg__type_support.cpp(6.74 KB)
        obstacle_array_msg__type_support.h(1014 B)
        obstacle_array_msg__type_support.hpp(1.01 KB)
        obstacle_msg__builder.hpp(3.35 KB)
        obstacle_msg__functions.c(9.66 KB)
        obstacle_msg__functions.h(6.81 KB)
        obstacle_msg__rosidl_typesupport_fastrtps_c.h(1.41 KB)
        obstacle_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.34 KB)
        obstacle_msg__rosidl_typesupport_introspection_c.h(1.03 KB)
        obstacle_msg__rosidl_typesupport_introspection_cpp.hpp(1.08 KB)
        obstacle_msg__struct.h(2.24 KB)
        obstacle_msg__struct.hpp(6.31 KB)
        obstacle_msg__traits.hpp(5.19 KB)
        obstacle_msg__type_support.c(9.22 KB)
        obstacle_msg__type_support.cpp(7.54 KB)
        obstacle_msg__type_support.h(986 B)
        obstacle_msg__type_support.hpp(1003 B)
        obstacle_array_msg.h(602 B)
        obstacle_array_msg.hpp(625 B)
        obstacle_msg.h(561 B)
        obstacle_msg.hpp(583 B)
        rosidl_generator_cpp__visibility_control.hpp(1.72 KB)
        rosidl_generator_c__visibility_control.h(1.67 KB)
        rosidl_typesupport_fastrtps_cpp__visibility_control.h(1.9 KB)
        rosidl_typesupport_fastrtps_c__visibility_control.h(1.86 KB)
        rosidl_typesupport_introspection_c__visibility_control.h(1.96 KB)
      - lib
        libcostmap_converter_msgs__rosidl_generator_c.so(26.31 KB)
        libcostmap_converter_msgs__rosidl_generator_py.so(17.02 KB)
        libcostmap_converter_msgs__rosidl_typesupport_c.so(16.72 KB)
        libcostmap_converter_msgs__rosidl_typesupport_cpp.so(17.29 KB)
        libcostmap_converter_msgs__rosidl_typesupport_fastrtps_c.so(23.24 KB)
        libcostmap_converter_msgs__rosidl_typesupport_fastrtps_cpp.so(35.04 KB)
        libcostmap_converter_msgs__rosidl_typesupport_introspection_c.so(23.73 KB)
        libcostmap_converter_msgs__rosidl_typesupport_introspection_cpp.so(29.74 KB)
      - local
        lib
        python3.10
        dist-packages
        costmap_converter_msgs
        msg
        __pycache__
        _obstacle_array_msg.cpython-310.pyc(5.43 KB)
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        _obstacle_msg_s.c(7.21 KB)
        __init__.py(171 B)
        __pycache__
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        costmap_converter_msgs_s__rosidl_typesupport_c.cpython-310-x86_64-linux-gnu.so(16.91 KB)
        costmap_converter_msgs_s__rosidl_typesupport_fastrtps_c.cpython-310-x86_64-linux-gnu.so(16.94 KB)
        costmap_converter_msgs_s__rosidl_typesupport_introspection_c.cpython-310-x86_64-linux-gnu.so(16.95 KB)
        libcostmap_converter_msgs__rosidl_generator_py.so(17.02 KB)
        _costmap_converter_msgs_s.ep.rosidl_typesupport_c.c(10.61 KB)
        _costmap_converter_msgs_s.ep.rosidl_typesupport_fastrtps_c.c(10.61 KB)
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        __init__.py(0 B)
        costmap_converter_msgs-0.1.2-py3.10.egg-info
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        SOURCES.txt(368 B)
        top_level.txt(24 B)
      - share
        ament_index
        resource_index
        packages
        costmap_converter_msgs(0 B)
        package_run_dependencies
        costmap_converter_msgs(82 B)
        parent_prefix_path
        costmap_converter_msgs(287 B)
        rosidl_interfaces
        costmap_converter_msgs(92 B)
        colcon-core
        packages
        costmap_converter_msgs(64 B)
        costmap_converter_msgs
        cmake
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        ament_cmake_export_include_directories-extras.cmake(856 B)
        ament_cmake_export_libraries-extras.cmake(5.35 KB)
        ament_cmake_export_targets-extras.cmake(1.46 KB)
        costmap_converter_msgsConfig-version.cmake(446 B)
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        costmap_converter_msgs__rosidl_typesupport_cExport-release.cmake(1.32 KB)
        costmap_converter_msgs__rosidl_typesupport_cExport.cmake(4.67 KB)
        costmap_converter_msgs__rosidl_typesupport_cppExport-release.cmake(1.38 KB)
        costmap_converter_msgs__rosidl_typesupport_cppExport.cmake(4.69 KB)
        costmap_converter_msgs__rosidl_typesupport_introspection_cExport-release.cmake(1.31 KB)
        costmap_converter_msgs__rosidl_typesupport_introspection_cExport.cmake(4.93 KB)
        costmap_converter_msgs__rosidl_typesupport_introspection_cppExport-release.cmake(1.32 KB)
        costmap_converter_msgs__rosidl_typesupport_introspection_cppExport.cmake(5.05 KB)
        export_costmap_converter_msgs__rosidl_generator_cExport-release.cmake(1.18 KB)
        export_costmap_converter_msgs__rosidl_generator_cExport.cmake(3.96 KB)
        export_costmap_converter_msgs__rosidl_generator_cppExport.cmake(3.9 KB)
        export_costmap_converter_msgs__rosidl_generator_pyExport-release.cmake(1.19 KB)
        export_costmap_converter_msgs__rosidl_generator_pyExport.cmake(4.85 KB)
        export_costmap_converter_msgs__rosidl_typesupport_fastrtps_cExport-release.cmake(1.27 KB)
        export_costmap_converter_msgs__rosidl_typesupport_fastrtps_cExport.cmake(5.09 KB)
        export_costmap_converter_msgs__rosidl_typesupport_fastrtps_cppExport-release.cmake(1.28 KB)
        export_costmap_converter_msgs__rosidl_typesupport_fastrtps_cppExport.cmake(5.06 KB)
        rosidl_cmake-extras.cmake(246 B)
        rosidl_cmake_export_typesupport_libraries-extras.cmake(2.04 KB)
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        environment
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        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
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        pythonpath.dsv(69 B)
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        hook
        cmake_prefix_path.dsv(42 B)
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        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
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        msg
        ObstacleArrayMsg.idl(821 B)
        ObstacleArrayMsg.msg(328 B)
        ObstacleMsg.idl(1.55 KB)
        ObstacleMsg.msg(711 B)
        local_setup.bash(1.6 KB)
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        local_setup.sh(5.35 KB)
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        package.dsv(653 B)
        package.ps1(3.43 KB)
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        package.xml(1.06 KB)
        package.zsh(1.69 KB)
    - lingbot_benchmark
      - lib
        lingbot_benchmark
        __pycache__
        hot_switch_runner_node.cpython-310.pyc(15.59 KB)
        benchmark_runner_node.py(24.51 KB)
        dynamic_obstacle_gazebo_node.py(9.91 KB)
        dynamic_obstacle_publisher_node.py(8.38 KB)
        hot_switch_runner_node.py(21.84 KB)
        localization_drift_node.py(7.29 KB)
        metrics_collector_node.py(9.63 KB)
      - local
        lib
        python3.10
        dist-packages
        lingbot_benchmark
        __pycache__
        metrics.cpython-310.pyc(4.53 KB)
        __init__.cpython-310.pyc(201 B)
        metrics.py(4.76 KB)
        __init__.py(41 B)
        lingbot_benchmark-0.1.0-py3.10.egg-info
        dependency_links.txt(2 B)
        PKG-INFO(152 B)
        SOURCES.txt(237 B)
        top_level.txt(19 B)
      - share
        ament_index
        resource_index
        packages
        lingbot_benchmark(0 B)
        package_run_dependencies
        lingbot_benchmark(183 B)
        parent_prefix_path
        lingbot_benchmark(459 B)
        colcon-core
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        lingbot_benchmark(149 B)
        lingbot_benchmark
        cmake
        lingbot_benchmarkConfig-version.cmake(446 B)
        lingbot_benchmarkConfig.cmake(1.36 KB)
        config
        amcl_no_tf_broadcast.yaml(253 B)
        combos_example.yaml(1.02 KB)
        combos_followpath_only.yaml(441 B)
        combos_hot_switch.yaml(644 B)
        dynamic_obstacles_corridor_random.yaml(548 B)
        dynamic_obstacles_corridor_uniform.yaml(574 B)
        dynamic_obstacles_depot_random.yaml(470 B)
        dynamic_obstacles_depot_uniform.yaml(451 B)
        dynamic_obstacles_example.yaml(910 B)
        dynamic_obstacles_maze_random.yaml(477 B)
        dynamic_obstacles_maze_uniform.yaml(580 B)
        dynamic_obstacles_random.yaml(500 B)
        initial_poses.yaml(806 B)
        waypoints_corridor.yaml(218 B)
        waypoints_depot.yaml(192 B)
        waypoints_example.yaml(422 B)
        waypoints_maze.yaml(191 B)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        path.dsv(42 B)
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        pythonpath.dsv(69 B)
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        hook
        cmake_prefix_path.dsv(42 B)
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        launch
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        benchmark_hot_switch.launch.cpython-310.pyc(3.92 KB)
        benchmark_with_map.launch.cpython-310.pyc(10.88 KB)
        benchmark_with_slam.launch.cpython-310.pyc(4.85 KB)
        benchmark_hot_switch.launch.py(7.38 KB)
        benchmark_with_map.launch.py(21.76 KB)
        benchmark_with_slam.launch.py(8.94 KB)
        rviz
        nav2_with_dynamic_obstacles.rviz(18.78 KB)
        slam_toolbox_localization.rviz(9.5 KB)
        build_decision_table.py(12.7 KB)
        local_setup.bash(1.6 KB)
        local_setup.dsv(175 B)
        local_setup.sh(5.2 KB)
        local_setup.zsh(1.97 KB)
        merge_benchmark_results.py(1.97 KB)
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        package.dsv(416 B)
        package.ps1(3.3 KB)
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        package.xml(1.11 KB)
        package.zsh(1.68 KB)
        plot_benchmark_results.py(14.93 KB)
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        set_initial_pose.sh(4.21 KB)
        verify_best_combo.py(13.88 KB)
    - lingbot_bringup
      - share
        ament_index
        resource_index
        packages
        lingbot_bringup(0 B)
        package_run_dependencies
        lingbot_bringup(33 B)
        parent_prefix_path
        lingbot_bringup(15 B)
        colcon-core
        packages
        lingbot_bringup(0 B)
        lingbot_bringup
        cmake
        lingbot_bringupConfig-version.cmake(446 B)
        lingbot_bringupConfig.cmake(1.33 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        path.dsv(42 B)
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        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        local_setup.bash(1.6 KB)
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        local_setup.sh(5.08 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.39 KB)
        package.dsv(400 B)
        package.ps1(3.3 KB)
        package.sh(2.88 KB)
        package.xml(619 B)
        package.zsh(1.67 KB)
    - lingbot_description
      - share
        ament_index
        resource_index
        packages
        lingbot_description(0 B)
        package_run_dependencies
        lingbot_description(52 B)
        parent_prefix_path
        lingbot_description(459 B)
        colcon-core
        packages
        lingbot_description(18 B)
        lingbot_description
        cmake
        lingbot_descriptionConfig-version.cmake(446 B)
        lingbot_descriptionConfig.cmake(1.38 KB)
        config
        lingbot_ros2_controller.yaml(1.39 KB)
        lingbot_ros2_controller_cartographer.yaml(1.45 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        path.dsv(42 B)
        path.sh(190 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        launch
        __pycache__
        gazebo_sim.launch.cpython-310.pyc(2.57 KB)
        gazebo_sim.launch.py(4.32 KB)
        urdf
        actuator
        caster.urdf.xacro(1.47 KB)
        wheel.urdf.xacro(1.52 KB)
        plugins
        gazebo_control_plugin.xacro(1.31 KB)
        gazebo_sensor_plugin.xacro(5.24 KB)
        sensor
        camera.urdf.xacro(1.53 KB)
        imu.urdf.xacro(1.17 KB)
        laser.urdf.xacro(2.55 KB)
        base.urdf.xacro(1.33 KB)
        common_inertia.xacro(960 B)
        lingbot.ros2_control.xacro(1.97 KB)
        lingbot.urdf.xacro(1.63 KB)
        worlds
        backup
        corridor.world(60.84 KB)
        custom_room.world(98.03 KB)
        depot.world(76.03 KB)
        maze.world(104.58 KB)
        README.md(330 B)
        corridor
        corridor
        model.config(248 B)
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        model.config(248 B)
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        depot
        depot
        model.config(245 B)
        model.sdf(32.27 KB)
        maze
        maze
        model.config(244 B)
        model.sdf(27.12 KB)
        room
        model.config(244 B)
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        corridor.world(61.01 KB)
        custom_room.world(98.2 KB)
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        empty.world(4.87 KB)
        generate_three_worlds.py(9.76 KB)
        maze.world(104.75 KB)
        README_three_worlds.md(1.86 KB)
        warehouse.sdf(6.57 KB)
        warehouse.world(5.97 KB)
        local_setup.bash(1.6 KB)
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        local_setup.sh(5.09 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.39 KB)
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        package.xml(674 B)
        package.zsh(1.68 KB)
    - lingbot_nav2_sys
      - lib
        lingbot_nav2_sys
        map_fixed_origin_node.py(4.07 KB)
      - share
        ament_index
        resource_index
        packages
        lingbot_nav2_sys(0 B)
        package_run_dependencies
        lingbot_nav2_sys(142 B)
        parent_prefix_path
        lingbot_nav2_sys(459 B)
        colcon-core
        packages
        lingbot_nav2_sys(108 B)
        lingbot_nav2_sys
        cmake
        lingbot_nav2_sysConfig-version.cmake(446 B)
        lingbot_nav2_sysConfig.cmake(1.34 KB)
        config
        cartographer
        lingbot_2d.lua(2.89 KB)
        map_builder.lua(834 B)
        pose_graph.lua(3.12 KB)
        trajectory_builder.lua(956 B)
        trajectory_builder_2d.lua(3.29 KB)
        trajectory_builder_3d.lua(3.24 KB)
        mapper_params_online_async.yaml(2.58 KB)
        nav2_params.yaml(13.54 KB)
        nav2_params_1.yaml(13 KB)
        nav2_params_jiantu.yaml(12.99 KB)
        slam_toolbox_localization.yaml(620 B)
        environment
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        ament_prefix_path.sh(164 B)
        path.dsv(42 B)
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        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
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        launch
        __pycache__
        backpack_2d.launch.cpython-310.pyc(2.03 KB)
        cartographer.launch.cpython-310.pyc(1.26 KB)
        cartographer_amcl.launch.cpython-310.pyc(1.26 KB)
        demo_backpack_2d.launch.cpython-310.pyc(2.04 KB)
        nav2_bringup.launch.cpython-310.pyc(906 B)
        slam_toolbox.launch.cpython-310.pyc(772 B)
        slam_toolbox_mapping.launch.cpython-310.pyc(2.51 KB)
        tb4_simulation_launch.cpython-310.pyc(6.63 KB)
        test_load_map.launch.cpython-310.pyc(1.65 KB)
        backpack_2d.launch.py(2.8 KB)
        cartographer.launch.py(2.59 KB)
        cartographer_amcl.launch.py(2.59 KB)
        demo_backpack_2d.launch.py(2.16 KB)
        eval_navigation_launch.py(3.9 KB)
        nav2_bringup.launch.py(858 B)
        slam_toolbox.launch.py(884 B)
        slam_toolbox_amcl.launch.py(978 B)
        slam_toolbox_mapping.launch.py(3.79 KB)
        tb4_simulation_launch.py(13.37 KB)
        test_load_map.launch.py(2.24 KB)
        maps
        corridor.pgm(94.66 KB)
        corridor.yaml(131 B)
        depot.pgm(115.16 KB)
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        empty.pgm(2.44 MB)
        empty.yaml(129 B)
        generate_three_maps.py(9.81 KB)
        maps.pgm(92.47 KB)
        maps.yaml(127 B)
        maze.pgm(89.66 KB)
        maze.yaml(129 B)
        README.md(2.25 KB)
        test_load_three_maps.sh(2.12 KB)
        maps_cartorgarpher
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        corridor_cartographer.yaml(145 B)
        depot_cartographer.pgm(124.44 KB)
        depot_cartographer.yaml(142 B)
        maze_cartographer.pgm(96.3 KB)
        maze_cartographer.yaml(141 B)
        maps_slam_toolbox
        corridor.data(4.81 MB)
        corridor.posegraph(8.13 MB)
        depot.data(6.62 MB)
        depot.posegraph(14.24 MB)
        maze.data(11.8 MB)
        maze.posegraph(19.55 MB)
        rviz
        cartographer_mapping.rviz(1.07 KB)
        nav2_default_view.rviz(19.97 KB)
        slam_toolbox_mapping.rviz(5.22 KB)
        scripts
        create_nav2_symlinks.sh(2.04 KB)
        open_teleop_terminal.sh(670 B)
        src
        costmap_converter
        nav2_dstar_lite_planner
        include
        nav2_dstar_lite_planner
        dstar_lite_planner.hpp(1.97 KB)
        src
        dstar_lite_planner.cpp(8.81 KB)
        CMakeLists.txt(1.33 KB)
        dstar_lite_planner_plugin.xml(352 B)
        package.xml(1.02 KB)
        README.md(1.11 KB)
        nav2_dwb_controller
        costmap_queue
        include
        costmap_queue
        costmap_queue.hpp(6.73 KB)
        limited_costmap_queue.hpp(2.35 KB)
        map_based_queue.hpp(5.63 KB)
        src
        costmap_queue.cpp(4.51 KB)
        limited_costmap_queue.cpp(2.08 KB)
        test
        mbq_test.cpp(3.35 KB)
        utest.cpp(4.2 KB)
        CMakeLists.txt(1.27 KB)
        package.xml(652 B)
        dwb_core
        include
        dwb_core
        dwb_local_planner.hpp(9.25 KB)
        exceptions.hpp(2.69 KB)
        illegal_trajectory_tracker.hpp(2.85 KB)
        publisher.hpp(5.28 KB)
        trajectory_critic.hpp(7.33 KB)
        trajectory_generator.hpp(4.94 KB)
        trajectory_utils.hpp(3.03 KB)
        src
        dwb_local_planner.cpp(19.01 KB)
        illegal_trajectory_tracker.cpp(2.94 KB)
        publisher.cpp(12.12 KB)
        trajectory_utils.cpp(4.28 KB)
        test
        CMakeLists.txt(88 B)
        utils_test.cpp(4.89 KB)
        CMakeLists.txt(1.76 KB)
        local_planner_plugin.xml(217 B)
        package.xml(1.83 KB)
        dwb_critics
        include
        dwb_critics
        alignment_util.hpp(2.26 KB)
        base_obstacle.hpp(3.32 KB)
        goal_align.hpp(2.79 KB)
        goal_dist.hpp(2.67 KB)
        line_iterator.hpp(4.85 KB)
        map_grid.hpp(5.33 KB)
        obstacle_footprint.hpp(4.21 KB)
        oscillation.hpp(6.47 KB)
        path_align.hpp(3.22 KB)
        path_dist.hpp(2.24 KB)
        prefer_forward.hpp(2.63 KB)
        rotate_to_goal.hpp(4.81 KB)
        twirling.hpp(2.48 KB)
        src
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        base_obstacle.cpp(4.22 KB)
        goal_align.cpp(3.38 KB)
        goal_dist.cpp(3.82 KB)
        map_grid.cpp(6.35 KB)
        obstacle_footprint.cpp(6.08 KB)
        oscillation.cpp(7.4 KB)
        path_align.cpp(3.29 KB)
        path_dist.cpp(3.61 KB)
        prefer_forward.cpp(3.46 KB)
        rotate_to_goal.cpp(4.82 KB)
        twirling.cpp(2.32 KB)
        test
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        base_obstacle_test.cpp(6.03 KB)
        CMakeLists.txt(599 B)
        obstacle_footprint_test.cpp(9.61 KB)
        prefer_forward_test.cpp(8.2 KB)
        twirling_test.cpp(2.74 KB)
        CMakeLists.txt(1.93 KB)
        default_critics.xml(2.37 KB)
        package.xml(931 B)
        dwb_msgs
        msg
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        LocalPlanEvaluation.msg(377 B)
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        srv
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        GetCriticScore.srv(157 B)
        ScoreTrajectory.srv(141 B)
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        dwb_plugins
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        limited_accel_generator.hpp(3.05 KB)
        one_d_velocity_iterator.hpp(5.13 KB)
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        src
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        limited_accel_generator.cpp(4 KB)
        standard_traj_generator.cpp(8.42 KB)
        xy_theta_iterator.cpp(4.99 KB)
        test
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        kinematic_parameters_test.cpp(4.47 KB)
        speed_limit_test.cpp(6.01 KB)
        twist_gen.cpp(17.26 KB)
        velocity_iterator_test.cpp(4.38 KB)
        CMakeLists.txt(1.54 KB)
        package.xml(870 B)
        plugins.xml(799 B)
        images
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        LocalPlanner.svg(24.38 KB)
        nav2_dwb_controller
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        nav_2d_msgs
        msg
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        Twist2D32.msg(37 B)
        Twist2DStamped.msg(42 B)
        CMakeLists.txt(493 B)
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        nav_2d_utils
        include
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        odom_subscriber.hpp(3.72 KB)
        parameters.hpp(3 KB)
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        src
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        README.md(3.5 KB)
        nav2_lpastar_planner
        include
        nav2_lpastar_planner
        lpastar_planner.hpp(1.91 KB)
        src
        lpastar_planner.cpp(8.7 KB)
        CMakeLists.txt(1.31 KB)
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        nav2_navfn_planner
        include
        nav2_navfn_planner
        navfn.hpp(9.57 KB)
        navfn_planner.hpp(7.14 KB)
        src
        navfn.cpp(26.61 KB)
        navfn_planner.cpp(16.71 KB)
        test
        CMakeLists.txt(244 B)
        test_dynamic_parameters.cpp(2.35 KB)
        CHANGELOG.rst(0 B)
        CMakeLists.txt(1.76 KB)
        global_planner_plugin.xml(224 B)
        package.xml(1.25 KB)
        README.md(938 B)
        nav2_smac_planner
        include
        nav2_smac_planner
        thirdparty
        robin_hood.h(94.51 KB)
        analytic_expansion.hpp(4.44 KB)
        a_star.hpp(7.78 KB)
        collision_checker.hpp(4.49 KB)
        constants.hpp(1.82 KB)
        costmap_downsampler.hpp(3.79 KB)
        node_2d.hpp(7.48 KB)
        node_basic.hpp(2.38 KB)
        node_hybrid.hpp(13.45 KB)
        node_lattice.hpp(12.41 KB)
        smac_planner_2d.hpp(3.89 KB)
        smac_planner_hybrid.hpp(4.04 KB)
        smac_planner_lattice.hpp(3.73 KB)
        smoother.hpp(8.03 KB)
        types.hpp(4.6 KB)
        utils.hpp(5.67 KB)
        lattice_primitives
        docs
        all_trajectories.png(53.57 KB)
        angle_discretization.png(47.17 KB)
        sample_primitives
        5cm_resolution
        0.5m_turning_radius
        ackermann
        output.json(60.31 KB)
        diff
        output.json(74.62 KB)
        omni
        output.json(89.98 KB)
        all_trajectories.png(53.46 KB)
        1m_turning_radius
        ackermann
        output.json(59.98 KB)
        diff
        output.json(74.28 KB)
        omni
        output.json(96.66 KB)
        all_trajectories.png(54.62 KB)
        tests
        test_lattice_generator.py(3.33 KB)
        test_trajectory_generator.py(8.85 KB)
        trajectory_visualizer.py(3.29 KB)
        config.json(153 B)
        constants.py(623 B)
        generate_motion_primitives.py(7.94 KB)
        helper.py(3.23 KB)
        lattice_generator.py(27.47 KB)
        README.md(9.11 KB)
        requirements.txt(46 B)
        trajectory.py(4.63 KB)
        trajectory_generator.py(19.24 KB)
        media
        A.png(229.76 KB)
        B.png(208.03 KB)
        src
        analytic_expansion.cpp(9.87 KB)
        a_star.cpp(12.74 KB)
        collision_checker.cpp(6.37 KB)
        costmap_downsampler.cpp(4.41 KB)
        node_2d.cpp(5.26 KB)
        node_basic.cpp(2.41 KB)
        node_hybrid.cpp(27.5 KB)
        node_lattice.cpp(22.08 KB)
        smac_planner_2d.cpp(15.08 KB)
        smac_planner_hybrid.cpp(23.1 KB)
        smac_planner_lattice.cpp(20.18 KB)
        smoother.cpp(17.85 KB)
        test
        deprecated
        options.hpp(7.46 KB)
        smoother.hpp(4.56 KB)
        smoother_cost_function.hpp(17.77 KB)
        upsampler.hpp(7.4 KB)
        upsampler_cost_function.hpp(12.29 KB)
        upsampler_cost_function_nlls.hpp(11.28 KB)
        3planners.png(1.3 MB)
        CMakeLists.txt(2.29 KB)
        path.png(119.5 KB)
        test_a_star.cpp(11.56 KB)
        test_collision_checker.cpp(5.79 KB)
        test_costmap_downsampler.cpp(2.31 KB)
        test_node2d.cpp(5.37 KB)
        test_nodebasic.cpp(1.76 KB)
        test_nodehybrid.cpp(13.71 KB)
        test_nodelattice.cpp(12.98 KB)
        test_smac_2d.cpp(5.29 KB)
        test_smac_hybrid.cpp(6.49 KB)
        test_smac_lattice.cpp(5.36 KB)
        test_smoother.cpp(6.72 KB)
        CMakeLists.txt(4.32 KB)
        package.xml(1.51 KB)
        README.md(25.34 KB)
        smac_plugin_2d.xml(247 B)
        smac_plugin_hybrid.xml(253 B)
        smac_plugin_lattice.xml(267 B)
        teb_local_planner
        .gitignore(97 B)
        README.md(2.69 KB)
        local_setup.bash(1.6 KB)
        local_setup.dsv(115 B)
        local_setup.sh(5.09 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.39 KB)
        package.dsv(408 B)
        package.ps1(3.3 KB)
        package.sh(2.89 KB)
        package.xml(999 B)
        package.zsh(1.68 KB)
    - nav2_dstar_lite_planner
      - include
        nav2_dstar_lite_planner
        dstar_lite_planner.hpp(1.97 KB)
      - lib
        libnav2_dstar_lite_planner.so(82.54 KB)
      - share
        ament_index
        resource_index
        nav2_core__pluginlib__plugin
        nav2_dstar_lite_planner(61 B)
        packages
        nav2_dstar_lite_planner(0 B)
        package_run_dependencies
        nav2_dstar_lite_planner(140 B)
        parent_prefix_path
        nav2_dstar_lite_planner(459 B)
        colcon-core
        packages
        nav2_dstar_lite_planner(122 B)
        nav2_dstar_lite_planner
        cmake
        ament_cmake_export_dependencies-extras.cmake(4.19 KB)
        ament_cmake_export_include_directories-extras.cmake(837 B)
        ament_cmake_export_libraries-extras.cmake(5.25 KB)
        nav2_dstar_lite_plannerConfig-version.cmake(446 B)
        nav2_dstar_lite_plannerConfig.cmake(1.57 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
        library_path.sh(427 B)
        path.dsv(42 B)
        path.sh(190 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
        ld_library_path_lib.sh(147 B)
        dstar_lite_planner_plugin.xml(352 B)
        local_setup.bash(1.6 KB)
        local_setup.dsv(195 B)
        local_setup.sh(5.23 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.4 KB)
        package.dsv(664 B)
        package.ps1(3.44 KB)
        package.sh(3.02 KB)
        package.xml(1.02 KB)
        package.zsh(1.69 KB)
    - nav2_lpastar_planner
      - include
        nav2_lpastar_planner
        lpastar_planner.hpp(1.91 KB)
      - lib
        libnav2_lpastar_planner.so(82.35 KB)
      - share
        ament_index
        resource_index
        nav2_core__pluginlib__plugin
        nav2_lpastar_planner(55 B)
        packages
        nav2_lpastar_planner(0 B)
        package_run_dependencies
        nav2_lpastar_planner(140 B)
        parent_prefix_path
        nav2_lpastar_planner(459 B)
        colcon-core
        packages
        nav2_lpastar_planner(122 B)
        nav2_lpastar_planner
        cmake
        ament_cmake_export_dependencies-extras.cmake(4.15 KB)
        ament_cmake_export_include_directories-extras.cmake(825 B)
        ament_cmake_export_libraries-extras.cmake(5.2 KB)
        nav2_lpastar_plannerConfig-version.cmake(446 B)
        nav2_lpastar_plannerConfig.cmake(1.53 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
        library_path.sh(427 B)
        path.dsv(42 B)
        path.sh(190 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
        ld_library_path_lib.sh(147 B)
        local_setup.bash(1.6 KB)
        local_setup.dsv(186 B)
        local_setup.sh(5.22 KB)
        local_setup.zsh(1.97 KB)
        lpastar_planner_plugin.xml(315 B)
        package.bash(1.4 KB)
        package.dsv(631 B)
        package.ps1(3.43 KB)
        package.sh(3.01 KB)
        package.xml(1.02 KB)
        package.zsh(1.68 KB)
    - teb_local_planner
      - include
        teb_local_planner
        g2o_types
        base_teb_edges.h(8.64 KB)
        edge_acceleration.h(31.79 KB)
        edge_dynamic_obstacle.h(5.6 KB)
        edge_kinematics.h(9.74 KB)
        edge_obstacle.h(10.83 KB)
        edge_prefer_rotdir.h(4.11 KB)
        edge_shortest_path.h(3.35 KB)
        edge_time_optimal.h(4.08 KB)
        edge_velocity.h(11.07 KB)
        edge_velocity_obstacle_ratio.h(4.5 KB)
        edge_via_point.h(4.15 KB)
        penalties.h(5.79 KB)
        vertex_pose.h(7.38 KB)
        vertex_timediff.h(4.55 KB)
        distance_calculations.h(16.73 KB)
        equivalence_relations.h(4 KB)
        graph_search.h(10.75 KB)
        homotopy_class_planner.h(30.38 KB)
        homotopy_class_planner.hpp(4.25 KB)
        h_signature.h(18.25 KB)
        misc.h(7.41 KB)
        obstacles.h(40.54 KB)
        optimal_planner.h(33.95 KB)
        planner_interface.h(9.46 KB)
        pose_se2.h(12.04 KB)
        recovery_behaviors.h(4.89 KB)
        robot_footprint_model.h(25.57 KB)
        teb_config.h(28.42 KB)
        teb_local_planner_ros.h(21.34 KB)
        timed_elastic_band.h(28.35 KB)
        timed_elastic_band.hpp(8.43 KB)
        visualization.h(11.63 KB)
        visualization.hpp(7.36 KB)
      - lib
        teb_local_planner
        cmd_vel_to_ackermann_drive.py(1.78 KB)
        libteb_local_planner.so(3.23 MB)
      - share
        ament_index
        resource_index
        nav2_core__pluginlib__plugin
        teb_local_planner(54 B)
        packages
        teb_local_planner(0 B)
        package_run_dependencies
        teb_local_planner(268 B)
        parent_prefix_path
        teb_local_planner(415 B)
        colcon-core
        packages
        teb_local_planner(250 B)
        teb_local_planner
        cmake
        ament_cmake_export_dependencies-extras.cmake(4.24 KB)
        ament_cmake_export_include_directories-extras.cmake(813 B)
        ament_cmake_export_libraries-extras.cmake(5.15 KB)
        teb_local_plannerConfig-version.cmake(446 B)
        teb_local_plannerConfig.cmake(1.49 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
        library_path.sh(427 B)
        path.dsv(42 B)
        path.sh(190 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
        ld_library_path_lib.sh(147 B)
        params
        teb_params.yaml(3.31 KB)
        local_setup.bash(1.6 KB)
        local_setup.dsv(177 B)
        local_setup.sh(5.21 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.39 KB)
        package.dsv(598 B)
        package.ps1(3.42 KB)
        package.sh(3 KB)
        package.xml(1.65 KB)
        package.zsh(1.68 KB)
        teb_local_planner_plugin.xml(303 B)
        teb_local_planner_plugin.xml(303 B)
    - teb_msgs
      - include
        teb_msgs
        teb_msgs
        msg
        detail
        feedback_msg__builder.hpp(2.44 KB)
        feedback_msg__functions.c(8.45 KB)
        feedback_msg__functions.h(6.08 KB)
        feedback_msg__rosidl_typesupport_fastrtps_c.h(1.25 KB)
        feedback_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.11 KB)
        feedback_msg__rosidl_typesupport_introspection_c.h(955 B)
        feedback_msg__rosidl_typesupport_introspection_cpp.hpp(1.01 KB)
        feedback_msg__struct.h(1.72 KB)
        feedback_msg__struct.hpp(5.72 KB)
        feedback_msg__traits.hpp(4.44 KB)
        feedback_msg__type_support.c(10.14 KB)
        feedback_msg__type_support.cpp(7.78 KB)
        feedback_msg__type_support.h(888 B)
        feedback_msg__type_support.hpp(905 B)
        trajectory_msg__builder.hpp(1.59 KB)
        trajectory_msg__functions.c(7.59 KB)
        trajectory_msg__functions.h(6.18 KB)
        trajectory_msg__rosidl_typesupport_fastrtps_c.h(1.27 KB)
        trajectory_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.13 KB)
        trajectory_msg__rosidl_typesupport_introspection_c.h(965 B)
        trajectory_msg__rosidl_typesupport_introspection_cpp.hpp(1.02 KB)
        trajectory_msg__struct.h(1.34 KB)
        trajectory_msg__struct.hpp(4.54 KB)
        trajectory_msg__traits.hpp(3.56 KB)
        trajectory_msg__type_support.c(8.56 KB)
        trajectory_msg__type_support.cpp(6.4 KB)
        trajectory_msg__type_support.h(898 B)
        trajectory_msg__type_support.hpp(915 B)
        trajectory_point_msg__builder.hpp(2.57 KB)
        trajectory_point_msg__functions.c(8.95 KB)
        trajectory_point_msg__functions.h(6.44 KB)
        trajectory_point_msg__rosidl_typesupport_fastrtps_c.h(1.31 KB)
        trajectory_point_msg__rosidl_typesupport_fastrtps_cpp.hpp(2.18 KB)
        trajectory_point_msg__rosidl_typesupport_introspection_c.h(993 B)
        trajectory_point_msg__rosidl_typesupport_introspection_cpp.hpp(1.05 KB)
        trajectory_point_msg__struct.h(1.98 KB)
        trajectory_point_msg__struct.hpp(5.38 KB)
        trajectory_point_msg__traits.hpp(4.21 KB)
        trajectory_point_msg__type_support.c(7.7 KB)
        trajectory_point_msg__type_support.cpp(6.16 KB)
        trajectory_point_msg__type_support.h(926 B)
        trajectory_point_msg__type_support.hpp(943 B)
        feedback_msg.h(463 B)
        feedback_msg.hpp(485 B)
        rosidl_generator_cpp__visibility_control.hpp(1.5 KB)
        rosidl_generator_c__visibility_control.h(1.45 KB)
        rosidl_typesupport_fastrtps_cpp__visibility_control.h(1.68 KB)
        rosidl_typesupport_fastrtps_c__visibility_control.h(1.65 KB)
        rosidl_typesupport_introspection_c__visibility_control.h(1.74 KB)
        trajectory_msg.h(477 B)
        trajectory_msg.hpp(499 B)
        trajectory_point_msg.h(518 B)
        trajectory_point_msg.hpp(541 B)
      - lib
        libteb_msgs__rosidl_generator_c.so(27.17 KB)
        libteb_msgs__rosidl_generator_py.so(25.34 KB)
        libteb_msgs__rosidl_typesupport_c.so(17.31 KB)
        libteb_msgs__rosidl_typesupport_cpp.so(18.03 KB)
        libteb_msgs__rosidl_typesupport_fastrtps_c.so(28.31 KB)
        libteb_msgs__rosidl_typesupport_fastrtps_cpp.so(36.84 KB)
        libteb_msgs__rosidl_typesupport_introspection_c.so(25.63 KB)
        libteb_msgs__rosidl_typesupport_introspection_cpp.so(35.82 KB)
      - local
        lib
        python3.10
        dist-packages
        teb_msgs
        msg
        __pycache__
        _feedback_msg.cpython-310.pyc(6.53 KB)
        _trajectory_msg.cpython-310.pyc(5.3 KB)
        _trajectory_point_msg.cpython-310.pyc(5.94 KB)
        __init__.cpython-310.pyc(392 B)
        _feedback_msg.py(8.16 KB)
        _feedback_msg_s.c(7.32 KB)
        _trajectory_msg.py(6.15 KB)
        _trajectory_msg_s.c(5.82 KB)
        _trajectory_point_msg.py(7.43 KB)
        _trajectory_point_msg_s.c(6.18 KB)
        __init__.py(217 B)
        __pycache__
        __init__.cpython-310.pyc(183 B)
        libteb_msgs__rosidl_generator_py.so(25.34 KB)
        teb_msgs_s__rosidl_typesupport_c.cpython-310-x86_64-linux-gnu.so(17.29 KB)
        teb_msgs_s__rosidl_typesupport_fastrtps_c.cpython-310-x86_64-linux-gnu.so(17.3 KB)
        teb_msgs_s__rosidl_typesupport_introspection_c.cpython-310-x86_64-linux-gnu.so(17.31 KB)
        _teb_msgs_s.ep.rosidl_typesupport_c.c(14.82 KB)
        _teb_msgs_s.ep.rosidl_typesupport_fastrtps_c.c(14.83 KB)
        _teb_msgs_s.ep.rosidl_typesupport_introspection_c.c(14.83 KB)
        __init__.py(0 B)
        teb_msgs-0.0.1-py3.10.egg-info
        dependency_links.txt(2 B)
        PKG-INFO(143 B)
        SOURCES.txt(291 B)
        top_level.txt(10 B)
      - share
        ament_index
        resource_index
        packages
        teb_msgs(0 B)
        package_run_dependencies
        teb_msgs(105 B)
        parent_prefix_path
        teb_msgs(336 B)
        rosidl_interfaces
        teb_msgs(142 B)
        colcon-core
        packages
        teb_msgs(87 B)
        teb_msgs
        cmake
        ament_cmake_export_dependencies-extras.cmake(4.47 KB)
        ament_cmake_export_include_directories-extras.cmake(786 B)
        ament_cmake_export_libraries-extras.cmake(5.07 KB)
        ament_cmake_export_targets-extras.cmake(1.31 KB)
        export_teb_msgs__rosidl_generator_cExport-release.cmake(1 KB)
        export_teb_msgs__rosidl_generator_cExport.cmake(3.88 KB)
        export_teb_msgs__rosidl_generator_cppExport.cmake(3.83 KB)
        export_teb_msgs__rosidl_generator_pyExport-release.cmake(1.01 KB)
        export_teb_msgs__rosidl_generator_pyExport.cmake(4.68 KB)
        export_teb_msgs__rosidl_typesupport_fastrtps_cExport-release.cmake(1.09 KB)
        export_teb_msgs__rosidl_typesupport_fastrtps_cExport.cmake(4.98 KB)
        export_teb_msgs__rosidl_typesupport_fastrtps_cppExport-release.cmake(1.11 KB)
        export_teb_msgs__rosidl_typesupport_fastrtps_cppExport.cmake(4.95 KB)
        rosidl_cmake-extras.cmake(266 B)
        rosidl_cmake_export_typesupport_libraries-extras.cmake(1.91 KB)
        rosidl_cmake_export_typesupport_targets-extras.cmake(1.32 KB)
        teb_msgsConfig-version.cmake(446 B)
        teb_msgsConfig.cmake(1.55 KB)
        teb_msgs__rosidl_typesupport_cExport-release.cmake(1.14 KB)
        teb_msgs__rosidl_typesupport_cExport.cmake(4.56 KB)
        teb_msgs__rosidl_typesupport_cppExport-release.cmake(1.2 KB)
        teb_msgs__rosidl_typesupport_cppExport.cmake(4.58 KB)
        teb_msgs__rosidl_typesupport_introspection_cExport-release.cmake(1.13 KB)
        teb_msgs__rosidl_typesupport_introspection_cExport.cmake(4.82 KB)
        teb_msgs__rosidl_typesupport_introspection_cppExport-release.cmake(1.15 KB)
        teb_msgs__rosidl_typesupport_introspection_cppExport.cmake(4.94 KB)
        environment
        ament_prefix_path.dsv(42 B)
        ament_prefix_path.sh(164 B)
        library_path.dsv(43 B)
        library_path.sh(427 B)
        path.dsv(42 B)
        path.sh(190 B)
        pythonpath.dsv(69 B)
        pythonpath.sh(175 B)
        hook
        cmake_prefix_path.dsv(42 B)
        cmake_prefix_path.ps1(155 B)
        cmake_prefix_path.sh(145 B)
        ld_library_path_lib.dsv(43 B)
        ld_library_path_lib.ps1(157 B)
        ld_library_path_lib.sh(147 B)
        msg
        FeedbackMsg.idl(1.05 KB)
        FeedbackMsg.msg(425 B)
        TrajectoryMsg.idl(546 B)
        TrajectoryMsg.msg(138 B)
        TrajectoryPointMsg.idl(1.26 KB)
        TrajectoryPointMsg.msg(594 B)
        local_setup.bash(1.6 KB)
        local_setup.dsv(199 B)
        local_setup.sh(5.28 KB)
        local_setup.zsh(1.97 KB)
        package.bash(1.37 KB)
        package.dsv(499 B)
        package.ps1(3.39 KB)
        package.sh(2.96 KB)
        package.xml(1.15 KB)
        package.zsh(1.66 KB)
    - .colcon_install_layout(10 B)
    - COLCON_IGNORE(0 B)
    - local_setup.bash(3.79 KB)
    - local_setup.ps1(2.05 KB)
    - local_setup.sh(4.36 KB)
    - local_setup.zsh(4.19 KB)
    - setup.bash(1.14 KB)
    - setup.ps1(1.17 KB)
    - setup.sh(1.9 KB)
    - setup.zsh(1.13 KB)
    - _local_setup_util_ps1.py(14.91 KB)
    - _local_setup_util_sh.py(15.07 KB)
  - scripts
    - plot_common.py(5.99 KB)
    - plot_fig4_1_2_static_compare.py(2.51 KB)
    - plot_fig4_5_drift_degradation.py(2.37 KB)
    - plot_fig4_6_num_replans_boxplot.py(5.04 KB)
    - plot_fig4_7_dynamic_obstacles_compare.py(2.31 KB)
    - plot_fig4_8_decision_verify.py(1.08 KB)
    - plot_fig4_9_hot_switch_time_speed.py(2.97 KB)
    - plot_table4_4_static_ranking.py(2.67 KB)
    - plot_table4_8_decision_table_md.py(1.54 KB)
    - plot_table4_9_hot_switch_gain.py(3.4 KB)
  - src
    - lingbot_benchmark
      - config
        amcl_no_tf_broadcast.yaml(253 B)
        combos_example.yaml(1.02 KB)
        combos_followpath_only.yaml(441 B)
        combos_hot_switch.yaml(644 B)
        dynamic_obstacles_corridor_uniform.yaml(574 B)
        dynamic_obstacles_depot_uniform.yaml(451 B)
        dynamic_obstacles_example.yaml(910 B)
        dynamic_obstacles_maze_uniform.yaml(580 B)
        initial_poses.yaml(806 B)
        waypoints_corridor.yaml(218 B)
        waypoints_depot.yaml(192 B)
        waypoints_example.yaml(422 B)
        waypoints_maze.yaml(191 B)
      - launch
        __pycache__
        benchmark_with_map.launch.cpython-310.pyc(10.88 KB)
        benchmark_hot_switch.launch.py(7.38 KB)
        benchmark_with_map.launch.py(21.76 KB)
      - lingbot_benchmark
        __pycache__
        metrics.cpython-310.pyc(4.48 KB)
        metrics.py(4.76 KB)
        __init__.py(41 B)
      - rviz
        nav2_with_dynamic_obstacles.rviz(18.78 KB)
        slam_toolbox_localization.rviz(9.5 KB)
      - scripts
        __pycache__
        benchmark_runner_node.cpython-310.pyc(18.61 KB)
        dynamic_obstacle_gazebo_node.cpython-310.pyc(8.35 KB)
        hot_switch_runner_node.cpython-310.pyc(15.57 KB)
        metrics_collector_node.cpython-310.pyc(8.08 KB)
        verify_best_combo.cpython-310.pyc(11.65 KB)
        aggregate_benchmark_runs.py(8.14 KB)
        benchmark_runner_node.py(24.51 KB)
        build_decision_table.py(12.7 KB)
        dynamic_obstacle_gazebo_node.py(9.91 KB)
        dynamic_obstacle_publisher_node.py(8.38 KB)
        hot_switch_runner_node.py(21.84 KB)
        localization_drift_node.py(7.29 KB)
        metrics_collector_node.py(9.63 KB)
        plot_benchmark_results.py(14.93 KB)
        plot_decision_table.py(8.13 KB)
        plot_hot_switch_results.py(7.48 KB)
        verify_best_combo.py(14.53 KB)
      - BENCHMARK_TUNING.md(2.86 KB)
      - CMakeLists.txt(1.3 KB)
      - package.xml(1.11 KB)
      - set_initial_pose.sh(4.21 KB)
    - lingbot_description
      - config
        lingbot_ros2_controller.yaml(1.39 KB)
        lingbot_ros2_controller_cartographer.yaml(1.45 KB)
      - launch
        gazebo_sim.launch.py(4.32 KB)
      - urdf
        actuator
        caster.urdf.xacro(1.47 KB)
        wheel.urdf.xacro(1.52 KB)
        plugins
        gazebo_control_plugin.xacro(1.31 KB)
        gazebo_sensor_plugin.xacro(5.24 KB)
        sensor
        camera.urdf.xacro(1.53 KB)
        imu.urdf.xacro(1.17 KB)
        laser.urdf.xacro(2.55 KB)
        base.urdf.xacro(1.33 KB)
        common_inertia.xacro(960 B)
        lingbot.ros2_control.xacro(1.97 KB)
        lingbot.urdf.xacro(1.63 KB)
      - worlds
        backup
        corridor.world(60.84 KB)
        custom_room.world(98.03 KB)
        depot.world(76.03 KB)
        maze.world(104.58 KB)
        README.md(330 B)
        corridor
        corridor
        model.config(248 B)
        model.sdf(3.28 KB)
        model.config(248 B)
        model.sdf(27.15 KB)
        depot
        depot
        model.config(245 B)
        model.sdf(32.27 KB)
        maze
        maze
        model.config(244 B)
        model.sdf(27.12 KB)
        room
        model.config(244 B)
        model.sdf(8.04 KB)
        corridor.world(61.01 KB)
        custom_room.world(98.2 KB)
        depot.world(76.2 KB)
        maze.world(104.75 KB)
        README_three_worlds.md(1.86 KB)
      - CMakeLists.txt(1 KB)
      - package.xml(674 B)
    - lingbot_nav2_sys
      - config
        cartographer
        lingbot_2d.lua(2.89 KB)
        map_builder.lua(834 B)
        pose_graph.lua(3.12 KB)
        trajectory_builder.lua(956 B)
        trajectory_builder_2d.lua(3.29 KB)
        trajectory_builder_3d.lua(3.24 KB)
        mapper_params_online_async.yaml(2.58 KB)
        nav2_params.yaml(13.54 KB)
        nav2_params_jiantu.yaml(12.99 KB)
        slam_toolbox_localization.yaml(620 B)
      - launch
        __pycache__
        slam_toolbox_mapping.launch.cpython-310.pyc(2.51 KB)
        cartographer.launch.py(2.59 KB)
        eval_navigation_launch.py(3.9 KB)
        nav2_bringup.launch.py(858 B)
        slam_toolbox.launch.py(884 B)
        slam_toolbox_amcl.launch.py(978 B)
        slam_toolbox_mapping.launch.py(3.79 KB)
      - maps
        corridor.pgm(94.66 KB)
        corridor.yaml(131 B)
        depot.pgm(115.16 KB)
        depot.yaml(129 B)
        maps.pgm(92.47 KB)
        maps.yaml(127 B)
        maze.pgm(89.66 KB)
        maze.yaml(129 B)
      - maps_cartorgarpher
        corridor_cartographer.pgm(109.76 KB)
        corridor_cartographer.yaml(145 B)
        depot_cartographer.pgm(124.44 KB)
        depot_cartographer.yaml(142 B)
        maze_cartographer.pgm(96.3 KB)
        maze_cartographer.yaml(141 B)
      - maps_slam_toolbox
        corridor.data(4.81 MB)
        corridor.posegraph(8.13 MB)
        depot.data(6.62 MB)
        depot.posegraph(14.24 MB)
        maze.data(11.8 MB)
        maze.posegraph(19.55 MB)
      - rviz
        slam_toolbox_mapping.rviz(5.22 KB)
      - scripts
        create_nav2_symlinks.sh(2.04 KB)
        open_teleop_terminal.sh(670 B)
      - src
        costmap_converter
        nav2_dstar_lite_planner
        include
        nav2_dstar_lite_planner
        dstar_lite_planner.hpp(1.97 KB)
        src
        dstar_lite_planner.cpp(8.81 KB)
        CMakeLists.txt(1.33 KB)
        dstar_lite_planner_plugin.xml(352 B)
        package.xml(1.02 KB)
        README.md(1.11 KB)
        nav2_dwb_controller
        costmap_queue
        include
        costmap_queue
        costmap_queue.hpp(6.73 KB)
        limited_costmap_queue.hpp(2.35 KB)
        map_based_queue.hpp(5.63 KB)
        src
        costmap_queue.cpp(4.51 KB)
        limited_costmap_queue.cpp(2.08 KB)
        test
        mbq_test.cpp(3.35 KB)
        utest.cpp(4.2 KB)
        CMakeLists.txt(1.27 KB)
        package.xml(652 B)
        dwb_core
        include
        dwb_core
        dwb_local_planner.hpp(9.25 KB)
        exceptions.hpp(2.69 KB)
        illegal_trajectory_tracker.hpp(2.85 KB)
        publisher.hpp(5.28 KB)
        trajectory_critic.hpp(7.33 KB)
        trajectory_generator.hpp(4.94 KB)
        trajectory_utils.hpp(3.03 KB)
        src
        dwb_local_planner.cpp(19.01 KB)
        illegal_trajectory_tracker.cpp(2.94 KB)
        publisher.cpp(12.12 KB)
        trajectory_utils.cpp(4.28 KB)
        test
        CMakeLists.txt(88 B)
        utils_test.cpp(4.89 KB)
        CMakeLists.txt(1.76 KB)
        local_planner_plugin.xml(217 B)
        package.xml(1.83 KB)
        dwb_critics
        include
        dwb_critics
        alignment_util.hpp(2.26 KB)
        base_obstacle.hpp(3.32 KB)
        goal_align.hpp(2.79 KB)
        goal_dist.hpp(2.67 KB)
        line_iterator.hpp(4.85 KB)
        map_grid.hpp(5.33 KB)
        obstacle_footprint.hpp(4.21 KB)
        oscillation.hpp(6.47 KB)
        path_align.hpp(3.22 KB)
        path_dist.hpp(2.24 KB)
        prefer_forward.hpp(2.63 KB)
        rotate_to_goal.hpp(4.81 KB)
        twirling.hpp(2.48 KB)
        src
        alignment_util.cpp(2.13 KB)
        base_obstacle.cpp(4.22 KB)
        goal_align.cpp(3.38 KB)
        goal_dist.cpp(3.82 KB)
        map_grid.cpp(6.35 KB)
        obstacle_footprint.cpp(6.08 KB)
        oscillation.cpp(7.4 KB)
        path_align.cpp(3.29 KB)
        path_dist.cpp(3.61 KB)
        prefer_forward.cpp(3.46 KB)
        rotate_to_goal.cpp(4.82 KB)
        twirling.cpp(2.32 KB)
        test
        alignment_util_test.cpp(2.66 KB)
        base_obstacle_test.cpp(6.03 KB)
        CMakeLists.txt(599 B)
        obstacle_footprint_test.cpp(9.61 KB)
        prefer_forward_test.cpp(8.2 KB)
        twirling_test.cpp(2.74 KB)
        CMakeLists.txt(1.93 KB)
        default_critics.xml(2.37 KB)
        package.xml(931 B)
        dwb_msgs
        msg
        CriticScore.msg(251 B)
        LocalPlanEvaluation.msg(377 B)
        Trajectory2D.msg(320 B)
        TrajectoryScore.msg(227 B)
        srv
        DebugLocalPlan.srv(220 B)
        GenerateTrajectory.srv(212 B)
        GenerateTwists.srv(141 B)
        GetCriticScore.srv(157 B)
        ScoreTrajectory.srv(141 B)
        CMakeLists.txt(762 B)
        package.xml(823 B)
        dwb_plugins
        include
        dwb_plugins
        kinematic_parameters.hpp(4.8 KB)
        limited_accel_generator.hpp(3.05 KB)
        one_d_velocity_iterator.hpp(5.13 KB)
        standard_traj_generator.hpp(6.66 KB)
        velocity_iterator.hpp(2.47 KB)
        xy_theta_iterator.hpp(3.4 KB)
        src
        kinematic_parameters.cpp(10.11 KB)
        limited_accel_generator.cpp(4 KB)
        standard_traj_generator.cpp(8.42 KB)
        xy_theta_iterator.cpp(4.99 KB)
        test
        CMakeLists.txt(436 B)
        kinematic_parameters_test.cpp(4.47 KB)
        speed_limit_test.cpp(6.01 KB)
        twist_gen.cpp(17.26 KB)
        velocity_iterator_test.cpp(4.38 KB)
        CMakeLists.txt(1.54 KB)
        package.xml(870 B)
        plugins.xml(799 B)
        images
        DWB_Structure_Simplified.svg(39.84 KB)
        LocalPlanner.svg(24.38 KB)
        nav2_dwb_controller
        CHANGELOG.rst(0 B)
        CMakeLists.txt(193 B)
        package.xml(846 B)
        nav_2d_msgs
        msg
        Path2D.msg(54 B)
        Pose2D32.msg(37 B)
        Pose2DStamped.msg(51 B)
        Twist2D.msg(37 B)
        Twist2D32.msg(37 B)
        Twist2DStamped.msg(42 B)
        CMakeLists.txt(493 B)
        package.xml(830 B)
        nav_2d_utils
        include
        nav_2d_utils
        conversions.hpp(3.33 KB)
        odom_subscriber.hpp(3.72 KB)
        parameters.hpp(3 KB)
        path_ops.hpp(2.24 KB)
        tf_help.hpp(3.32 KB)
        src
        conversions.cpp(6.08 KB)
        path_ops.cpp(3.34 KB)
        tf_help.cpp(3.81 KB)
        test
        2d_utils_test.cpp(5.25 KB)
        CMakeLists.txt(314 B)
        path_ops_test.cpp(2.85 KB)
        tf_help_test.cpp(3.69 KB)
        CMakeLists.txt(1.68 KB)
        package.xml(988 B)
        README.md(3.5 KB)
        nav2_lpastar_planner
        include
        nav2_lpastar_planner
        lpastar_planner.hpp(1.91 KB)
        src
        lpastar_planner.cpp(8.7 KB)
        CMakeLists.txt(1.31 KB)
        lpastar_planner_plugin.xml(315 B)
        package.xml(1.02 KB)
        README.md(1.1 KB)
        nav2_navfn_planner
        include
        nav2_navfn_planner
        navfn.hpp(9.57 KB)
        navfn_planner.hpp(7.14 KB)
        src
        navfn.cpp(26.61 KB)
        navfn_planner.cpp(16.71 KB)
        test
        CMakeLists.txt(244 B)
        test_dynamic_parameters.cpp(2.35 KB)
        CHANGELOG.rst(0 B)
        CMakeLists.txt(1.76 KB)
        global_planner_plugin.xml(224 B)
        package.xml(1.25 KB)
        README.md(938 B)
        nav2_smac_planner
        include
        nav2_smac_planner
        thirdparty
        robin_hood.h(94.51 KB)
        analytic_expansion.hpp(4.44 KB)
        a_star.hpp(7.78 KB)
        collision_checker.hpp(4.49 KB)
        constants.hpp(1.82 KB)
        costmap_downsampler.hpp(3.79 KB)
        node_2d.hpp(7.48 KB)
        node_basic.hpp(2.38 KB)
        node_hybrid.hpp(13.45 KB)
        node_lattice.hpp(12.41 KB)
        smac_planner_2d.hpp(3.89 KB)
        smac_planner_hybrid.hpp(4.04 KB)
        smac_planner_lattice.hpp(3.73 KB)
        smoother.hpp(8.03 KB)
        types.hpp(4.6 KB)
        utils.hpp(5.67 KB)
        lattice_primitives
        docs
        all_trajectories.png(53.57 KB)
        angle_discretization.png(47.17 KB)
        sample_primitives
        5cm_resolution
        0.5m_turning_radius
        ackermann
        output.json(60.31 KB)
        diff
        output.json(74.62 KB)
        omni
        output.json(89.98 KB)
        all_trajectories.png(53.46 KB)
        1m_turning_radius
        ackermann
        output.json(59.98 KB)
        diff
        output.json(74.28 KB)
        omni
        output.json(96.66 KB)
        all_trajectories.png(54.62 KB)
        tests
        test_lattice_generator.py(3.33 KB)
        test_trajectory_generator.py(8.85 KB)
        trajectory_visualizer.py(3.29 KB)
        config.json(153 B)
        constants.py(623 B)
        generate_motion_primitives.py(7.94 KB)
        helper.py(3.23 KB)
        lattice_generator.py(27.47 KB)
        README.md(9.11 KB)
        requirements.txt(46 B)
        trajectory.py(4.63 KB)
        trajectory_generator.py(19.24 KB)
        media
        A.png(229.76 KB)
        B.png(208.03 KB)
        src
        analytic_expansion.cpp(9.87 KB)
        a_star.cpp(12.74 KB)
        collision_checker.cpp(6.37 KB)
        costmap_downsampler.cpp(4.41 KB)
        node_2d.cpp(5.26 KB)
        node_basic.cpp(2.41 KB)
        node_hybrid.cpp(27.5 KB)
        node_lattice.cpp(22.08 KB)
        smac_planner_2d.cpp(15.08 KB)
        smac_planner_hybrid.cpp(23.1 KB)
        smac_planner_lattice.cpp(20.18 KB)
        smoother.cpp(17.85 KB)
        test
        deprecated
        options.hpp(7.46 KB)
        smoother.hpp(4.56 KB)
        smoother_cost_function.hpp(17.77 KB)
        upsampler.hpp(7.4 KB)
        upsampler_cost_function.hpp(12.29 KB)
        upsampler_cost_function_nlls.hpp(11.28 KB)
        3planners.png(1.3 MB)
        CMakeLists.txt(2.29 KB)
        path.png(119.5 KB)
        test_a_star.cpp(11.56 KB)
        test_collision_checker.cpp(5.79 KB)
        test_costmap_downsampler.cpp(2.31 KB)
        test_node2d.cpp(5.37 KB)
        test_nodebasic.cpp(1.76 KB)
        test_nodehybrid.cpp(13.71 KB)
        test_nodelattice.cpp(12.98 KB)
        test_smac_2d.cpp(5.29 KB)
        test_smac_hybrid.cpp(6.49 KB)
        test_smac_lattice.cpp(5.36 KB)
        test_smoother.cpp(6.72 KB)
        CMakeLists.txt(4.32 KB)
        package.xml(1.51 KB)
        README.md(25.34 KB)
        smac_plugin_2d.xml(247 B)
        smac_plugin_hybrid.xml(253 B)
        smac_plugin_lattice.xml(267 B)
        teb_local_planner
        .gitignore(97 B)
        README.md(2.69 KB)
      - CMakeLists.txt(1.09 KB)
      - package.xml(999 B)
    - costmap_converter(56 B)
    - costmap_converter_msgs(61 B)
    - nav2_dstar_lite_planner(44 B)
    - nav2_lpastar_planner(41 B)
    - teb_local_planner(56 B)
    - teb_msgs(47 B)
  - tables
    - table4_10_hot_switch_gain.md(810 B)
    - table4_4_static_ranking.csv(3.03 KB)
    - table4_4_static_ranking.md(10.26 KB)
    - table4_8_decision_table.md(1.04 KB)
  - .codex(0 B)
  - LICENSE(11.29 KB)
  - midterm_report.md(10.98 KB)
  - plot_benchmark_charts.sh(5.15 KB)
  - plot_benchmark_hot_switch_charts.sh(3.23 KB)
  - PROJECT_STRUCTURE.md(28.06 KB)
  - README.md(13.8 KB)
  - run.txt(437 B)
  - run_benchmark.sh(26.81 KB)
- 机器人工程基于ROS2插件热切换的最优组合决策研究2.34-AI1.9_1.docx(3.16 MB)

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