perseus-v2
The main codebase for perseus starting 2024
File Explorer
- all.yaml
- firmware.yaml
- CODEOWNERS
- filters-firmware.yaml
- filters.yaml
- c_cpp_properties.json
- launch.json
- can-bus.drawio
- example.drawio
- system-architecture.drawio
- cd-docs-source.nix
- compressed.nix
- decompress.nix
- figures.nix
- setup.nix
- shell.nix
- pyproject.toml
- uv.lock
- fonts.css
- graph-fix.css
- theme.css
- LICENSE.txt
- README.txt
- Roboto-Black.woff2
- Roboto-BlackItalic.woff2
- Roboto-Bold.woff2
- Roboto-BoldItalic.woff2
- Roboto-Italic.woff2
- Roboto-Light.woff2
- Roboto-LightItalic.woff2
- Roboto-Medium.woff2
- Roboto-MediumItalic.woff2
- Roboto-Regular.woff2
- Roboto-Thin.woff2
- Roboto-ThinItalic.woff2
- RobotoMono-Bold.woff2
- RobotoMono-BoldItalic.woff2
- RobotoMono-Italic-VariableFont_wght.woff2
- RobotoMono-Italic.woff2
- RobotoMono-Light.woff2
- RobotoMono-LightItalic.woff2
- RobotoMono-Medium.woff2
- RobotoMono-MediumItalic.woff2
- RobotoMono-Regular.woff2
- RobotoMono-Thin.woff2
- RobotoMono-ThinItalic.woff2
- RobotoMono-VariableFont_wght.woff2
- dark-opt-images.js
- CAN_Bus_Daisy_Chain.pdf
- github-ci-cd.png
- Logo-Complex.png
- Logo-Simple.png
- Rover-Logo.svg
- autonomy-and-mapping.md
- excavation-and-construction.md
- post-landing.md
- space-resources.md
- github.md
- nix.md
- chassis.md
- aruco_detection.md
- local-localisation.md
- robot-description.md
- ros-templates.md
- web-ui.md
- documentation-index.md
- environment-index.md
- hardware-index.md
- software-index.md
- can-daisy-chain.md
- rover-control-board.md
- smol-brain-board.md
- vescs.md
- basic-operation.md
- arm-teleop.md
- autonomy.md
- excavation.md
- power-on.md
- teleop.md
- web-ui.md
- getting-started.md
- nix-basics.md
- open-code-workspace.png
- perseus-lite-operation-index.md
- perseus-operation-index.md
- breathe.inv
- exhale.inv
- myst.inv
- python.inv
- ros.inv
- sphinx-immaterial.inv
- sphinx.inv
- documentation.md
- github-repo.md
- nix.md
- software.md
- cpp.md
- frameworks.md
- general.md
- python.md
- typescript.md
- electrical.md
- github.md
- hardware.md
- software-index.md
- assembly.md
- i2c_imu.md
- network.md
- cmake.md
- core.md
- network-config.md
- nix-outputs.md
- scripts.md
- web-ui.md
- can-bus.md
- ci-cd.md
- documentation.md
- hardware-index.md
- nix.md
- software-index.md
- st3215-protocol.md
- 01-hi-can-basic.md
- 02-hi-can-packet-manager.md
- Example-Widget.png
- hi-can-index.md
- rplidar-testing.md
- running-simulation.md
- Terminals-Ros-Bridge.png
- visualise-perseus-lite-rviz.md
- web-ui-widgets.md
- challenge-breakdowns-index.md
- conf.py
- development-index.md
- hardware-index.md
- index.md
- maintenance-index.md
- README.md
- robots.txt
- standards-index.md
- systems-index.md
- tutorials-index.md
- default.nix
- make.bat
- Makefile
- README.md
- bq769x2.hpp
- main.hpp
- bq769x2.cpp
- CMakeLists.txt
- main.cpp
- README
- .gitignore
- CMakeLists.txt
- dependencies.lock
- partitions.csv
- platformio.ini
- sdkconfig.debug
- board_support.hpp
- board_support.cpp
- CMakeLists.txt
- Kconfig.projbuild
- library.json
- CMakeLists.txt
- hi_can_twai.hpp
- hi_can_twai.cpp
- CMakeLists.txt
- Kconfig.projbuild
- CMakeLists.txt
- README
- README
- CMakeLists.txt
- main.cpp
- README
- .gitignore
- CMakeLists.txt
- dependencies.lock
- partitions.csv
- platformio.ini
- sdkconfig.debug
- README
- README
- CMakeLists.txt
- main.cpp
- README
- .gitignore
- CMakeLists.txt
- dependencies.lock
- partitions.csv
- platformio.ini
- sdkconfig.debug
- settings.json
- README
- README
- CMakeLists.txt
- main.cpp
- README
- .gitignore
- CMakeLists.txt
- dependencies.lock
- partitions.csv
- platformio.ini
- sdkconfig.debug
- settings.json
- README
- README
- main.cpp
- README
- .gitignore
- platformio.ini
- firmware.code-workspace
- MesloLGS NF Bold Italic.ttf
- MesloLGS NF Bold.ttf
- MesloLGS NF Italic.ttf
- MesloLGS NF Regular.ttf
- dc-motor-driver.kicad_dru
- dc-motor-driver.kicad_pcb
- dc-motor-driver.kicad_pro
- dc-motor-driver.kicad_sch
- dc-motor-driverLBTHzy
- dc-motor-driverQPV5YR
- fp-lib-table
- motor-driver.kicad_sch
- sym-lib-table
- Smol_Brain_Board.kicad_mod
- Infineon_PG-TSDSO-14-22_ThermalVias.kicad_mod
- A-DF_09_A_KG-T2S.kicad_mod
- Capacitor.kicad_sym
- Connectors.kicad_sym
- PMIC_MotorDriver.kicad_sym
- PMIC_SwitchesDrivers.kicad_sym
- Project_PCB.kicad_sym
- Resistor.kicad_sym
- Semiconductor_Diodes.kicad_sym
- sheet.kicad_wks
- .gitignore
- nixpkgs-config.nix
- nixpkgs-overlays.nix
- README.md
- workspaces.nix
- default.nix
- fix-cstdint-and-enum.patch
- default.nix
- default.nix
- overlay.nix
- perseus-arm-teleop.hpp
- servo-constants.hpp
- main.cpp
- perseus-arm-teleop.cpp
- CMakeLists.txt
- README.md
- timesync-google-setup.sh
- timesync-google.service
- default.nix
- neovim.nix
- default.nix
- fzf.nix
- bat.nix
- default.nix
- direnv.nix
- eza.nix
- git.nix
- misc-utils.nix
- nix.nix
- term-multiplexing.nix
- tmux.nix
- zoxide.nix
- default.nix
- systemd.nix
- default.nix
- default.nix
- default.nix
- few-icons-concise.zsh
- icons-concise.zsh
- bash.nix
- default.nix
- zsh.nix
- default.nix
- git.nix
- default.nix
- git.nix
- default.nix
- git.nix
- default.nix
- home.nix
- main.cpp
- CMakeLists.txt
- package.nix
- main.cpp
- CMakeLists.txt
- package.nix
- main.cpp
- CMakeLists.txt
- package.nix
- main.cpp
- CMakeLists.txt
- package.nix
- main.cpp
- CMakeLists.txt
- package.nix
- README.md
- overlay.nix
- clean.nix
- colcon-ignore.nix
- colcon-no-warnings.nix
- colcon-with-extensions.nix
- overlay.nix
- scantree.nix
- autonomy.nix
- input-devices.nix
- overlay.nix
- pcl-to-lsr.nix
- perseus-autonomy-bridge.nix
- perseus-bt-nodes.nix
- perseus-can-if.nix
- perseus-description.nix
- perseus-hardware.nix
- perseus-input-config.nix
- perseus-input.nix
- perseus-interfaces.nix
- perseus-lite-description.nix
- perseus-lite-hardware.nix
- perseus-lite.nix
- perseus-mapping.nix
- perseus-payloads.nix
- perseus-sensors.nix
- perseus-simulation.nix
- perseus-vision.nix
- perseus.nix
- shell.nix
- teleop-diagnostics.nix
- cpp_version_17.patch
- frame_id_fix.patch
- fields2cover.patch
- matplotlib-cpp.patch
- offline.patch
- spline.patch
- steering-functions.patch
- livox-ros-driver2.patch
- rename-files.patch
- boost.patch
- navigate_through_poses_sequential.xml
- navigate_through_poses_sequential_v2.xml
- navigate_to_pose_w_replanning_and_recovery.xml
- cmd_vel_mux.yaml
- ekf_config.yaml
- ekf_config_fast_lio.yaml
- ekf_params.yaml
- mapper_params_online_async.yaml
- mapper_params_online_async_v2.yaml
- mapper_params_online_sync.yaml
- nav_sim_params.yaml
- perseus_nav_params.yaml
- slam_toolbox_params.yaml
- slam_toolbox_params_clean.yaml
- autonomy.launch.py
- cmd_vel_mux.launch.py
- handheld_mapping.launch.py
- mapping_using_slam_toolbox.launch.py
- online_async_launch.py
- online_sync_launch.py
- perseus_mapping.launch.py
- perseus_nav_bringup.launch.py
- handheld_slam.rviz
- perseus_slam.rviz
- odom_tester.cpp
- topic_remapper.cpp
- CMakeLists.txt
- package.xml
- README.md
- __init__.py
- generic_controller.py
- xbox_controller.py
- xbox_controller.launch.py
- input_devices
- package.xml
- setup.cfg
- setup.py
- pointcloud_to_laserscan.yaml
- laserscan_to_pointcloud_node.hpp
- pointcloud_to_laserscan_node.hpp
- visibility_control.h
- pointcloud_to_laserscan_launch.py
- laserscan_to_pointcloud_node.cpp
- pointcloud_to_laserscan_node.cpp
- CHANGELOG.rst
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
- perseus_controllers.yaml
- twist_mux.yaml
- controllers.launch.py
- perseus.launch.py
- robot_state_publisher.launch.py
- twist_mux.launch.py
- perseus.urdf.xacro
- CMakeLists.txt
- package.xml
- nav2_waypoints_bridge.launch.py
- nav2_waypoints_bridge.cpp
- CMakeLists.txt
- package.xml
- get_goal_from_goals.hpp
- increment_index.hpp
- pop_first_goal.hpp
- register_nodes.cpp
- CMakeLists.txt
- package.xml
- rcb_driver.hpp
- rcb_driver.cpp
- CMakeLists.txt
- package.xml
- README.md
- view_perseus.launch.py
- chassis.dae
- d455.dae
- differential_bar.dae
- dozer.dae
- flange_bearing.dae
- gearbox.dae
- mid-360.dae
- rocker_left.dae
- rocker_right.dae
- wheel.dae
- perseus.ros2_control.xacro
- view_odom.rviz
- view_perseus.rviz
- camera_d455_gazebo.xacro
- chassis.urdf.xacro
- flange_bearing.urdf.xacro
- inertia_macros.xacro
- motor_wheel.urdf.xacro
- perseus.materials.xacro
- perseus.urdf.xacro
- rocker.urdf.xacro
- sensors.urdf.xacro
- wheel.urdf.xacro
- CMakeLists.txt
- package.xml
- mcb_system.hpp
- vesc_system.hpp
- system_common.hpp
- mcb_system.cpp
- vesc_system.cpp
- CMakeLists.txt
- package.xml
- perseus_hardware.xml
- generic_controller.hpp
- controller.launch.py
- generic_controller.cpp
- CMakeLists.txt
- package.xml
- 8bitdo_controller.yaml
- logitech_controller.yaml
- xbox_controller_wired.yaml
- xbox_controller_wired_dual_stick.yaml
- xbox_controller_wireless.yaml
- xbox_controller_wireless_dual_stick.yaml
- CMakeLists.txt
- package.xml
- NavigationData.msg
- ObjectDetections.msg
- Waypoint.msg
- DetectObjects.srv
- GetFrontierGoal.srv
- RunWaypoints.srv
- CMakeLists.txt
- package.xml
- perseus_lite_controllers.yaml
- controllers.launch.py
- nav2.launch.py
- perseus_lite.launch.py
- perseus_lite_slam_and_nav2.launch.py
- robot_state_publisher.launch.py
- nav2.rviz
- perseus_lite.urdf.xacro
- CMakeLists.txt
- package.xml
- view_robot.launch.py
- view_robot_nixgl.launch.py
- dozer.dae
- wheel.dae
- perseus_lite.ros2_control.xacro
- view_odom.rviz
- view_robot.rviz
- chassis.urdf.xacro
- motor_wheel.urdf.xacro
- perseus_lite.materials.xacro
- perseus_lite.urdf.xacro
- rocker.urdf.xacro
- sensors.urdf.xacro
- wheel.urdf.xacro
- CMakeLists.txt
- package.xml
- README.md
- st3215_system.hpp
- st3215_system.cpp
- CMakeLists.txt
- package.xml
- perseus_lite_hardware.xml
- README.md
- launch_config.yaml
- livox_mid360.yaml
- map_saver.launch.py
- perseus_mapping.launch.py
- sim_pointcloud_filter.launch.py
- map_saver.cpp
- sim_pointcloud_filter.cpp
- CMakeLists.txt
- package.xml
- arm_driver.hpp
- bucket_controller.hpp
- bucket_driver.hpp
- bucket.launch.py
- arm_driver.cpp
- bucket_controller.cpp
- bucket_driver.cpp
- CMakeLists.txt
- package.xml
- README.md
- lidar_processing_config.yaml
- livox_config.json
- pcl_conv.yaml
- realsense_launch.yaml
- i2c_imu_config.yaml
- i2c_device.hpp
- i2c_imu_node.hpp
- imu_data_types.hpp
- imu_device_config.hpp
- i2c_imu.launch.py
- i2c_device.cpp
- i2c_imu_node.cpp
- imu_device_config.cpp
- main.cpp
- i2c_imu.urdf.xacro
- m2m2_lidar.hpp
- topic_remapper.hpp
- bias_remover.launch.py
- lidar_processing.launch.py
- livox.launch.py
- pcl_to_lsr.launch.py
- rs_launch.py
- topic_remapper_launch.py
- bias_estimator_component.cpp
- bias_remover_component.cpp
- m2m2_lidar.cpp
- README.md
- main.cpp
- topic_remapper.cpp
- CMakeLists.txt
- package.xml
- README.md
- ekf_sim_config.yaml
- gz_bridge.yaml
- ros2_control_sim.yaml
- gazebo.launch.py
- perseus_sim.launch.py
- moon.tif
- moon_diffuse.png
- moon_normal.png
- sand.jpg
- white_alpha.png
- 1.png
- model.config
- model.sdf
- aruco01.png
- model.config
- model.sdf
- aruco02.png
- model.config
- model.sdf
- aruco03.png
- model.config
- model.sdf
- aruco04.png
- model.config
- model.sdf
- aruco05.png
- model.config
- model.sdf
- model.config
- model.sdf
- model.config
- model.sdf
- arc_logo.png
- model.config
- model.sdf
- view.rviz
- gz_bridge_config_test.cpp
- empty.sdf
- perseus_arc_world.world
- perseus_world.sdf
- CMakeLists.txt
- package.xml
- README.md
- perseus_vision.yaml
- aruco_detector.hpp
- cube_detector.hpp
- aruco_detector.launch.py
- cube_detector.launch.py
- aruco_detector.cpp
- aruco_detector_node.cpp
- cube_detector.cpp
- cube_detector_node.cpp
- CMakeLists.txt
- package.xml
- teleop_diagnostics.yaml
- teleop_diagnostics.launch.py
- teleop_diagnostics
- __init__.py
- teleop_tui.py
- package.xml
- setup.cfg
- setup.py
- default.nix
- graph_based_slam.nix
- lidarslam.nix
- lidarslam_msgs.nix
- overlay.nix
- scanmatcher.nix
- default.nix
- default.nix
- opennav-coverage-bt.nix
- opennav-coverage-demo.nix
- opennav-coverage-msgs.nix
- opennav-coverage-navigator.nix
- opennav-coverage.nix
- opennav-row-coverage.nix
- overlay.nix
- overlay.nix
- .gitignore
- autonomy.sh
- colcon_defaults.yaml
- overlay.nix
- PATCHES.md
- patches.nix
- README.md
- README.md
- secure_path_includes_nix
- all-aarch64.sh
- all.sh
- build.sh
- docs-shell.sh
- shell.sh
- autocomplete.sh
- clean.sh
- cuda-demo.sh
- cuda-test.sh
- machine-setup.sh
- mandelbrot_cpu.c
- mandelbrot_cuda.cu
- matrix_cpu.c
- matrix_cuda.cu
- member-setup.sh
- nix-package.sh
- nix-setup.sh
- overlay.nix
- update.sh
- vcan-setup.sh
- crc.h
- crc.c
- CMakeLists.txt
- config.cmake.in
- default.nix
- fd_wrapper.hpp
- fd_wrapper.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- hi_can.hpp
- hi_can_address.hpp
- hi_can_packet.hpp
- hi_can_parameter.hpp
- hi_can.cpp
- hi_can_packet.cpp
- hi_can_parameter.cpp
- packet_manager_test.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- default.nix
- hi-can-generator.py
- setup.py
- hi_can_net.hpp
- hi_can_net.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- hi_can_raw.hpp
- hi_can_raw.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- ptr_wrapper.hpp
- ptr_wrapper.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- client.hpp
- core.hpp
- simple_networking.hpp
- client.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- type_demangle.hpp
- type_demangle.cpp
- CMakeLists.txt
- config.cmake.in
- default.nix
- overlay.nix
- 01-project_setup.cmake
- 15-include_dependencies.cmake
- 16-include_local_lib.cmake
- 20-compile_exe.cmake
- 21-compile_lib.cmake
- 22-link_private.cmake
- 23-link_public.cmake
- 23-ros_link_public.cmake
- 71-install_exe.cmake
- 71-ros_install_exe.cmake
- 72-install_lib.cmake
- 74-pluginlib_export.cmake
- 80-ros_tests.cmake
- 80-tests.cmake
- 90-ros_post_install_lib.cmake
- 94-install_ros.cmake
- 95-ros_finalisation.cmake
- config.cmake.in
- README.md
- template_node.hpp
- template.launch.py
- template_node.cpp
- CMakeLists.txt
- package.xml
- open3d_demo.py
- config.json
- index.ts
- tsconfig.json
- alert-dialog-action.svelte
- alert-dialog-cancel.svelte
- alert-dialog-content.svelte
- alert-dialog-description.svelte
- alert-dialog-footer.svelte
- alert-dialog-header.svelte
- alert-dialog-overlay.svelte
- alert-dialog-title.svelte
- index.ts
- avatar-fallback.svelte
- avatar-image.svelte
- avatar.svelte
- index.ts
- button.svelte
- index.ts
- button-group-separator.svelte
- button-group-text.svelte
- button-group.svelte
- index.ts
- card-content.svelte
- card-description.svelte
- card-footer.svelte
- card-header.svelte
- card-title.svelte
- card.svelte
- index.ts
- index.ts
- command-dialog.svelte
- command-empty.svelte
- command-group.svelte
- command-input.svelte
- command-item.svelte
- command-link-item.svelte
- command-list.svelte
- command-separator.svelte
- command-shortcut.svelte
- command.svelte
- index.ts
- dialog-content.svelte
- dialog-description.svelte
- dialog-footer.svelte
- dialog-header.svelte
- dialog-overlay.svelte
- dialog-title.svelte
- index.ts
- dropdown-menu-checkbox-item.svelte
- dropdown-menu-content.svelte
- dropdown-menu-group-heading.svelte
- dropdown-menu-item.svelte
- dropdown-menu-label.svelte
- dropdown-menu-radio-item.svelte
- dropdown-menu-separator.svelte
- dropdown-menu-shortcut.svelte
- dropdown-menu-sub-content.svelte
- dropdown-menu-sub-trigger.svelte
- index.ts
- form-button.svelte
- form-description.svelte
- form-element-field.svelte
- form-field-errors.svelte
- form-field.svelte
- form-fieldset.svelte
- form-label.svelte
- form-legend.svelte
- index.ts
- hover-card-content.svelte
- index.ts
- index.ts
- input.svelte
- index.ts
- label.svelte
- index.ts
- popover-content.svelte
- index.ts
- radio-group-item.svelte
- radio-group.svelte
- index.ts
- resizable-handle.svelte
- resizable-pane-group.svelte
- index.ts
- scroll-area-scrollbar.svelte
- scroll-area.svelte
- index.ts
- select-content.svelte
- select-group-heading.svelte
- select-item.svelte
- select-scroll-down-button.svelte
- select-scroll-up-button.svelte
- select-separator.svelte
- select-trigger.svelte
- index.ts
- separator.svelte
- index.ts
- sheet-content.svelte
- sheet-description.svelte
- sheet-footer.svelte
- sheet-header.svelte
- sheet-overlay.svelte
- sheet-title.svelte
- index.ts
- slider.svelte
- index.ts
- sonner.svelte
- index.ts
- switch.svelte
- index.ts
- tabs-content.svelte
- tabs-list.svelte
- tabs-trigger.svelte
- index.ts
- toggle.svelte
- index.ts
- toggle-group-item.svelte
- toggle-group.svelte
- index.ts
- tooltip-content.svelte
- connectionMenu.svelte
- connectionMenuMobile.svelte
- jsonTree.svelte
- layoutMenu.svelte
- settingsForm.svelte
- widget.svelte
- widgetCanvas.svelte
- localStore.svelte.ts
- perseusMsgs.ts
- rosBridge.svelte.ts
- rosTypes.ts
- state.svelte.ts
- gauge.svelte
- serviceTypes.ts
- signalHandler.svelte.ts
- videoWrapper.svelte
- bucketDrive.svelte
- busPowerManager.svelte
- motorStats.svelte
- nodeViewer.svelte
- resourceMonitor.svelte
- ROSStreamViewer.svelte
- rtcVideo.svelte
- StartStopAutonomy.svelte
- teleop.svelte
- topicMonitor.svelte
- twistMonitor.svelte
- utils.ts
- +server.ts
- +server.ts
- +layout.svelte
- +page.svelte
- camerasSocket.js
- resourceMonitorSocket.js
- api.ts
- server.js
- Layout.ts
- app.css
- app.d.ts
- app.html
- favicon.png
- Rover-Logo.svg
- waypoints.json
- waypoints_simulation.json
- .gitignore
- .prettierignore
- .prettierrc
- .yarnrc.yml
- components.json
- create-widget.sh
- package.json
- postcss.config.js
- README.md
- svelte.config.js
- tailwind.config.ts
- tsconfig.json
- vite.config.ts
- yarn.lock
- default.nix
- overlay.nix
- README.md
- .clang-format
- .cmake-format.yaml
- .envrc
- .gitignore
- default.nix
- flake.lock
- flake.nix
- LICENSE
- perseus-v2.code-workspace
- README.md
- shell.nix
- treefmt.nix
- treefmt.toml
- typos.toml
# Use via CDN
jsDelivrjsDelivr serves any public GitHub repository as a CDN with zero setup. Pick a version and a file to get a ready-to-paste link and snippet.
Link
Example
// repository documentation
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