From a8c94b93eba4427628a9d57fdafd6f48fb07e6be Mon Sep 17 00:00:00 2001
From: HarleA <antoine.harle@etu.upmc.fr>
Date: Wed, 16 Sep 2020 10:05:14 +0200
Subject: [PATCH] Add files

---
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 Documentation/html/functions.html             |  276 ++
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 Documentation/html/hierarchy.html             |  139 +
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 Documentation/html/index.html                 |  195 ++
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 .../src/gazebo_ros_force_based_move.cpp       |  296 ++
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 ...oor_scenario_edited_map_hector_mapping.pgm |    5 +
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 .../Eigen/MatrixBaseAddons.h                  |   70 +
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 .../include/hector_pose_estimation/matrix.h   |  135 +
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 .../hector_pose_estimation/measurement.h      |  196 ++
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 .../measurements/baro.h                       |  106 +
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 .../hector_pose_estimation/pose_estimation.h  |  234 ++
 .../include/hector_pose_estimation/queue.h    |   87 +
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 .../include/hector_pose_estimation/state.h    |  233 ++
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 .../src/measurements/gravity.cpp              |  109 +
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 .../hector_quadrotor_controller/handles.h     |  536 +++
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 .../hector_uav_msgs/msg/RuddersCommand.msg    |    4 +
 .../hector_uav_msgs/msg/ServoCommand.msg      |    2 +
 .../hector_uav_msgs/msg/Supply.msg            |    3 +
 .../hector_uav_msgs/msg/ThrustCommand.msg     |    2 +
 .../hector_uav_msgs/msg/VelocityXYCommand.msg |    3 +
 .../hector_uav_msgs/msg/VelocityZCommand.msg  |    2 +
 .../hector_uav_msgs/msg/YawrateCommand.msg    |    2 +
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 .../src/hector_quadrotor/tutorials.rosinstall |    5 +
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 .../CMakeLists.txt                            |  149 +
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 .../src/map_to_image_node.cpp                 |  270 ++
 .../hector_slam/hector_geotiff/CHANGELOG.rst  |   37 +
 .../hector_slam/hector_geotiff/CMakeLists.txt |  149 +
 .../include/hector_geotiff/geotiff_writer.h   |  134 +
 .../hector_geotiff/map_writer_interface.h     |   57 +
 .../map_writer_plugin_interface.h             |   47 +
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 .../launch/geotiff_mapper_only.launch         |   19 +
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 .../src/imu_attitude_to_tf_node.cpp           |   84 +
 .../hector_imu_tools/CHANGELOG.rst            |   22 +
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 .../launch/jasmine_robot.launch               |    9 +
 .../hector_slam/hector_imu_tools/package.xml  |   62 +
 .../src/pose_and_orientation_to_imu_node.cpp  |  190 +
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 .../hector_slam_lib/map/GridMapSimpleCount.h  |  159 +
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 .../hector_slam_lib/map/OccGridMapBase.h      |  273 ++
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 .../hector_slam_lib/matcher/ScanMatcher.h     |  252 ++
 .../hector_slam_lib/scan/DataPointContainer.h |  100 +
 .../slam_main/HectorSlamProcessor.h           |  158 +
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 .../slam_main/MapRepMultiMap.h                |  176 +
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 .../util/HectorDebugInfoInterface.h           |   40 +
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 .../hector_mapping/src/HectorMapMutex.h       |   24 +
 .../hector_mapping/src/HectorMappingRos.cpp   |  555 +++
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 .../hector_mapping/src/PoseInfoContainer.cpp  |   70 +
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 .../hector_marker_drawing/HectorDrawings.h    |  242 ++
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 .../src/controller_quadrotor.py               |  149 +
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diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
new file mode 100644
index 0000000..ff22be5
--- /dev/null
+++ b/Documentation/Doxyfile
@@ -0,0 +1,2479 @@
+# Doxyfile 1.8.11
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
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+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
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+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all text
+# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
+# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
+# for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
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+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "OMPL Plannification"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         = 
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          = "Path planning with OMPL"
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
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+
+PROJECT_LOGO           = "/home/blue/GitLab Repo/OMPL_Planning/Documentation/flylab.png"
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+# into which the generated documentation will be written. If a relative path is
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+OUTPUT_DIRECTORY       = .
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
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+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
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+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
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+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
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+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
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+# documentation (similar to Javadoc). Set to NO to disable this.
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+BRIEF_MEMBER_DESC      = YES
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+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
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+ABBREVIATE_BRIEF       = "The $name class" \
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+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
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+ALWAYS_DETAILED_SEC    = NO
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+INLINE_INHERITED_MEMB  = NO
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+FULL_PATH_NAMES        = YES
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+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
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+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        = 
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+STRIP_FROM_INC_PATH    = 
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+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
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+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
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+SHORT_NAMES            = NO
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+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
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+JAVADOC_AUTOBRIEF      = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
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+QT_AUTOBRIEF           = NO
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+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
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+SEPARATE_MEMBER_PAGES  = NO
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+# documentation, which will result in a user-defined paragraph with heading
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+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. For
+# instance to make doxygen treat .inc files as Fortran files (default is PHP),
+# and .f files as C (default is Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING      = 
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO, these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES       = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       = 
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    = 
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            = 
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE           = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = "../Source Files/mapping_planning_tutorial/control_turtlebot/src"
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl,
+# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = 
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       = 
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        = 
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           = 
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             = 
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           = 
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        = 
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS = 
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse-libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            = 
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            = 
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        = 
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  = 
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       = 
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               = 
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           = 
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     = 
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               = 
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   = 
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  = 
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  = 
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           = 
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = YES
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT    = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     = 
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       = 
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       = 
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     = 
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         = 
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           = 
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           = 
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET = 
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      = 
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    = 
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    = 
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             = 
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
+# structure of the code including all documentation. Note that this feature is
+# still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX = 
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
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+<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
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+<a href="_hello___world_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;../OMPL_Planner/OMPL_Planner.hpp&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keywordtype">int</span> planningDimension = 2, solvingTime = 5;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    std::string plannerName, mapFile;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    std::vector&lt;double&gt; start, goal, planning_bounds_x_, planning_bounds_y_, planning_bounds_z_;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    planning_bounds_x_.resize(2);</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    planning_bounds_y_.resize(2);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    planning_bounds_z_.resize(2);</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Path planning with OMPL version &quot;</span>&lt;&lt;OMPL_VERSION&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Choose a dimension for planning 2D or 3D (default :&quot;</span>&lt;&lt;planningDimension&lt;&lt;<span class="stringliteral">&quot;) : &quot;</span>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    cin &gt;&gt; planningDimension;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    start.resize(planningDimension);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    goal.resize(planningDimension);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Choose a planner (available planner : CForest, RRTstar) : &quot;</span>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    cin &gt;&gt; plannerName;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="class_o_m_p_l___planner.html">OMPL_Planner</a> planner(planningDimension);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    planning_bounds_x_[0]=-15;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    planning_bounds_x_[1]=15;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    planning_bounds_y_[0]=-15;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    planning_bounds_y_[1]=15;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    planning_bounds_z_[0]=-15;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    planning_bounds_z_[1]=15;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">if</span> (planningDimension == 3)</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_, planning_bounds_z_);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">else</span> </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    planner.setPlanningDepth();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    planner.setPlanner(plannerName);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Enter direction to the Octomap file (.bt file usually) : &quot;</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    cin&gt;&gt; mapFile;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    planner.setStateChecker(mapFile,0.5,0.5,0.5);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;\n Planner initialization done !\n&quot;</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    start[2]=0;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    goal[2]=0;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Choose a start position (expecting &quot;</span>&lt;&lt; planningDimension &lt;&lt;<span class="stringliteral">&quot; values) : &quot;</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">if</span>(planningDimension==2)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        cin&gt;&gt; start[0] &gt;&gt; start[1];</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        cin&gt;&gt; start[0] &gt;&gt; start[1] &gt;&gt; start[2];</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    </div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Choose a goal position (expecting &quot;</span>&lt;&lt; planningDimension &lt;&lt;<span class="stringliteral">&quot; values) : &quot;</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span>(planningDimension==2)</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        cin&gt;&gt; goal[0] &gt;&gt; goal[1];</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        cin&gt;&gt; goal[0] &gt;&gt; goal[1] &gt;&gt; goal[2];</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    planner.setStartGoal(start,goal);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Choose solving time (default :&quot;</span>&lt;&lt;solvingTime&lt;&lt;<span class="stringliteral">&quot;) : &quot;</span>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    cin&gt;&gt; solvingTime;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">//cout&lt;&lt;&quot;Searching path from &quot;&lt;&lt;start[0]&lt;&lt;&quot; / &quot;&lt;&lt;start[1]&lt;&lt;&quot; / &quot;&lt;&lt;start[2]&lt;&lt;&quot; to &quot;&lt;&lt;goal[0]&lt;&lt;&quot; / &quot;&lt;&lt;goal[1]&lt;&lt;&quot; / &quot;&lt;&lt;goal[2]&lt;&lt;&quot;\n&quot;;</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span>(planner.findPath(solvingTime))</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        og::PathGeometric path = planner.getPath();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        path.print(cout);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        cout&lt;&lt;<span class="stringliteral">&quot;\n No path found\n&quot;</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    cout&lt;&lt;<span class="stringliteral">&quot;Thanks for using this awsome Hello World !\n&quot;</span>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="ttc" id="class_o_m_p_l___planner_html"><div class="ttname"><a href="class_o_m_p_l___planner.html">OMPL_Planner</a></div><div class="ttdoc">Class for planner for 2D and 3D planning. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8hpp_source.html#l00035">OMPL_Planner.hpp:35</a></div></div>
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+
+<p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &quot;<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for OMPL_Planner.cpp:</div>
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+<div class="center"><img src="_o_m_p_l___planner_8cpp__incl.png" border="0" usemap="#_2home_2blue_2_git_lab_01_repo_2_o_m_p_l___planning_2_source_01_files_2mapping__planning__tutorial_2control__turtlebot_2src_2_o_m_p_l___planning_2_o_m_p_l___planner_2_o_m_p_l___planner_8cpp" alt=""/></div>
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+<p><a href="_o_m_p_l___planner_8cpp_source.html">Go to the source code of this file.</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free. </p>
+<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
+
+<p>Definition in file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+</div></div><!-- contents -->
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+  <ul>
+    <li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li><li class="navelem"><a class="el" href="dir_5fee08efe95e6d722a092087df25e95a.html">src</a></li><li class="navelem"><a class="el" href="dir_0789743f3a1bac7b4929be0fd81c897b.html">OMPL_Planning</a></li><li class="navelem"><a class="el" href="dir_719ee20e18abf3db039d63d757b6a50c.html">OMPL_Planner</a></li><li class="navelem"><a class="el" href="_o_m_p_l___planner_8cpp.html">OMPL_Planner.cpp</a></li>
+    <li class="footer">Generated by
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+<div class="title">OMPL_Planner.cpp</div>  </div>
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+<div class="contents">
+<a href="_o_m_p_l___planner_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_m_p_l___planner_8hpp.html">OMPL_Planner.hpp</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">   11</a></span>&#160;<a class="code" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner::OMPL_Planner</a>(<span class="keywordtype">int</span> dim) : _planningDimension(dim), _space(new ob::RealVectorStateSpace(dim)), _simple_setup(_space)</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    _si = _simple_setup.getSpaceInformation();</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">    _start_state.resize(3);</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">    _goal_state.resize(3);</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">   20</a></span>&#160;<a class="code" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">OMPL_Planner::~OMPL_Planner</a>()</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">    if(_checker !=nullptr)</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">        delete _checker;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">        _checker = nullptr;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">   31</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner::setPlanningBounds</a>(<span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_x, <span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_y, <span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_z)</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    ob::RealVectorBounds bounds(_planningDimension);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">if</span>(!planning_bounds_z.empty() &amp;&amp; _planningDimension ==3)</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        bounds.setLow(2, planning_bounds_z[0]);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        bounds.setHigh(2, planning_bounds_z[1]);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    bounds.setLow(0, planning_bounds_x[0]);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    bounds.setHigh(0, planning_bounds_x[1]);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    bounds.setLow(1, planning_bounds_y[0]);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    bounds.setHigh(1, planning_bounds_y[1]);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    _space-&gt;as&lt;ob::RealVectorStateSpace&gt;()-&gt;setBounds(bounds);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">   49</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner::setPlanningDepth</a>(<span class="keywordtype">double</span> depth_limit)</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    _depth_limit = depth_limit;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">if</span>(_checker !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        _checker-&gt;<a class="code" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a>(depth_limit);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">   56</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner::setPlanner</a>(<span class="keyword">const</span> std::string plannerName)</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    ob::PlannerPtr planner;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">if</span>(plannerName.compare(<span class="stringliteral">&quot;CForest&quot;</span>)==0)</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        planner = ob::PlannerPtr(<span class="keyword">new</span> og::CForest(_si)); <span class="comment">//Deleted by simple_setup destructor ?</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">else</span> <span class="comment">//Default planner</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        planner = ob::PlannerPtr(<span class="keyword">new</span> og::RRTstar(_si));</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">//planner-&gt;as&lt;og::RRTstar&gt;()-&gt;setRange(0.2);</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// Set the setup planner</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    _simple_setup.setPlanner(planner);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">   71</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a>(<span class="keyword">const</span> ob::StateValidityCheckerPtr state_checker)</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">if</span>(state_checker != <span class="keyword">nullptr</span>)</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        _simple_setup.setStateValidityChecker(state_checker);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        cout&lt;&lt;<span class="stringliteral">&quot;ERROR : invalid pointer on state_checker\n&quot;</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a>(<span class="keyword">const</span> std::string mapFile, <span class="keywordtype">double</span> collision_mask_x, <span class="keywordtype">double</span> collision_mask_y, <span class="keywordtype">double</span> collision_mask_z)</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span>(_checker !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">delete</span> _checker;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        _checker = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    </div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    _checker = <span class="keyword">new</span> <a class="code" href="class_state_checker.html">StateChecker</a>(_si);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a>(mapFile);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a>(collision_mask_x,collision_mask_y,collision_mask_z);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a>(_depth_limit);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    _simple_setup.setStateValidityChecker(ob::StateValidityCheckerPtr(_checker));</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a>(octomap::OcTree* octree, <span class="keywordtype">double</span> collision_mask_x, <span class="keywordtype">double</span> collision_mask_y, <span class="keywordtype">double</span> collision_mask_z)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">if</span>(_checker !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">delete</span> _checker;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        _checker = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    _checker = <span class="keyword">new</span> <a class="code" href="class_state_checker.html">StateChecker</a>(_si);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a>(octree);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a>(collision_mask_x,collision_mask_y,collision_mask_z);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    _checker-&gt;<a class="code" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a>(_depth_limit);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    _simple_setup.setStateValidityChecker(ob::StateValidityCheckerPtr(_checker));</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">  109</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner::updateStateChecker</a>(octomap::OcTree* octree)</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">if</span>(_checker !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        _checker-&gt;<a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a>(octree);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">//No error warned</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">  116</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner::setStartGoal</a>(<span class="keyword">const</span> std::vector&lt;double&gt; start_state, <span class="keyword">const</span> std::vector&lt;double&gt; goal_state)</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;{</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    ob::ScopedState&lt;&gt; start(_space);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    ob::ScopedState&lt;&gt; goal(_space);</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    start[0] = double(start_state[0]);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    start[1] = double(start_state[1]);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    goal[0] = double(goal_state[0]);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    goal[1] = double(goal_state[1]);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">if</span>(_planningDimension==3)</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        start[2] = double(start_state[2]);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        goal[2] = double(goal_state[2]);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">//Prevent invalid states because of too low altitude (Octomap issue)</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">if</span> (start[2] &lt; _depth_limit) start[2] = _depth_limit;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">if</span> (goal[2] &lt; _depth_limit) goal[2] = _depth_limit;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    _simple_setup.setStartAndGoalStates(start, goal);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">  139</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner::findPath</a>(<span class="keywordtype">double</span> solving_time)</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">//Clear all previous planning data (Planner settings, start/goal states not affected)</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    _simple_setup.clear();</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    _simple_setup.setup();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="comment">//_simple_setup.print(cout);</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    ob::PlannerStatus solved = _simple_setup.solve( solving_time );</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">if</span> (solved &amp;&amp; _simple_setup.haveExactSolutionPath())</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">  158</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner::isValid</a>(std::vector&lt;double&gt; position)<span class="keyword"> const</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span>(_checker !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        ob::ScopedState&lt;&gt; pos(_space);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">if</span>(_planningDimension==2)</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            pos[0] = double(position[0]);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            pos[1] = double(position[1]);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <span class="keywordflow">return</span> _checker-&gt;<a class="code" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a>(pos-&gt;as&lt;ob::SE2StateSpace::StateType&gt;());</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            pos[0] = double(position[0]);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            pos[1] = double(position[1]);</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            </div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            <span class="comment">//Prevent invalid states because of too low altitude (Octomap issue)</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            <span class="keywordflow">if</span>(position[2]&lt;_depth_limit)</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                pos[2]=_depth_limit;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            <span class="keywordflow">else</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                pos[2] = double(position[2]);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="keywordflow">return</span> _checker-&gt;<a class="code" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a>(pos-&gt;as&lt;ob::SE3StateSpace::StateType&gt;());</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>; <span class="comment">//No error warned</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">  187</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">OMPL_Planner::checkPath</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    og::PathGeometric path = <a class="code" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>();</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordflow">return</span> path.check();</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">  194</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner::updatePath</a>(octomap::OcTree* octree, <span class="keywordtype">double</span> solving_time, <span class="keyword">const</span> std::vector&lt;double&gt; start_state, <span class="keyword">const</span> std::vector&lt;double&gt; goal_state)</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;{</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <a class="code" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a>(octree);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">if</span>(! <a class="code" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a>()) <span class="comment">//Invalid path</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a>(start_state,goal_state);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a>(solving_time);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    }</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">  207</a></span>&#160;og::PathGeometric <a class="code" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner::getPath</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">return</span> _simple_setup.getSolutionPath();</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">  212</a></span>&#160;og::SimpleSetup <a class="code" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner::getSimpleSetup</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">return</span> _simple_setup;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;}</div><div class="ttc" id="class_state_checker_html"><div class="ttname"><a href="class_state_checker.html">StateChecker</a></div><div class="ttdoc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the...</div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00041">StateChecker.hpp:41</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a056946d604333d039fd415b18af12241"><div class="ttname"><a href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner::updatePath</a></div><div class="ttdeci">bool updatePath(octomap::OcTree *octree, double solving_time, const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Update the path. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00194">OMPL_Planner.cpp:194</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_ae49620c4f0c422025b97ad02c44cd66e"><div class="ttname"><a href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a></div><div class="ttdeci">void setStateChecker(const ob::StateValidityCheckerPtr state_checker)</div><div class="ttdoc">Set the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00071">OMPL_Planner.cpp:71</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aa83cc92dda2e0ee24ff9f79768ed1887"><div class="ttname"><a href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner::setStartGoal</a></div><div class="ttdeci">void setStartGoal(const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Set the planning objectives. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00116">OMPL_Planner.cpp:116</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a15bf824bec358cd2c84274bc46f92c69"><div class="ttname"><a href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner::findPath</a></div><div class="ttdeci">bool findPath(double solving_time)</div><div class="ttdoc">Solve the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00139">OMPL_Planner.cpp:139</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_acff06e417ae511b0a50828b2ea1f184b"><div class="ttname"><a href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner::getPath</a></div><div class="ttdeci">og::PathGeometric getPath() const </div><div class="ttdoc">Return the path found by the planner. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00207">OMPL_Planner.cpp:207</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a525b72362e333214b7eda9e12420c2fc"><div class="ttname"><a href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner::setPlanningDepth</a></div><div class="ttdeci">void setPlanningDepth(double depth_limit=1)</div><div class="ttdoc">Set the planning depth. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00049">OMPL_Planner.cpp:49</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aa7c140fd681ba96e46b529424571250a"><div class="ttname"><a href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">OMPL_Planner::~OMPL_Planner</a></div><div class="ttdeci">~OMPL_Planner()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00020">OMPL_Planner.cpp:20</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_abc9a0e581d563eb772dfb270ad67e2e5"><div class="ttname"><a href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner::setPlanningBounds</a></div><div class="ttdeci">void setPlanningBounds(const std::vector&lt; double &gt; planning_bounds_x, const std::vector&lt; double &gt; planning_bounds_y, const std::vector&lt; double &gt; planning_bounds_z=std::vector&lt; double &gt;())</div><div class="ttdoc">Set the bounds of the planner workspace. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00031">OMPL_Planner.cpp:31</a></div></div>
+<div class="ttc" id="class_state_checker_html_af9db3b2571cf0294c07e81dd2b07eca9"><div class="ttname"><a href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker::setDepthLimit</a></div><div class="ttdeci">void setDepthLimit(double depth_limit)</div><div class="ttdoc">Set the depth limit (constant for 2D checking) </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00059">StateChecker.cpp:59</a></div></div>
+<div class="ttc" id="class_state_checker_html_a7fc1bee2971992901eed0517a8fffaa8"><div class="ttname"><a href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker::setCollisionMask</a></div><div class="ttdeci">void setCollisionMask(double x, double y, double z=0.2)</div><div class="ttdoc">Set the area around every state considered for state checking. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00052">StateChecker.cpp:52</a></div></div>
+<div class="ttc" id="class_state_checker_html_aa7454eae37b6fea9743cd26ddee94238"><div class="ttname"><a href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker::isValid</a></div><div class="ttdeci">virtual bool isValid(const ob::State *state) const </div><div class="ttdoc">State validator. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00064">StateChecker.cpp:64</a></div></div>
+<div class="ttc" id="_o_m_p_l___planner_8hpp_html"><div class="ttname"><a href="_o_m_p_l___planner_8hpp.html">OMPL_Planner.hpp</a></div><div class="ttdoc">Path planning (without differential constraints) using OMPL with Octomap to represent workspace and t...</div></div>
+<div class="ttc" id="class_state_checker_html_aa31f7a73b601d4c16a81ea256ab482ea"><div class="ttname"><a href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a></div><div class="ttdeci">void loadMap(const std::string mapFile)</div><div class="ttdoc">Load the octomap where the states are checked. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00026">StateChecker.cpp:26</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a643d16f415b3658033f724b5a0fa28c5"><div class="ttname"><a href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner::getSimpleSetup</a></div><div class="ttdeci">og::SimpleSetup getSimpleSetup() const </div><div class="ttdoc">Return the OMPL object containing most of the information of the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00212">OMPL_Planner.cpp:212</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a3e94f89db54c6b2c302b46ea2140d56b"><div class="ttname"><a href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">OMPL_Planner::checkPath</a></div><div class="ttdeci">bool checkPath() const </div><div class="ttdoc">Check if the path is valid. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00187">OMPL_Planner.cpp:187</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a073db78d9b2b6a2163a469077acf6ff2"><div class="ttname"><a href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner::OMPL_Planner</a></div><div class="ttdeci">OMPL_Planner(int dim)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00011">OMPL_Planner.cpp:11</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aed4793b4bf19889efc4af7033f7ab6da"><div class="ttname"><a href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner::setPlanner</a></div><div class="ttdeci">void setPlanner(const std::string plannerName=&quot;RRTstar&quot;)</div><div class="ttdoc">Set the planning algorithm used to solve the problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00056">OMPL_Planner.cpp:56</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a9f5bb21207dfb002de93d5e83262de9b"><div class="ttname"><a href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner::updateStateChecker</a></div><div class="ttdeci">void updateStateChecker(octomap::OcTree *octree)</div><div class="ttdoc">Update the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00109">OMPL_Planner.cpp:109</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a31423022af2477a1ac5f072bdb3f835f"><div class="ttname"><a href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner::isValid</a></div><div class="ttdeci">bool isValid(std::vector&lt; double &gt; position) const </div><div class="ttdoc">Check if position is collision-free. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00158">OMPL_Planner.cpp:158</a></div></div>
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+    <li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li><li class="navelem"><a class="el" href="dir_5fee08efe95e6d722a092087df25e95a.html">src</a></li><li class="navelem"><a class="el" href="dir_0789743f3a1bac7b4929be0fd81c897b.html">OMPL_Planning</a></li><li class="navelem"><a class="el" href="dir_719ee20e18abf3db039d63d757b6a50c.html">OMPL_Planner</a></li><li class="navelem"><a class="el" href="_o_m_p_l___planner_8cpp.html">OMPL_Planner.cpp</a></li>
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+   <div id="projectname">OMPL Plannification
+   </div>
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+<a href="#nested-classes">Classes</a>  </div>
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+<div class="title">OMPL_Planner.hpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ompl/geometric/SimpleSetup.h&gt;</code><br />
+<code>#include &lt;ompl/geometric/planners/cforest/CForest.h&gt;</code><br />
+<code>#include &lt;ompl/geometric/planners/rrt/RRTstar.h&gt;</code><br />
+<code>#include &lt;ompl/base/spaces/SE3StateSpace.h&gt;</code><br />
+<code>#include &lt;ompl/base/spaces/SE2StateSpace.h&gt;</code><br />
+<code>#include &quot;StateChecker.hpp&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for OMPL_Planner.hpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="_o_m_p_l___planner_8hpp__incl.png" border="0" usemap="#_2home_2blue_2_git_lab_01_repo_2_o_m_p_l___planning_2_source_01_files_2mapping__planning__tutorial_2control__turtlebot_2src_2_o_m_p_l___planning_2_o_m_p_l___planner_2_o_m_p_l___planner_8hpp" alt=""/></div>
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+<p><a href="_o_m_p_l___planner_8hpp_source.html">Go to the source code of this file.</a></p>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class for planner for 2D and 3D planning.  <a href="class_o_m_p_l___planner.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free. </p>
+<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
+
+<p>Definition in file <a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>.</p>
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+<div class="title">OMPL_Planner.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="_o_m_p_l___planner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//#include &lt;string&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//using namespace std;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//OMPL//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//#include &lt;ompl/config.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//#include &lt;ompl/base/SpaceInformation.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">//#include &lt;ompl/base/spaces/RealVectorStateSpace.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;ompl/geometric/SimpleSetup.h&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;ompl/geometric/planners/cforest/CForest.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;ompl/geometric/planners/rrt/RRTstar.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/SE3StateSpace.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/SE2StateSpace.h&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//OMPL namespaces</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">namespace </span>ob = ompl::base;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span>og = ompl::geometric;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;StateChecker.hpp&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="class_o_m_p_l___planner.html">   35</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_m_p_l___planner.html">OMPL_Planner</a></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">public</span> :</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <a class="code" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a>(<span class="keywordtype">int</span> dim);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a>(<span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_x, <span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_y, <span class="keyword">const</span> std::vector&lt;double&gt; planning_bounds_z = std::vector&lt;double&gt;());</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a>(<span class="keywordtype">double</span> depth_limit = 1);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a>(<span class="keyword">const</span> std::string plannerName = <span class="stringliteral">&quot;RRTstar&quot;</span>);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(<span class="keyword">const</span> ob::StateValidityCheckerPtr state_checker);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(<span class="keyword">const</span> std::string mapFile, <span class="keywordtype">double</span> collision_mask_x, <span class="keywordtype">double</span> collision_mask_y, <span class="keywordtype">double</span> collision_mask_z = 0.2);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(octomap::OcTree* octree, <span class="keywordtype">double</span> collision_mask_x, <span class="keywordtype">double</span> collision_mask_y, <span class="keywordtype">double</span> collision_mask_z);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; 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start_state, <span class="keyword">const</span> std::vector&lt;double&gt; goal_state);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        og::PathGeometric <a class="code" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        og::SimpleSetup <a class="code" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a>();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">private</span> :</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">int</span> _planningDimension; </div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        ob::SpaceInformationPtr _si; </div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        ob::StateSpacePtr _space; </div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        og::SimpleSetup _simple_setup; </div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="class_state_checker.html">StateChecker</a>* _checker = <span class="keyword">nullptr</span>; </div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">//std::vector&lt;double&gt; _start_state, _goal_state;</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">double</span> _depth_limit; </div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;};</div><div class="ttc" id="class_state_checker_html"><div class="ttname"><a href="class_state_checker.html">StateChecker</a></div><div class="ttdoc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the...</div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00041">StateChecker.hpp:41</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a056946d604333d039fd415b18af12241"><div class="ttname"><a href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner::updatePath</a></div><div class="ttdeci">bool updatePath(octomap::OcTree *octree, double solving_time, const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Update the path. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00194">OMPL_Planner.cpp:194</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_ae49620c4f0c422025b97ad02c44cd66e"><div class="ttname"><a href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a></div><div class="ttdeci">void setStateChecker(const ob::StateValidityCheckerPtr state_checker)</div><div class="ttdoc">Set the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00071">OMPL_Planner.cpp:71</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aa83cc92dda2e0ee24ff9f79768ed1887"><div class="ttname"><a href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner::setStartGoal</a></div><div class="ttdeci">void setStartGoal(const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Set the planning objectives. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00116">OMPL_Planner.cpp:116</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a15bf824bec358cd2c84274bc46f92c69"><div class="ttname"><a href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner::findPath</a></div><div class="ttdeci">bool findPath(double solving_time)</div><div class="ttdoc">Solve the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00139">OMPL_Planner.cpp:139</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_acff06e417ae511b0a50828b2ea1f184b"><div class="ttname"><a href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner::getPath</a></div><div class="ttdeci">og::PathGeometric getPath() const </div><div class="ttdoc">Return the path found by the planner. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00207">OMPL_Planner.cpp:207</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a525b72362e333214b7eda9e12420c2fc"><div class="ttname"><a href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner::setPlanningDepth</a></div><div class="ttdeci">void setPlanningDepth(double depth_limit=1)</div><div class="ttdoc">Set the planning depth. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00049">OMPL_Planner.cpp:49</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aa7c140fd681ba96e46b529424571250a"><div class="ttname"><a href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">OMPL_Planner::~OMPL_Planner</a></div><div class="ttdeci">~OMPL_Planner()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00020">OMPL_Planner.cpp:20</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_abc9a0e581d563eb772dfb270ad67e2e5"><div class="ttname"><a href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner::setPlanningBounds</a></div><div class="ttdeci">void setPlanningBounds(const std::vector&lt; double &gt; planning_bounds_x, const std::vector&lt; double &gt; planning_bounds_y, const std::vector&lt; double &gt; planning_bounds_z=std::vector&lt; double &gt;())</div><div class="ttdoc">Set the bounds of the planner workspace. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00031">OMPL_Planner.cpp:31</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a643d16f415b3658033f724b5a0fa28c5"><div class="ttname"><a href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner::getSimpleSetup</a></div><div class="ttdeci">og::SimpleSetup getSimpleSetup() const </div><div class="ttdoc">Return the OMPL object containing most of the information of the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00212">OMPL_Planner.cpp:212</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a3e94f89db54c6b2c302b46ea2140d56b"><div class="ttname"><a href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">OMPL_Planner::checkPath</a></div><div class="ttdeci">bool checkPath() const </div><div class="ttdoc">Check if the path is valid. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00187">OMPL_Planner.cpp:187</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a073db78d9b2b6a2163a469077acf6ff2"><div class="ttname"><a href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner::OMPL_Planner</a></div><div class="ttdeci">OMPL_Planner(int dim)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00011">OMPL_Planner.cpp:11</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aed4793b4bf19889efc4af7033f7ab6da"><div class="ttname"><a href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner::setPlanner</a></div><div class="ttdeci">void setPlanner(const std::string plannerName=&quot;RRTstar&quot;)</div><div class="ttdoc">Set the planning algorithm used to solve the problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00056">OMPL_Planner.cpp:56</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a9f5bb21207dfb002de93d5e83262de9b"><div class="ttname"><a href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner::updateStateChecker</a></div><div class="ttdeci">void updateStateChecker(octomap::OcTree *octree)</div><div class="ttdoc">Update the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00109">OMPL_Planner.cpp:109</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html"><div class="ttname"><a href="class_o_m_p_l___planner.html">OMPL_Planner</a></div><div class="ttdoc">Class for planner for 2D and 3D planning. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8hpp_source.html#l00035">OMPL_Planner.hpp:35</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a31423022af2477a1ac5f072bdb3f835f"><div class="ttname"><a href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner::isValid</a></div><div class="ttdeci">bool isValid(std::vector&lt; double &gt; position) const </div><div class="ttdoc">Check if position is collision-free. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00158">OMPL_Planner.cpp:158</a></div></div>
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+<div class="title">ROS_OMPL_Planner.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;ROS_OMPL_Planner.hpp&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">   10</a></span>&#160;<a class="code" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner::ROS_OMPL_Planner</a>(<span class="keywordtype">int</span> dimension) : planningDimension(dimension), planner(dimension), _obstacle_flag(true)</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="comment">// Subscribers.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="comment">//Navigation data</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    odom_sub_ = _node_hand.subscribe(<span class="stringliteral">&quot;/odom&quot;</span>, 1, &amp;<a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner::odomCallback</a>, <span class="keyword">this</span>);</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="comment">// Publishers (to visualize the resulting path).</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    visual_traj_pub_ = _node_hand.advertise&lt;visualization_msgs::Marker&gt; (<span class="stringliteral">&quot;/controller_turtlebot/solution_path&quot;</span>, 1, <span class="keyword">true</span>);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    path_pub_ = _node_hand.advertise&lt;geometry_msgs::PoseArray&gt; (<span class="stringliteral">&quot;/Planning_Module/path&quot;</span>, 1, <span class="keyword">true</span>);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">// Service</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    service_ = _node_hand.advertiseService(<span class="stringliteral">&quot;/controller_turtlebot/find_path_to_goal&quot;</span>, &amp;<a class="code" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner::findPathToGoal</a>, <span class="keyword">this</span>);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    planning_bounds_x_.resize(2);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    planning_bounds_y_.resize(2);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    planning_bounds_z_.resize(2);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    current_position_.resize(3);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    goal_state.resize(3);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="comment">// Get parameters from configuration file.</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;planning_bounds_x&quot;</span>, planning_bounds_x_);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;planning_bounds_y&quot;</span>, planning_bounds_y_);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;planning_bounds_z&quot;</span>, planning_bounds_z_);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;solving_time&quot;</span>, solving_time_);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;planner_name&quot;</span>, planner_name_);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;collision_mask_x&quot;</span>, collision_mask.x);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;collision_mask_y&quot;</span>, collision_mask.y);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">if</span>(dimension==2)</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        _node_hand.getParam(<span class="stringliteral">&quot;collision_mask_z_2D&quot;</span>, collision_mask.z);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordflow">else</span> </div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        _node_hand.getParam(<span class="stringliteral">&quot;collision_mask_z_3D&quot;</span>, collision_mask.z);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    _node_hand.getParam(<span class="stringliteral">&quot;planning_depth_limit&quot;</span>, planning_depth_limit);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">// Planner setup.</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    planner.<a class="code" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a>(planning_depth_limit);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (dimension == 2)</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        planner.<a class="code" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a>(planning_bounds_x_, planning_bounds_y_);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">else</span> </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        planner.<a class="code" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a>(planning_bounds_x_, planning_bounds_y_, planning_bounds_z_);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    planner.<a class="code" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a>(planner_name_);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a>();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    planner.<a class="code" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(octree_, collision_mask.x, collision_mask.y, collision_mask.z);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    ROS_INFO(<span class="stringliteral">&quot;%s: %dD Planner Init done !&quot;</span>, ros::this_node::getName().c_str(), dimension);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">   74</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">ROS_OMPL_Planner::updateMap</a>()</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span>(octree_ !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">delete</span> octree_;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    octree_ = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    ROS_INFO(<span class="stringliteral">&quot;%s: requesting the map to %s...&quot;</span>, ros::this_node::getName().c_str(), _node_hand.resolveName(serv_name).c_str());</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">while</span>((_node_hand.ok() &amp;&amp; !ros::service::call(serv_name, req, resp)) || resp.map.data.size()==0)</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;Request to %s failed; trying again...&quot;</span>, _node_hand.resolveName(serv_name).c_str());</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        usleep(1000000);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">if</span> (_node_hand.ok()){ <span class="comment">// skip when CTRL-C</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        abs_octree_ = octomap_msgs::msgToMap(resp.map);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">if</span> (abs_octree_)</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            octree_ = <span class="keyword">dynamic_cast&lt;</span>octomap::OcTree*<span class="keyword">&gt;</span>(abs_octree_);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    </div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">if</span> (octree_){</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;Octomap received (%zu nodes)&quot;</span>, octree_-&gt;size());</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            } </div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            ROS_ERROR(<span class="stringliteral">&quot;Error reading OcTree from stream&quot;</span>);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">  108</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner::odomCallback</a>(<span class="keyword">const</span> nav_msgs::OdometryPtr &amp;odom_msg)</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;{</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    current_position_[0] = odom_msg-&gt;pose.pose.position.x;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    current_position_[1] = odom_msg-&gt;pose.pose.position.y;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    current_position_[2] = odom_msg-&gt;pose.pose.position.z;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">  115</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner::findPathToGoal</a>(control_turtlebot::FindPathToGoal::Request&amp; request, control_turtlebot::FindPathToGoal::Response&amp; response)</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    goal_state[0] = request.goal_state_x;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    goal_state[1] = request.goal_state_y;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    goal_state[2] = request.goal_state_z;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="comment">//Prevent invalid states because of too low altitude (Octomap issue)</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span>(goal_state[2]&lt;planning_depth_limit) goal_state[2] = planning_depth_limit;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">if</span>(current_position_[2]&lt;planning_depth_limit) current_position_[2] = planning_depth_limit;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a>();</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    planner.<a class="code" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a>(octree_);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// Start and Goal checking</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">if</span>(! planner.<a class="code" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(current_position_))</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: Start Position %lf/%lf/%lf is invalid !\n&quot;</span>,ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2]);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">if</span>(! planner.<a class="code" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(goal_state))</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: Goal Position %lf/%lf/%lf is invalid !\n&quot;</span>,ros::this_node::getName().c_str(), goal_state[0],goal_state[1],goal_state[2]);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    planner.<a class="code" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a>(current_position_, goal_state);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    </div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    ROS_INFO(<span class="stringliteral">&quot;%s: Searching path from %lf/%lf/%lf to %lf/%lf/%lf ...\n&quot;</span>,ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2], goal_state[0],goal_state[1],goal_state[2]);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">if</span>(planner.<a class="code" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a>(solving_time_))</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        _obstacle_flag = <span class="keyword">false</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        ROS_INFO(<span class="stringliteral">&quot;%s: path has been found with simple_setup&quot;</span>, ros::this_node::getName().c_str());</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>(response);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: path has not been found&quot;</span>, ros::this_node::getName().c_str());</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">//REALLY Ugly function</span></div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">  151</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">ROS_OMPL_Planner::visualizeRRT</a>(<span class="keyword">const</span> og::SimpleSetup simple_setup)</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    og::PathGeometric geopath = simple_setup.getSolutionPath();</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// %Tag(MARKER_INIT)%</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    visualization_msgs::Marker q_init_goal, visual_rrt, result_path, visual_result_path;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  <span class="stringliteral">&quot;/odom&quot;</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    visual_result_path.header.stamp = result_path.header.stamp = q_init_goal.header.stamp = visual_rrt.header.stamp = ros::Time::now();</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    q_init_goal.ns = <span class="stringliteral">&quot;online_planner_points&quot;</span>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    visual_rrt.ns = <span class="stringliteral">&quot;online_planner_rrt&quot;</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    result_path.ns = <span class="stringliteral">&quot;online_planner_result&quot;</span>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    visual_result_path.ns = <span class="stringliteral">&quot;online_planner_result_path&quot;</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    visual_result_path.action = result_path.action = q_init_goal.action = visual_rrt.action = visualization_msgs::Marker::ADD;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    visual_result_path.pose.orientation.w = result_path.pose.orientation.w = q_init_goal.pose.orientation.w = visual_rrt.pose.orientation.w = 1.0;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="comment">// %EndTag(MARKER_INIT)%</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="comment">// %Tag(ID)%</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    q_init_goal.id = 0;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    visual_rrt.id = 1;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    result_path.id = 2;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    visual_result_path.id = 3;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// %EndTag(ID)%</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">// %Tag(TYPE)%</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    result_path.type = q_init_goal.type = visualization_msgs::Marker::POINTS;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    visual_rrt.type = visual_result_path.type = visualization_msgs::Marker::LINE_LIST;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">// %EndTag(TYPE)%</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="comment">// %Tag(SCALE)%</span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="comment">// POINTS markers use x and y scale for width/height respectively</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    result_path.scale.x = q_init_goal.scale.x = 0.5;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    result_path.scale.y = q_init_goal.scale.y = 0.5;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    result_path.scale.z = q_init_goal.scale.z = 0.5;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">// LINE_STRIP/LINE_LIST markers use only the x component of scale, for the line width</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    visual_rrt.scale.x = 0.01;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    visual_result_path.scale.x = 0.02;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// %EndTag(SCALE)%</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="comment">// %Tag(COLOR)%</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">// Points are green</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    visual_result_path.color.g = 1.0;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    result_path.color.g = q_init_goal.color.g = 1.0;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    visual_result_path.color.a = result_path.color.a = q_init_goal.color.a = 1.0;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// Line strip is blue</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    visual_rrt.color.b = 1.0;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    visual_rrt.color.a = 1.0;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    ob::PlannerData planner_data(simple_setup.getSpaceInformation());</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    simple_setup.getPlannerData(planner_data);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    std::vector&lt; unsigned int &gt; edgeList;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordtype">int</span> num_parents;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">//const ob::SE2StateSpace::StateType *state_se2;</span></div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">const</span> ob::RealVectorStateSpace::StateType *state_r2;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">const</span> ob::RealVectorStateSpace::StateType *state;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    geometry_msgs::Point p;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">if</span>(planningDimension==3)</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i &lt; planner_data.numVertices() ; ++i)</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            <span class="keywordflow">if</span> (planner_data.getVertex(i).getState() &amp;&amp; planner_data.getIncomingEdges(i,edgeList) &gt; 0)</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            {</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                state_r2 = planner_data.getVertex(i).getState()-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                p.x = state_r2-&gt;values[0];</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                p.y = state_r2-&gt;values[1];</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                p.z = state_r2-&gt;values[2];<span class="comment">//3D change</span></div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                visual_rrt.points.push_back(p);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                state_r2 = planner_data.getVertex(edgeList[0]).getState()-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                p.x = state_r2-&gt;values[0];</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                p.y = state_r2-&gt;values[1];</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                p.z = state_r2-&gt;values[2];<span class="comment">//3D change</span></div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                visual_rrt.points.push_back(p);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        }</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        std::vector&lt; ob::State * &gt; states = geopath.getStates();</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; geopath.getStateCount(); ++i)</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        {</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            p.x = state-&gt;values[0];</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            p.y = state-&gt;values[1];</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            p.z = state-&gt;values[2];<span class="comment">//3D change</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            result_path.points.push_back(p);</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <span class="keywordflow">if</span>(i&gt;0)</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            {</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                visual_result_path.points.push_back(p);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                state = states[i-1]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                p.x = state-&gt;values[0];</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                p.y = state-&gt;values[1];</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                p.z = state-&gt;values[2];<span class="comment">//3D change</span></div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                visual_result_path.points.push_back(p);</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        }</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    {</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i &lt; planner_data.numVertices() ; ++i)</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        {</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            <span class="keywordflow">if</span> (planner_data.getVertex(i).getState() &amp;&amp; planner_data.getIncomingEdges(i,edgeList) &gt; 0)</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            {</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                state_r2 = planner_data.getVertex(i).getState()-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                p.x = state_r2-&gt;values[0];</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                p.y = state_r2-&gt;values[1];</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                p.z = planning_depth_limit; <span class="comment">//2D change</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                visual_rrt.points.push_back(p);</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                state_r2 = planner_data.getVertex(edgeList[0]).getState()-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                p.x = state_r2-&gt;values[0];</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                p.y = state_r2-&gt;values[1];</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                p.z = planning_depth_limit; <span class="comment">//2D change</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                visual_rrt.points.push_back(p);</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;            }</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        }</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        std::vector&lt; ob::State * &gt; states = geopath.getStates();</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; geopath.getStateCount(); ++i)</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        {</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            p.x = state-&gt;values[0];</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            p.y = state-&gt;values[1];</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            p.z = planning_depth_limit; <span class="comment">//2D change</span></div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            result_path.points.push_back(p);</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            <span class="keywordflow">if</span>(i&gt;0)</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            {</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                visual_result_path.points.push_back(p);</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                state = states[i-1]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                p.x = state-&gt;values[0];</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                p.y = state-&gt;values[1];</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                p.z = planning_depth_limit; <span class="comment">//2D change</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                visual_result_path.points.push_back(p);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;            }</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        }</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    }</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="comment">//visual_traj_pub_.publish(q_init_goal);</span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    visual_traj_pub_.publish(visual_rrt);</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    visual_traj_pub_.publish(visual_result_path);</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="comment">//visual_traj_pub_.publish(result_path);</span></div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;}</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">//Ugly function</span></div><div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">  306</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">ROS_OMPL_Planner::PublishPath</a>(control_turtlebot::FindPathToGoal::Response&amp; response)</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;{</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    og::PathGeometric path = planner.<a class="code" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>();</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="comment">//Display path</span></div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a>(planner.<a class="code" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a>());</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    std::vector&lt; ob::State * &gt; states = path.getStates();</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keyword">const</span> ob::RealVectorStateSpace::StateType *state;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    uint32_t state_nb = path.getStateCount();</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    geometry_msgs::PoseArray path_msg;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">//A CHANGER : passage du nombre de state</span></div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="comment">//Passer par stamp dans le header ?</span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    geometry_msgs::Pose state_nb_msg;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    state_nb_msg.position.x=state_nb;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    path_msg.poses.push_back(state_nb_msg);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="comment">//ROS_INFO(&quot;State nb : %d&quot;,state_nb);</span></div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">if</span>(planningDimension==3)</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    {</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; state_nb; ++i)</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        {</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            geometry_msgs::Pose pose;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            geometry_msgs::Point point;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;            point.x = state-&gt;values[0];</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;            point.y = state-&gt;values[1];</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;            point.z = state-&gt;values[2];</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                </div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;            pose.position = point;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            path_msg.poses.push_back(pose);</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            <span class="comment">//Send path as response of the planning request</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            response.poses.push_back(pose);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        }</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    }</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; state_nb; ++i)</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        {</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;            geometry_msgs::Pose pose;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;            geometry_msgs::Point point;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            point.x = state-&gt;values[0];</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            point.y = state-&gt;values[1];</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            point.z = planning_depth_limit;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                </div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;            pose.position = point;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            path_msg.poses.push_back(pose);</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            <span class="comment">//Send path as response of the planning request</span></div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            response.poses.push_back(pose);</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        }</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    }</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="comment">//Publish the path on a topic</span></div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    path_pub_.publish(path_msg);</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;}</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;</div><div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">  370</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">ROS_OMPL_Planner::PublishPath</a>()</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;{</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    og::PathGeometric path = planner.<a class="code" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>();</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="comment">//Display path</span></div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a>(planner.<a class="code" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a>());</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    std::vector&lt; ob::State * &gt; states = path.getStates();</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keyword">const</span> ob::RealVectorStateSpace::StateType *state;</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    uint32_t state_nb = path.getStateCount();</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    geometry_msgs::PoseArray path_msg;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">//A CHANGER : passage du nombre de state</span></div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="comment">//Passer par stamp dans le header ?</span></div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    geometry_msgs::Pose state_nb_msg;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    state_nb_msg.position.x=state_nb;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    path_msg.poses.push_back(state_nb_msg);</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <span class="comment">//ROS_INFO(&quot;State nb : %d&quot;,state_nb);</span></div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="keywordflow">if</span>(planningDimension==3)</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    {</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; state_nb; ++i)</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        {</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;            geometry_msgs::Pose pose;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;            geometry_msgs::Point point;</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;            point.x = state-&gt;values[0];</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;            point.y = state-&gt;values[1];</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            point.z = state-&gt;values[2];</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;                </div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            pose.position = point;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            path_msg.poses.push_back(pose);</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        }</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    }</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    {</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; state_nb; ++i)</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        {</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            geometry_msgs::Pose pose;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            geometry_msgs::Point point;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;            <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;            state = states[i]-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            point.x = state-&gt;values[0];</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            point.y = state-&gt;values[1];</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;            point.z = planning_depth_limit;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;                </div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;            pose.position = point;</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;            path_msg.poses.push_back(pose);</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        }</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    }</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="comment">//Publish the path on a topic</span></div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    path_pub_.publish(path_msg);</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;}</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;</div><div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">  430</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">ROS_OMPL_Planner::getObstacleFlag</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="keywordflow">return</span> _obstacle_flag;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;}</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;</div><div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">  435</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">ROS_OMPL_Planner::updatePath</a>()</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;{</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    ROS_INFO(<span class="stringliteral">&quot;%s: Updating path ...\n&quot;</span>,ros::this_node::getName().c_str());</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="keywordflow">if</span>(current_position_[2]&lt;planning_depth_limit) current_position_[2] = planning_depth_limit;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a>();</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="comment">// Start and Goal checking</span></div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keywordflow">if</span>(! planner.<a class="code" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(current_position_))</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: Start Position %lf/%lf/%lf is invalid !\n&quot;</span>,ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2]);</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    <span class="keywordflow">if</span>(! planner.<a class="code" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(goal_state))</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: Goal Position %lf/%lf/%lf is invalid !\n&quot;</span>,ros::this_node::getName().c_str(), goal_state[0],goal_state[1],goal_state[2]);</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keywordflow">if</span>(planner.<a class="code" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a>(octree_, solving_time_, current_position_, goal_state))</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    {</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        _obstacle_flag=<span class="keyword">false</span>;</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>();</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        ROS_INFO(<span class="stringliteral">&quot;%s: Path update done !\n&quot;</span>,ros::this_node::getName().c_str());</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    }</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    {</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        _obstacle_flag = <span class="keyword">true</span>;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;%s: Path update failed !\n&quot;</span>,ros::this_node::getName().c_str());</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    }</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;}</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;</div><div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">  464</a></span>&#160;<a class="code" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">ROS_OMPL_Planner::~ROS_OMPL_Planner</a>()</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;{</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;}</div><div class="ttc" id="class_o_m_p_l___planner_html_a056946d604333d039fd415b18af12241"><div class="ttname"><a href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner::updatePath</a></div><div class="ttdeci">bool updatePath(octomap::OcTree *octree, double solving_time, const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Update the path. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00194">OMPL_Planner.cpp:194</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_ae49620c4f0c422025b97ad02c44cd66e"><div class="ttname"><a href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner::setStateChecker</a></div><div class="ttdeci">void setStateChecker(const ob::StateValidityCheckerPtr state_checker)</div><div class="ttdoc">Set the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00071">OMPL_Planner.cpp:71</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aa83cc92dda2e0ee24ff9f79768ed1887"><div class="ttname"><a href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner::setStartGoal</a></div><div class="ttdeci">void setStartGoal(const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</div><div class="ttdoc">Set the planning objectives. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00116">OMPL_Planner.cpp:116</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a15bf824bec358cd2c84274bc46f92c69"><div class="ttname"><a href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner::findPath</a></div><div class="ttdeci">bool findPath(double solving_time)</div><div class="ttdoc">Solve the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00139">OMPL_Planner.cpp:139</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a1e6871c0ecdbcb3d803f5d7919e1d83a"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">ROS_OMPL_Planner::visualizeRRT</a></div><div class="ttdeci">void visualizeRRT(const og::SimpleSetup simple_setup)</div><div class="ttdoc">Procedure to visualize the resulting path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00151">ROS_OMPL_Planner.cpp:151</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_acff06e417ae511b0a50828b2ea1f184b"><div class="ttname"><a href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner::getPath</a></div><div class="ttdeci">og::PathGeometric getPath() const </div><div class="ttdoc">Return the path found by the planner. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00207">OMPL_Planner.cpp:207</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a525b72362e333214b7eda9e12420c2fc"><div class="ttname"><a href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner::setPlanningDepth</a></div><div class="ttdeci">void setPlanningDepth(double depth_limit=1)</div><div class="ttdoc">Set the planning depth. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00049">OMPL_Planner.cpp:49</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_afd584a2d54d6cbea457cbd8e19de7000"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">ROS_OMPL_Planner::updatePath</a></div><div class="ttdeci">bool updatePath()</div><div class="ttdoc">Update the path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00435">ROS_OMPL_Planner.cpp:435</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_abc9a0e581d563eb772dfb270ad67e2e5"><div class="ttname"><a href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner::setPlanningBounds</a></div><div class="ttdeci">void setPlanningBounds(const std::vector&lt; double &gt; planning_bounds_x, const std::vector&lt; double &gt; planning_bounds_y, const std::vector&lt; double &gt; planning_bounds_z=std::vector&lt; double &gt;())</div><div class="ttdoc">Set the bounds of the planner workspace. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00031">OMPL_Planner.cpp:31</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a2747d40d02512484ab75d43057c5c717"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">ROS_OMPL_Planner::~ROS_OMPL_Planner</a></div><div class="ttdeci">~ROS_OMPL_Planner()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00464">ROS_OMPL_Planner.cpp:464</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a643d16f415b3658033f724b5a0fa28c5"><div class="ttname"><a href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner::getSimpleSetup</a></div><div class="ttdeci">og::SimpleSetup getSimpleSetup() const </div><div class="ttdoc">Return the OMPL object containing most of the information of the planning problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00212">OMPL_Planner.cpp:212</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a0febd90c0cd3ea7d79183c3063da3aaf"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">ROS_OMPL_Planner::updateMap</a></div><div class="ttdeci">bool updateMap()</div><div class="ttdoc">Request and load the actual map from the Octomap server. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00074">ROS_OMPL_Planner.cpp:74</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a8386dc843601e522ff92fe3f18bc042f"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">ROS_OMPL_Planner::PublishPath</a></div><div class="ttdeci">void PublishPath()</div><div class="ttdoc">Publish the resulting path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00370">ROS_OMPL_Planner.cpp:370</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_aed4793b4bf19889efc4af7033f7ab6da"><div class="ttname"><a href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner::setPlanner</a></div><div class="ttdeci">void setPlanner(const std::string plannerName=&quot;RRTstar&quot;)</div><div class="ttdoc">Set the planning algorithm used to solve the problem. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00056">OMPL_Planner.cpp:56</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a9f5bb21207dfb002de93d5e83262de9b"><div class="ttname"><a href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner::updateStateChecker</a></div><div class="ttdeci">void updateStateChecker(octomap::OcTree *octree)</div><div class="ttdoc">Update the state checker. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00109">OMPL_Planner.cpp:109</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a7e4ac7e895e2a0e22176645442de1da7"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner::ROS_OMPL_Planner</a></div><div class="ttdeci">ROS_OMPL_Planner(int dimension)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00010">ROS_OMPL_Planner.cpp:10</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_ab75cc72530ff8f223172652cb934628a"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">ROS_OMPL_Planner::getObstacleFlag</a></div><div class="ttdeci">bool getObstacleFlag() const </div><div class="ttdoc">Return the flag representing the validity of the current path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00430">ROS_OMPL_Planner.cpp:430</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a1a49128b5320fc0d503bc40ce42fd76c"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner::odomCallback</a></div><div class="ttdeci">void odomCallback(const nav_msgs::OdometryPtr &amp;odom_msg)</div><div class="ttdoc">Callback for getting current vehicle position. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00108">ROS_OMPL_Planner.cpp:108</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a503ee325bc2843868eec61fff8d1d5d2"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner::findPathToGoal</a></div><div class="ttdeci">bool findPathToGoal(control_turtlebot::FindPathToGoal::Request &amp;request, control_turtlebot::FindPathToGoal::Response &amp;response)</div><div class="ttdoc">Find a path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00115">ROS_OMPL_Planner.cpp:115</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html_a31423022af2477a1ac5f072bdb3f835f"><div class="ttname"><a href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner::isValid</a></div><div class="ttdeci">bool isValid(std::vector&lt; double &gt; position) const </div><div class="ttdoc">Check if position is collision-free. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8cpp_source.html#l00158">OMPL_Planner.cpp:158</a></div></div>
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+<div class="title">ROS_OMPL_Planner.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;std_msgs/Bool.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseArray.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;ros/package.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;std_srvs/Empty.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;tf/message_filter.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;tf/transform_listener.h&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;control_turtlebot/FindPathToGoal.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Pose2D.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Pose.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;octomap_msgs/conversions.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;octomap_msgs/GetOctomap.h&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//ROS-Octomap interface</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">using</span> octomap_msgs::GetOctomap;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;../OMPL_Planner/OMPL_Planner.hpp&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="class_r_o_s___o_m_p_l___planner.html">   34</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a>(<span class="keywordtype">int</span> dimension);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">odomCallback</a>(<span class="keyword">const</span> nav_msgs::OdometryPtr &amp;odom_msg);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">findPathToGoal</a>(control_turtlebot::FindPathToGoal::Request&amp; request, control_turtlebot::FindPathToGoal::Response&amp; response);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a>(<span class="keyword">const</span> og::SimpleSetup simple_setup);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>(control_turtlebot::FindPathToGoal::Response&amp; response);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        </div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">getObstacleFlag</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">updatePath</a>();</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">~ROS_OMPL_Planner</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="class_o_m_p_l___planner.html">OMPL_Planner</a> planner; </div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="comment">//Octomap</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        octomap::AbstractOcTree* abs_octree_;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        octomap::OcTree* octree_ = <span class="keyword">nullptr</span>; </div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="comment">// *** ROS ***</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        ros::NodeHandle _node_hand;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        ros::Publisher visual_traj_pub_, path_pub_;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        ros::Subscriber odom_sub_; </div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        ros::ServiceServer service_; </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="comment">// Octomap server</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        GetOctomap::Request req;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        GetOctomap::Response resp;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        std::string serv_name = <span class="stringliteral">&quot;/octomap_full&quot;</span>; </div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">bool</span> _obstacle_flag; </div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">int</span> planningDimension;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">double</span> solving_time_,planning_depth_limit;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        std::string planner_name_;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        std::vector&lt;double&gt; current_position_, goal_state;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        std::vector&lt;double&gt; planning_bounds_x_, planning_bounds_y_, planning_bounds_z_; </div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="struct_checking___box.html">Checking_Box</a> collision_mask; </div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div><div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a1e6871c0ecdbcb3d803f5d7919e1d83a"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">ROS_OMPL_Planner::visualizeRRT</a></div><div class="ttdeci">void visualizeRRT(const og::SimpleSetup simple_setup)</div><div class="ttdoc">Procedure to visualize the resulting path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00151">ROS_OMPL_Planner.cpp:151</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></div><div class="ttdoc">ROS implementation class for OMPL_Planner. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8hpp_source.html#l00034">ROS_OMPL_Planner.hpp:34</a></div></div>
+<div class="ttc" id="struct_checking___box_html"><div class="ttname"><a href="struct_checking___box.html">Checking_Box</a></div><div class="ttdoc">Collision Mask : virtual representation of the drone as a box with x,y,z length. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00029">StateChecker.hpp:29</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_afd584a2d54d6cbea457cbd8e19de7000"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">ROS_OMPL_Planner::updatePath</a></div><div class="ttdeci">bool updatePath()</div><div class="ttdoc">Update the path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00435">ROS_OMPL_Planner.cpp:435</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a2747d40d02512484ab75d43057c5c717"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">ROS_OMPL_Planner::~ROS_OMPL_Planner</a></div><div class="ttdeci">~ROS_OMPL_Planner()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00464">ROS_OMPL_Planner.cpp:464</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a0febd90c0cd3ea7d79183c3063da3aaf"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">ROS_OMPL_Planner::updateMap</a></div><div class="ttdeci">bool updateMap()</div><div class="ttdoc">Request and load the actual map from the Octomap server. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00074">ROS_OMPL_Planner.cpp:74</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a8386dc843601e522ff92fe3f18bc042f"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">ROS_OMPL_Planner::PublishPath</a></div><div class="ttdeci">void PublishPath()</div><div class="ttdoc">Publish the resulting path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00370">ROS_OMPL_Planner.cpp:370</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a7e4ac7e895e2a0e22176645442de1da7"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner::ROS_OMPL_Planner</a></div><div class="ttdeci">ROS_OMPL_Planner(int dimension)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00010">ROS_OMPL_Planner.cpp:10</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_ab75cc72530ff8f223172652cb934628a"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">ROS_OMPL_Planner::getObstacleFlag</a></div><div class="ttdeci">bool getObstacleFlag() const </div><div class="ttdoc">Return the flag representing the validity of the current path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00430">ROS_OMPL_Planner.cpp:430</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a1a49128b5320fc0d503bc40ce42fd76c"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner::odomCallback</a></div><div class="ttdeci">void odomCallback(const nav_msgs::OdometryPtr &amp;odom_msg)</div><div class="ttdoc">Callback for getting current vehicle position. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00108">ROS_OMPL_Planner.cpp:108</a></div></div>
+<div class="ttc" id="class_o_m_p_l___planner_html"><div class="ttname"><a href="class_o_m_p_l___planner.html">OMPL_Planner</a></div><div class="ttdoc">Class for planner for 2D and 3D planning. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8hpp_source.html#l00035">OMPL_Planner.hpp:35</a></div></div>
+<div class="ttc" id="class_r_o_s___o_m_p_l___planner_html_a503ee325bc2843868eec61fff8d1d5d2"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner::findPathToGoal</a></div><div class="ttdeci">bool findPathToGoal(control_turtlebot::FindPathToGoal::Request &amp;request, control_turtlebot::FindPathToGoal::Response &amp;response)</div><div class="ttdoc">Find a path. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00115">ROS_OMPL_Planner.cpp:115</a></div></div>
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planner.getObstacleFlag()) <span class="comment">//Constantly check while the path is valid</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;            {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                planner.updatePath();</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;            }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;            ros::spinOnce();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        }</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">else</span> <span class="comment">//3D planning</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="comment">//Initialization planner</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <a class="code" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a> planner(3);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        ros::Rate loop_rate(10);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keywordflow">while</span> (ros::ok())</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <span class="keywordflow">if</span>(! planner.getObstacleFlag()) <span class="comment">//Constantly check while the path is valid</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                planner.updatePath();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            ros::spinOnce();</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div><div class="ttc" id="class_r_o_s___o_m_p_l___planner_html"><div class="ttname"><a href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></div><div class="ttdoc">ROS implementation class for OMPL_Planner. </div><div class="ttdef"><b>Definition:</b> <a href="_r_o_s___o_m_p_l___planner_8hpp_source.html#l00034">ROS_OMPL_Planner.hpp:34</a></div></div>
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+<div class="title">StateChecker.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Check if a given configuration is collision-free. The workspace is represented by an octomap.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &quot;StateChecker.hpp&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for StateChecker.cpp:</div>
+<div class="dyncontent">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Check if a given configuration is collision-free. The workspace is represented by an octomap. </p>
+<dl class="section author"><dt>Author</dt><dd>Harlé Antoine </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
+
+<p>Definition in file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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+<a href="_state_checker_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;StateChecker.hpp&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">   11</a></span>&#160;<a class="code" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker::StateChecker</a>(<span class="keyword">const</span> ob::SpaceInformationPtr &amp;si): ob::StateValidityChecker(si)</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    planningDimension = si-&gt;getStateDimension();</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;}</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">   16</a></span>&#160;<a class="code" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker::~StateChecker</a>()</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordflow">if</span>(_map !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keyword">delete</span> _map;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        _map = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    }</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    </div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">   26</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a>(<span class="keyword">const</span> std::string mapFile) <span class="comment">//Take a look to memory mangaement for map</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;{</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">    if(_map !=nullptr)</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">        delete _map;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">        _map = nullptr;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    _map = (<span class="keyword">new</span> octomap::OcTree(mapFile));</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    _map_res = _map-&gt;getResolution();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a>(octomap::OcTree* octree)</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">    if(_map !=nullptr)</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">        delete _map;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">        _map = nullptr;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    _map = octree;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    _map_res = _map-&gt;getResolution();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">   52</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker::setCollisionMask</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z)</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    _check_box.x=x;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    _check_box.y=y;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    _check_box.z=z;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">   59</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker::setDepthLimit</a>(<span class="keywordtype">double</span> depth_limit)</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    _depth_limit = depth_limit;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">   64</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker::isValid</a>(<span class="keyword">const</span> ob::State *state)<span class="keyword"> const</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    OcTreeNode* result;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    point3d query; <span class="comment">//Octomap</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">bool</span> collision(<span class="keyword">false</span>);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">double</span> node_occupancy;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// extract the component of the state and cast it to what we expect</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> ob::RealVectorStateSpace::StateType *pos = state-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;();</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">//Constant depth for 2D planning (There might be a better way to implement this)</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    </div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span>(planningDimension==2)</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        pos-&gt;values[2]=_depth_limit;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">//Recherche dans le collision mask autour de pos</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">double</span> xi = pos-&gt;values[0]-(_check_box.x/2.0);xi &lt;= pos-&gt;values[0]+(_check_box.x/2.0);xi=xi+_map_res)</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">double</span> yi = pos-&gt;values[1]-(_check_box.y/2.0);yi &lt;= pos-&gt;values[1]+(_check_box.y/2.0);yi=yi+_map_res)</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">double</span> zi = pos-&gt;values[2]-(_check_box.z/2.0);zi &lt;= pos-&gt;values[2]+(_check_box.z/2.0);zi=zi+_map_res){ <span class="comment">//Trop sensible sur z</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                query.x() = xi;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                query.y() = yi;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                query.z() = zi;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                result = _map-&gt;search (query); <span class="comment">//Retourne le pointeur de la node Ă  la position query, NULL si elle n&#39;existe pas (terrain inconnu)</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                <span class="keywordflow">if</span>(result != NULL){ <span class="comment">// Node connue</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                    node_occupancy = result-&gt;getOccupancy();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            </div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                    <span class="keywordflow">if</span> (node_occupancy &gt; 0.4)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                    {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                        collision = <span class="keyword">true</span>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">return</span> !collision;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div><div class="ttc" id="class_state_checker_html_ab6848e593de676961143a42df192ab7c"><div class="ttname"><a href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker::StateChecker</a></div><div class="ttdeci">StateChecker(const ob::SpaceInformationPtr &amp;si)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00011">StateChecker.cpp:11</a></div></div>
+<div class="ttc" id="class_state_checker_html_af9db3b2571cf0294c07e81dd2b07eca9"><div class="ttname"><a href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker::setDepthLimit</a></div><div class="ttdeci">void setDepthLimit(double depth_limit)</div><div class="ttdoc">Set the depth limit (constant for 2D checking) </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00059">StateChecker.cpp:59</a></div></div>
+<div class="ttc" id="class_state_checker_html_a7fc1bee2971992901eed0517a8fffaa8"><div class="ttname"><a href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker::setCollisionMask</a></div><div class="ttdeci">void setCollisionMask(double x, double y, double z=0.2)</div><div class="ttdoc">Set the area around every state considered for state checking. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00052">StateChecker.cpp:52</a></div></div>
+<div class="ttc" id="class_state_checker_html_aa7454eae37b6fea9743cd26ddee94238"><div class="ttname"><a href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker::isValid</a></div><div class="ttdeci">virtual bool isValid(const ob::State *state) const </div><div class="ttdoc">State validator. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00064">StateChecker.cpp:64</a></div></div>
+<div class="ttc" id="class_state_checker_html_aa31f7a73b601d4c16a81ea256ab482ea"><div class="ttname"><a href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a></div><div class="ttdeci">void loadMap(const std::string mapFile)</div><div class="ttdoc">Load the octomap where the states are checked. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00026">StateChecker.cpp:26</a></div></div>
+<div class="ttc" id="class_state_checker_html_abad123b62939fe4e3130cd9a3d0d051f"><div class="ttname"><a href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker::~StateChecker</a></div><div class="ttdeci">~StateChecker()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00016">StateChecker.cpp:16</a></div></div>
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+<div class="title">StateChecker.hpp</div>  </div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//OCTOMAP//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;octomap/octomap.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceoctomap.html">octomap</a>;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">//OMPL//</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;ompl/config.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;ompl/base/SpaceInformation.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/RealVectorStateSpace.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>ob = ompl::base;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="struct_checking___box.html">   29</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct_checking___box.html">Checking_Box</a></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">double</span> x;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">double</span> y;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">double</span> z;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;};</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_state_checker.html">   41</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_state_checker.html">StateChecker</a> : <span class="keyword">public</span> ob::StateValidityChecker</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    </div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <a class="code" href="class_state_checker.html">StateChecker</a>(<span class="keyword">const</span> ob::SpaceInformationPtr &amp;si);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordtype">void</span> loadMap(<span class="keyword">const</span> std::string mapFile);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keywordtype">void</span> loadMap(octomap::OcTree* octree);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">void</span> setCollisionMask(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z = 0.2);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">void</span> setDepthLimit(<span class="keywordtype">double</span> depth_limit);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isValid(<span class="keyword">const</span> ob::State *state) <span class="keyword">const</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        ~<a class="code" href="class_state_checker.html">StateChecker</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">private</span> :</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">int</span> planningDimension; </div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="comment">//Octomap</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        octomap::OcTree* _map = <span class="keyword">nullptr</span>; </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">double</span> _map_res, _depth_limit;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="struct_checking___box.html">Checking_Box</a> _check_box; </div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;};</div><div class="ttc" id="class_state_checker_html"><div class="ttname"><a href="class_state_checker.html">StateChecker</a></div><div class="ttdoc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the...</div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00041">StateChecker.hpp:41</a></div></div>
+<div class="ttc" id="namespaceoctomap_html"><div class="ttname"><a href="namespaceoctomap.html">octomap</a></div></div>
+<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
+<div class="ttc" id="struct_checking___box_html"><div class="ttname"><a href="struct_checking___box.html">Checking_Box</a></div><div class="ttdoc">Collision Mask : virtual representation of the drone as a box with x,y,z length. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00029">StateChecker.hpp:29</a></div></div>
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+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
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+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>controller_quadrotor</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcontroller__quadrotor_1_1_controller.html" target="_self">Controller</a></td><td class="desc"></td></tr>
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+<tr id="row_1_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcontroller__turtlebot_1_1_controller.html" target="_self">Controller</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_checking___box.html" target="_self">Checking_Box</a></td><td class="desc">Collision Mask : virtual representation of the drone as a box with x,y,z length </td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_laser_scan_to_point_cloud.html" target="_self">LaserScanToPointCloud</a></td><td class="desc">CLASS DEFINITION =========================================================== </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_m_p_l___planner.html" target="_self">OMPL_Planner</a></td><td class="desc">Class for planner for 2D and 3D planning </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_r_o_s___o_m_p_l___planner.html" target="_self">ROS_OMPL_Planner</a></td><td class="desc">ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_state_checker.html" target="_self">StateChecker</a></td><td class="desc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?) </td></tr>
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+</div><!-- directory -->
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+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
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+<div class="contents">
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+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a>(double solving_time)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(std::vector&lt; double &gt; position) const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a>(int dim)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a>(const std::string plannerName=&quot;RRTstar&quot;)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a>(const std::vector&lt; double &gt; planning_bounds_x, const std::vector&lt; double &gt; planning_bounds_y, const std::vector&lt; double &gt; planning_bounds_z=std::vector&lt; double &gt;())</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a>(double depth_limit=1)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a>(const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(const ob::StateValidityCheckerPtr state_checker)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>setStateChecker</b>(const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z=0.2) (defined in <a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a>)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setStateChecker</b>(octomap::OcTree *octree, double collision_mask_x, double collision_mask_y, double collision_mask_z) (defined in <a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a>)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a>(octomap::OcTree *octree, double solving_time, const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a>(octomap::OcTree *octree)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a>()</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/class_o_m_p_l___planner.html b/Documentation/html/class_o_m_p_l___planner.html
new file mode 100644
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+++ b/Documentation/html/class_o_m_p_l___planner.html
@@ -0,0 +1,476 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: OMPL_Planner Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
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+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('class_o_m_p_l___planner.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_o_m_p_l___planner-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">OMPL_Planner Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for planner for 2D and 3D planning.  
+ <a href="class_o_m_p_l___planner.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a073db78d9b2b6a2163a469077acf6ff2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a> (int dim)</td></tr>
+<tr class="memdesc:a073db78d9b2b6a2163a469077acf6ff2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a073db78d9b2b6a2163a469077acf6ff2">More...</a><br /></td></tr>
+<tr class="separator:a073db78d9b2b6a2163a469077acf6ff2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a> (const std::vector&lt; double &gt; planning_bounds_x, const std::vector&lt; double &gt; planning_bounds_y, const std::vector&lt; double &gt; planning_bounds_z=std::vector&lt; double &gt;())</td></tr>
+<tr class="memdesc:abc9a0e581d563eb772dfb270ad67e2e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the bounds of the planner workspace.  <a href="#abc9a0e581d563eb772dfb270ad67e2e5">More...</a><br /></td></tr>
+<tr class="separator:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a525b72362e333214b7eda9e12420c2fc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a> (double depth_limit=1)</td></tr>
+<tr class="memdesc:a525b72362e333214b7eda9e12420c2fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the planning depth.  <a href="#a525b72362e333214b7eda9e12420c2fc">More...</a><br /></td></tr>
+<tr class="separator:a525b72362e333214b7eda9e12420c2fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed4793b4bf19889efc4af7033f7ab6da"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a> (const std::string plannerName=&quot;RRTstar&quot;)</td></tr>
+<tr class="memdesc:aed4793b4bf19889efc4af7033f7ab6da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the planning algorithm used to solve the problem.  <a href="#aed4793b4bf19889efc4af7033f7ab6da">More...</a><br /></td></tr>
+<tr class="separator:aed4793b4bf19889efc4af7033f7ab6da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae49620c4f0c422025b97ad02c44cd66e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a> (const ob::StateValidityCheckerPtr state_checker)</td></tr>
+<tr class="memdesc:ae49620c4f0c422025b97ad02c44cd66e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the state checker.  <a href="#ae49620c4f0c422025b97ad02c44cd66e">More...</a><br /></td></tr>
+<tr class="separator:ae49620c4f0c422025b97ad02c44cd66e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a00df10d489ad2aa6d6b525934253677b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a00df10d489ad2aa6d6b525934253677b"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z=0.2)</td></tr>
+<tr class="separator:a00df10d489ad2aa6d6b525934253677b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d91a57a3d0f8f735e89c9d397b1df6b"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (octomap::OcTree *octree, double collision_mask_x, double collision_mask_y, double collision_mask_z)</td></tr>
+<tr class="separator:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f5bb21207dfb002de93d5e83262de9b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a> (octomap::OcTree *octree)</td></tr>
+<tr class="memdesc:a9f5bb21207dfb002de93d5e83262de9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the state checker.  <a href="#a9f5bb21207dfb002de93d5e83262de9b">More...</a><br /></td></tr>
+<tr class="separator:a9f5bb21207dfb002de93d5e83262de9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a> (const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</td></tr>
+<tr class="memdesc:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the planning objectives.  <a href="#aa83cc92dda2e0ee24ff9f79768ed1887">More...</a><br /></td></tr>
+<tr class="separator:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15bf824bec358cd2c84274bc46f92c69"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a> (double solving_time)</td></tr>
+<tr class="memdesc:a15bf824bec358cd2c84274bc46f92c69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve the planning problem.  <a href="#a15bf824bec358cd2c84274bc46f92c69">More...</a><br /></td></tr>
+<tr class="separator:a15bf824bec358cd2c84274bc46f92c69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a31423022af2477a1ac5f072bdb3f835f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a> (std::vector&lt; double &gt; position) const </td></tr>
+<tr class="memdesc:a31423022af2477a1ac5f072bdb3f835f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if position is collision-free.  <a href="#a31423022af2477a1ac5f072bdb3f835f">More...</a><br /></td></tr>
+<tr class="separator:a31423022af2477a1ac5f072bdb3f835f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3e94f89db54c6b2c302b46ea2140d56b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a> () const </td></tr>
+<tr class="memdesc:a3e94f89db54c6b2c302b46ea2140d56b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the path is valid. <br /></td></tr>
+<tr class="separator:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a056946d604333d039fd415b18af12241"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a> (octomap::OcTree *octree, double solving_time, const std::vector&lt; double &gt; start_state, const std::vector&lt; double &gt; goal_state)</td></tr>
+<tr class="memdesc:a056946d604333d039fd415b18af12241"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the path.  <a href="#a056946d604333d039fd415b18af12241">More...</a><br /></td></tr>
+<tr class="separator:a056946d604333d039fd415b18af12241"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acff06e417ae511b0a50828b2ea1f184b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acff06e417ae511b0a50828b2ea1f184b"></a>
+og::PathGeometric&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a> () const </td></tr>
+<tr class="memdesc:acff06e417ae511b0a50828b2ea1f184b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the path found by the planner. <br /></td></tr>
+<tr class="separator:acff06e417ae511b0a50828b2ea1f184b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a643d16f415b3658033f724b5a0fa28c5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a643d16f415b3658033f724b5a0fa28c5"></a>
+og::SimpleSetup&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a> () const </td></tr>
+<tr class="memdesc:a643d16f415b3658033f724b5a0fa28c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the OMPL object containing most of the information of the planning problem. <br /></td></tr>
+<tr class="separator:a643d16f415b3658033f724b5a0fa28c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa7c140fd681ba96e46b529424571250a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a> ()</td></tr>
+<tr class="memdesc:aa7c140fd681ba96e46b529424571250a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#aa7c140fd681ba96e46b529424571250a">More...</a><br /></td></tr>
+<tr class="separator:aa7c140fd681ba96e46b529424571250a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for planner for 2D and 3D planning. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8hpp_source.html#l00035">35</a> of file <a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a class="anchor" id="a073db78d9b2b6a2163a469077acf6ff2"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OMPL_Planner::OMPL_Planner </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>dim</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<p>Create space and simple_setup instance for OMPL planning. Set planning dimension. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00011">11</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="aa7c140fd681ba96e46b529424571250a"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OMPL_Planner::~OMPL_Planner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Destructor. </p>
+<p>Free dynamicly allowed data. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00020">20</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a class="anchor" id="a15bf824bec358cd2c84274bc46f92c69"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool OMPL_Planner::findPath </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>solving_time</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Solve the planning problem. </p>
+<p>Find a path from the start state to the goal state in the map given to the state checker. The planner will run during solving_time and optimize the solution during this time. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00139">139</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a31423022af2477a1ac5f072bdb3f835f"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool OMPL_Planner::isValid </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>position</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check if position is collision-free. </p>
+<p>Checking is done on the last map given to the state checker. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00158">158</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="aed4793b4bf19889efc4af7033f7ab6da"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::setPlanner </td>
+          <td>(</td>
+          <td class="paramtype">const std::string&#160;</td>
+          <td class="paramname"><em>plannerName</em> = <code>&quot;RRTstar&quot;</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the planning algorithm used to solve the problem. </p>
+<p>Planner avalaible : RRTstar, CForest. If no argument provided, RRTstar will be used (reliable planner for most of the situations). Implementation of other planners (except control-based planners) is quite simple. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00056">56</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="abc9a0e581d563eb772dfb270ad67e2e5"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::setPlanningBounds </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>planning_bounds_x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>planning_bounds_y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>planning_bounds_z</em> = <code>std::vector&lt;double&gt;()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the bounds of the planner workspace. </p>
+<p>Workspace defined by a box with planning_bounds limits. Optional argument : Planning_bounds_z (used only for 3D planning). </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00031">31</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a525b72362e333214b7eda9e12420c2fc"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::setPlanningDepth </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>depth_limit</em> = <code>1</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the planning depth. </p>
+<p>Set the lowest altitude for states. Represent the planning depth (constant) for 2D planning. Used to prevent unwanted invalid state (Issue with the ground in Octomap). </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00049">49</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="aa83cc92dda2e0ee24ff9f79768ed1887"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::setStartGoal </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>start_state</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>goal_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the planning objectives. </p>
+<p>If the state has an altitude lower than the planning depth, it's altitude will be set to the planning depth. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00116">116</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="ae49620c4f0c422025b97ad02c44cd66e"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::setStateChecker </td>
+          <td>(</td>
+          <td class="paramtype">const ob::StateValidityCheckerPtr&#160;</td>
+          <td class="paramname"><em>state_checker</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the state checker. </p>
+<p>Check if a given position is collision-free. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00071">71</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a056946d604333d039fd415b18af12241"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool OMPL_Planner::updatePath </td>
+          <td>(</td>
+          <td class="paramtype">octomap::OcTree *&#160;</td>
+          <td class="paramname"><em>octree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>solving_time</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>start_state</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; double &gt;&#160;</td>
+          <td class="paramname"><em>goal_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update the path. </p>
+<p>Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map. Update the state checker. Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00194">194</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a9f5bb21207dfb002de93d5e83262de9b"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OMPL_Planner::updateStateChecker </td>
+          <td>(</td>
+          <td class="paramtype">octomap::OcTree *&#160;</td>
+          <td class="paramname"><em>octree</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update the state checker. </p>
+<p>The new map will be used for state checking. If the state checker wasn't set before, there's no update and no warning message will be displayed. </p>
+
+<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00109">109</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a></li>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "~OMPL_Planner", "class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a", null ],
+    [ "checkPath", "class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b", null ],
+    [ "findPath", "class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69", null ],
+    [ "getPath", "class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b", null ],
+    [ "getSimpleSetup", "class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5", null ],
+    [ "isValid", "class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f", null ],
+    [ "setPlanner", "class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da", null ],
+    [ "setPlanningBounds", "class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5", null ],
+    [ "setPlanningDepth", "class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc", null ],
+    [ "setStartGoal", "class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887", null ],
+    [ "setStateChecker", "class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e", null ],
+    [ "setStateChecker", "class_o_m_p_l___planner.html#a00df10d489ad2aa6d6b525934253677b", null ],
+    [ "setStateChecker", "class_o_m_p_l___planner.html#a9d91a57a3d0f8f735e89c9d397b1df6b", null ],
+    [ "updatePath", "class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241", null ],
+    [ "updateStateChecker", "class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b", null ]
+];
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<title>OMPL Plannification: Member List</title>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
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+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
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+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">ROS_OMPL_Planner Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">findPathToGoal</a>(control_turtlebot::FindPathToGoal::Request &amp;request, control_turtlebot::FindPathToGoal::Response &amp;response)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">getObstacleFlag</a>() const </td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">odomCallback</a>(const nav_msgs::OdometryPtr &amp;odom_msg)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">PublishPath</a>(control_turtlebot::FindPathToGoal::Response &amp;response)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a>(int dimension)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">updatePath</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a>(const og::SimpleSetup simple_setup)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">~ROS_OMPL_Planner</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
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diff --git a/Documentation/html/class_r_o_s___o_m_p_l___planner.html b/Documentation/html/class_r_o_s___o_m_p_l___planner.html
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+<title>OMPL Plannification: ROS_OMPL_Planner Class Reference</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+</script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
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+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
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+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+       class="ui-resizable-handle">
+  </div>
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+<script type="text/javascript">
+$(document).ready(function(){initNavTree('class_r_o_s___o_m_p_l___planner.html','');});
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_r_o_s___o_m_p_l___planner-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ROS_OMPL_Planner Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a>.  
+ <a href="class_r_o_s___o_m_p_l___planner.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7e4ac7e895e2a0e22176645442de1da7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a> (int dimension)</td></tr>
+<tr class="memdesc:a7e4ac7e895e2a0e22176645442de1da7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a7e4ac7e895e2a0e22176645442de1da7">More...</a><br /></td></tr>
+<tr class="separator:a7e4ac7e895e2a0e22176645442de1da7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0febd90c0cd3ea7d79183c3063da3aaf"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a> ()</td></tr>
+<tr class="memdesc:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Request and load the actual map from the Octomap server. <br /></td></tr>
+<tr class="separator:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a49128b5320fc0d503bc40ce42fd76c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1a49128b5320fc0d503bc40ce42fd76c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">odomCallback</a> (const nav_msgs::OdometryPtr &amp;odom_msg)</td></tr>
+<tr class="memdesc:a1a49128b5320fc0d503bc40ce42fd76c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for getting current vehicle position. <br /></td></tr>
+<tr class="separator:a1a49128b5320fc0d503bc40ce42fd76c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a503ee325bc2843868eec61fff8d1d5d2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">findPathToGoal</a> (control_turtlebot::FindPathToGoal::Request &amp;request, control_turtlebot::FindPathToGoal::Response &amp;response)</td></tr>
+<tr class="memdesc:a503ee325bc2843868eec61fff8d1d5d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find a path.  <a href="#a503ee325bc2843868eec61fff8d1d5d2">More...</a><br /></td></tr>
+<tr class="separator:a503ee325bc2843868eec61fff8d1d5d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a> (const og::SimpleSetup simple_setup)</td></tr>
+<tr class="memdesc:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Procedure to visualize the resulting path.  <a href="#a1e6871c0ecdbcb3d803f5d7919e1d83a">More...</a><br /></td></tr>
+<tr class="separator:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd06a9b7686928222e2704051d3f0775"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">PublishPath</a> (control_turtlebot::FindPathToGoal::Response &amp;response)</td></tr>
+<tr class="memdesc:acd06a9b7686928222e2704051d3f0775"><td class="mdescLeft">&#160;</td><td class="mdescRight">Publish the resulting path.  <a href="#acd06a9b7686928222e2704051d3f0775">More...</a><br /></td></tr>
+<tr class="separator:acd06a9b7686928222e2704051d3f0775"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8386dc843601e522ff92fe3f18bc042f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a> ()</td></tr>
+<tr class="memdesc:a8386dc843601e522ff92fe3f18bc042f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Publish the resulting path.  <a href="#a8386dc843601e522ff92fe3f18bc042f">More...</a><br /></td></tr>
+<tr class="separator:a8386dc843601e522ff92fe3f18bc042f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab75cc72530ff8f223172652cb934628a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab75cc72530ff8f223172652cb934628a"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">getObstacleFlag</a> () const </td></tr>
+<tr class="memdesc:ab75cc72530ff8f223172652cb934628a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the flag representing the validity of the current path. <br /></td></tr>
+<tr class="separator:ab75cc72530ff8f223172652cb934628a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd584a2d54d6cbea457cbd8e19de7000"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">updatePath</a> ()</td></tr>
+<tr class="memdesc:afd584a2d54d6cbea457cbd8e19de7000"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the path.  <a href="#afd584a2d54d6cbea457cbd8e19de7000">More...</a><br /></td></tr>
+<tr class="separator:afd584a2d54d6cbea457cbd8e19de7000"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2747d40d02512484ab75d43057c5c717"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">~ROS_OMPL_Planner</a> ()</td></tr>
+<tr class="memdesc:a2747d40d02512484ab75d43057c5c717"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a2747d40d02512484ab75d43057c5c717">More...</a><br /></td></tr>
+<tr class="separator:a2747d40d02512484ab75d43057c5c717"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a>. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html#l00034">34</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a class="anchor" id="a7e4ac7e895e2a0e22176645442de1da7"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ROS_OMPL_Planner::ROS_OMPL_Planner </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>dimension</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<p>Load planning parameters from configuration file. Create the connection with other ROS nodes. Create the <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> instance. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00010">10</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a2747d40d02512484ab75d43057c5c717"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ROS_OMPL_Planner::~ROS_OMPL_Planner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Destructor. </p>
+<p>Free dynamicly allowed data. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00464">464</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a class="anchor" id="a503ee325bc2843868eec61fff8d1d5d2"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool ROS_OMPL_Planner::findPathToGoal </td>
+          <td>(</td>
+          <td class="paramtype">control_turtlebot::FindPathToGoal::Request &amp;&#160;</td>
+          <td class="paramname"><em>request</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">control_turtlebot::FindPathToGoal::Response &amp;&#160;</td>
+          <td class="paramname"><em>response</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Find a path. </p>
+<p>Find a path from the current position to the goal request. Update the state checker, check the validity of the start/goal state. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00115">115</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="acd06a9b7686928222e2704051d3f0775"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void ROS_OMPL_Planner::PublishPath </td>
+          <td>(</td>
+          <td class="paramtype">control_turtlebot::FindPathToGoal::Response &amp;&#160;</td>
+          <td class="paramname"><em>response</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Publish the resulting path. </p>
+<p>Publish the path on a topic and in response of the request. Display the path. TOPIC : the first state of the path contains the number of states of the path. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00306">306</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a8386dc843601e522ff92fe3f18bc042f"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void ROS_OMPL_Planner::PublishPath </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Publish the resulting path. </p>
+<p>Publish the path on a topic. Display the path. TOPIC : the first state of the path contains the number of states of the path. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00370">370</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="afd584a2d54d6cbea457cbd8e19de7000"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool ROS_OMPL_Planner::updatePath </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update the path. </p>
+<p>Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map. Update the state checker and the obstacle_flag.Check the validity of the start/goal state. Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00435">435</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a1e6871c0ecdbcb3d803f5d7919e1d83a"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void ROS_OMPL_Planner::visualizeRRT </td>
+          <td>(</td>
+          <td class="paramtype">const og::SimpleSetup&#160;</td>
+          <td class="paramname"><em>simple_setup</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Procedure to visualize the resulting path. </p>
+<p>Visualize resulting path. </p>
+
+<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00151">151</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/<a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a></li>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/<a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "~ROS_OMPL_Planner", "class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717", null ],
+    [ "findPathToGoal", "class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2", null ],
+    [ "getObstacleFlag", "class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a", null ],
+    [ "odomCallback", "class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c", null ],
+    [ "PublishPath", "class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775", null ],
+    [ "PublishPath", "class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f", null ],
+    [ "updateMap", "class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf", null ],
+    [ "updatePath", "class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000", null ],
+    [ "visualizeRRT", "class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a", null ]
+];
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
+  $(document).ready(initResizable);
+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
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+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
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+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('class_state_checker.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">StateChecker Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_state_checker.html">StateChecker</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a>(const ob::State *state) const </td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a>(const std::string mapFile)</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>loadMap</b>(octomap::OcTree *octree) (defined in <a class="el" href="class_state_checker.html">StateChecker</a>)</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a>(double x, double y, double z=0.2)</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a>(double depth_limit)</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a>(const ob::SpaceInformationPtr &amp;si)</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">~StateChecker</a>()</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/class_state_checker.html b/Documentation/html/class_state_checker.html
new file mode 100644
index 0000000..36e0d04
--- /dev/null
+++ b/Documentation/html/class_state_checker.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: StateChecker Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+  $(window).load(resizeHeight);
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
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+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
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+          <img id="MSearchSelect" src="search/mag_sel.png"
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+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('class_state_checker.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_state_checker-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">StateChecker Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?).  
+ <a href="class_state_checker.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for StateChecker:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_state_checker__inherit__graph.png" border="0" usemap="#_state_checker_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for StateChecker:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_state_checker__coll__graph.png" border="0" usemap="#_state_checker_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab6848e593de676961143a42df192ab7c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a> (const ob::SpaceInformationPtr &amp;si)</td></tr>
+<tr class="memdesc:ab6848e593de676961143a42df192ab7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#ab6848e593de676961143a42df192ab7c">More...</a><br /></td></tr>
+<tr class="separator:ab6848e593de676961143a42df192ab7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a> (const std::string mapFile)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>loadMap</b> (octomap::OcTree *octree)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a> (double x, double y, double z=0.2)</td></tr>
+<tr class="memdesc:a7fc1bee2971992901eed0517a8fffaa8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the area around every state considered for state checking. <br /></td></tr>
+<tr class="separator:a7fc1bee2971992901eed0517a8fffaa8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a> (double depth_limit)</td></tr>
+<tr class="memdesc:af9db3b2571cf0294c07e81dd2b07eca9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the depth limit (constant for 2D checking)  <a href="#af9db3b2571cf0294c07e81dd2b07eca9">More...</a><br /></td></tr>
+<tr class="separator:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa7454eae37b6fea9743cd26ddee94238"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a> (const ob::State *state) const </td></tr>
+<tr class="memdesc:aa7454eae37b6fea9743cd26ddee94238"><td class="mdescLeft">&#160;</td><td class="mdescRight">State validator.  <a href="#aa7454eae37b6fea9743cd26ddee94238">More...</a><br /></td></tr>
+<tr class="separator:aa7454eae37b6fea9743cd26ddee94238"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abad123b62939fe4e3130cd9a3d0d051f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">~StateChecker</a> ()</td></tr>
+<tr class="memdesc:abad123b62939fe4e3130cd9a3d0d051f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#abad123b62939fe4e3130cd9a3d0d051f">More...</a><br /></td></tr>
+<tr class="separator:abad123b62939fe4e3130cd9a3d0d051f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?). </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8hpp_source.html#l00041">41</a> of file <a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a class="anchor" id="ab6848e593de676961143a42df192ab7c"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">StateChecker::StateChecker </td>
+          <td>(</td>
+          <td class="paramtype">const ob::SpaceInformationPtr &amp;&#160;</td>
+          <td class="paramname"><em>si</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<p>Call the StateValidityChecker constructor from OMPL library and set checking dimension. </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00011">11</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="abad123b62939fe4e3130cd9a3d0d051f"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">StateChecker::~StateChecker </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Destructor. </p>
+<p>Free dynamicly allowed data. </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00016">16</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a class="anchor" id="aa7454eae37b6fea9743cd26ddee94238"></a>
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StateChecker::isValid </td>
+          <td>(</td>
+          <td class="paramtype">const ob::State *&#160;</td>
+          <td class="paramname"><em>state</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>State validator. </p>
+<p>Function that verifies if the given state is valid (i.e. is free of collision) using FCL. </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00064">64</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="af9db3b2571cf0294c07e81dd2b07eca9"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void StateChecker::setDepthLimit </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>depth_limit</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set the depth limit (constant for 2D checking) </p>
+<p>Set the lowest altitude for checking (constant depth for 2D checking). Used to prevent unwanted invalid state (Issue with the ground in Octomap) </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00059">59</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a></li>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_state_checker.html">StateChecker</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/class_state_checker.js b/Documentation/html/class_state_checker.js
new file mode 100644
index 0000000..7b82ace
--- /dev/null
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@@ -0,0 +1,10 @@
+var class_state_checker =
+[
+    [ "StateChecker", "class_state_checker.html#ab6848e593de676961143a42df192ab7c", null ],
+    [ "~StateChecker", "class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f", null ],
+    [ "isValid", "class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238", null ],
+    [ "loadMap", "class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea", null ],
+    [ "loadMap", "class_state_checker.html#aca03069f9a0bd28ba7a2bf299cb9d3e6", null ],
+    [ "setCollisionMask", "class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8", null ],
+    [ "setDepthLimit", "class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9", null ]
+];
\ No newline at end of file
diff --git a/Documentation/html/class_state_checker__coll__graph.map b/Documentation/html/class_state_checker__coll__graph.map
new file mode 100644
index 0000000..f5c0ef3
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+++ b/Documentation/html/class_state_checker__coll__graph.map
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new file mode 100644
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index 0000000..f5c0ef3
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+++ b/Documentation/html/class_state_checker__inherit__graph.map
@@ -0,0 +1,2 @@
+<map id="StateChecker" name="StateChecker">
+</map>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
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+<script type="text/javascript">
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
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+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+    <div id="nav-tree-contents">
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+       class="ui-resizable-handle">
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+<script type="text/javascript">
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+</script>
+<div id="doc-content">
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+<div id="MSearchSelectWindow"
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+<iframe src="javascript:void(0)" frameborder="0" 
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+<div class="header">
+  <div class="headertitle">
+<div class="title">controller_quadrotor.Controller Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>__init__</b>(self) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>calculateControlInput</b>(self, req) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>control_input_pub_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>current_orientation_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>current_position_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>desired_orientation_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>desired_position_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>find_path_to_goal_serv_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>odomCallback</b>(self, odometry_msg) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>odometry_sub_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>serv_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<title>OMPL Plannification: controller_quadrotor.Controller Class Reference</title>
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diff --git a/Documentation/html/classcontroller__turtlebot_1_1_controller-members.html b/Documentation/html/classcontroller__turtlebot_1_1_controller-members.html
new file mode 100644
index 0000000..fcaee63
--- /dev/null
+++ b/Documentation/html/classcontroller__turtlebot_1_1_controller-members.html
@@ -0,0 +1,138 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
+  $(document).ready(initResizable);
+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
+          </span>
+        </div>
+      </li>
+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('classcontroller__turtlebot_1_1_controller.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">controller_turtlebot.Controller Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>__init__</b>(self) (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>calculateControlInput</b>(self, req) (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>control_input_pub_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>current_orientation_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>current_position_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>desired_orientation_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>desired_position_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>find_path_to_goal_serv_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>odomCallback</b>(self, odometry_msg) (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>odometry_sub_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>serv_</b> (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/classcontroller__turtlebot_1_1_controller.html b/Documentation/html/classcontroller__turtlebot_1_1_controller.html
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+<div class="title">controller_quadrotor.py</div>  </div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">#!/usr/bin/env python</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"># ROS imports</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="keyword">import</span> roslib; roslib.load_manifest(<span class="stringliteral">&#39;control_turtlebot&#39;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">import</span> rospy</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">import</span> tf</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">import</span> math</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">#ROS messages</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">from</span> geometry_msgs.msg <span class="keyword">import</span> Twist</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">from</span> nav_msgs.msg <span class="keyword">import</span> Odometry</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">from</span> control_turtlebot.srv <span class="keyword">import</span> GotoWaypoint, GotoWaypointResponse, FindPathToGoal, FindPathToGoalResponse, FindPathToGoalRequest</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">#Numpy</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">import</span> numpy <span class="keyword">as</span> np</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classcontroller__quadrotor_1_1_controller.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcontroller__quadrotor_1_1_controller.html">Controller</a>(object):</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">def </span>__init__(self):</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a0ec3e8972ee4f5b89280e641f4225462">odometry_sub_</a> = rospy.Subscriber(<span class="stringliteral">&quot;/ground_truth/state&quot;</span>, Odometry, self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a62d58ec161deafcdc5a047dccefd5704">odomCallback</a>, queue_size = 1)</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#adc8b42d7259128b78881acda3115e3e8">control_input_pub_</a> = rospy.Publisher(<span class="stringliteral">&quot;/cmd_vel&quot;</span>, Twist, queue_size = 1)</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        </div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a3bd6ac9c2af10b852ba1689fa4017220">serv_</a> = rospy.Service(<span class="stringliteral">&#39;/controller_turtlebot/goto&#39;</span>, </div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                                  GotoWaypoint, </div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                                  self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac8bc2e178fc4d10cbf428c96718c207d">calculateControlInput</a>)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        </div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a> = np.zeros(3)</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a6f0119ecb45333a44c85e3342623565a">current_orientation_</a> = 0.0</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        </div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a> = np.zeros(3)</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a2ad92e83d7e173798eea5c18f1d2cae2">desired_orientation_</a> = 0.0</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        </div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        </div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        rospy.wait_for_service(<span class="stringliteral">&#39;/controller_turtlebot/find_path_to_goal&#39;</span>)</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keywordflow">try</span>:</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;            self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#af37f521c7b8f389dabaea148a647b525">find_path_to_goal_serv_</a> = rospy.ServiceProxy(<span class="stringliteral">&#39;/controller_turtlebot/find_path_to_goal&#39;</span>, FindPathToGoal)</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keywordflow">except</span> rospy.ServiceException, e:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            <span class="keywordflow">print</span> <span class="stringliteral">&quot;Service call failed: %s&quot;</span>%e</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        </div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keywordflow">return</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    </div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">def </span>calculateControlInput(self, req):</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        planner_request = FindPathToGoalRequest()</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        planner_request.new_goal = <span class="keyword">True</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        planner_request.goal_state_x = req.goal_state_x</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        planner_request.goal_state_y = req.goal_state_y</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        planner_request.goal_state_z = req.goal_state_z</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        </div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        planner_response = self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#af37f521c7b8f389dabaea148a647b525">find_path_to_goal_serv_</a>(planner_request)</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordflow">for</span> pose <span class="keywordflow">in</span> planner_response.poses:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <span class="keywordflow">print</span> pose</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            control_input = Twist()</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[0] = pose.position.x</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[1] = pose.position.y</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[2] = pose.position.z</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            </div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            loop_rate = rospy.Rate(100) <span class="comment"># 10Hz</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            orientation_approach = <span class="keyword">False</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            <span class="keywordflow">while</span> <span class="keywordflow">not</span> rospy.is_shutdown():</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                inc_x = self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[0] - self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[0]</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                inc_y = self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[1] - self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[1]</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                inc_z = self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[2] - self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[2]</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                </div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a2ad92e83d7e173798eea5c18f1d2cae2">desired_orientation_</a> = wrapAngle(math.atan2(inc_y, inc_x))</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                yaw_error = wrapAngle(self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a2ad92e83d7e173798eea5c18f1d2cae2">desired_orientation_</a> - self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a6f0119ecb45333a44c85e3342623565a">current_orientation_</a>)</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                distance_to_goal = math.sqrt(math.pow(inc_x, 2.0) + math.pow(inc_y, 2.0))</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                </div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                <span class="keywordflow">if</span> abs(yaw_error) &gt; 0.04 <span class="keywordflow">and</span> <span class="keywordflow">not</span> orientation_approach:</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                    control_input.angular.x = 0.0</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                    control_input.angular.y = 0.0</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                    control_input.angular.z = yaw_error * 1.0</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                </div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                    control_input.linear.x = 0.0</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                    control_input.linear.y = 0.0</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                    control_input.linear.z = 0.0</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                <span class="keywordflow">else</span>:</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                    control_input.angular.x = 0.0</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                    control_input.angular.y = 0.0</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                    control_input.angular.z = 0.0</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                    </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                    orientation_approach = <span class="keyword">True</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                    liner_speed = abs(distance_to_goal) * 0.5</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                    altitude_speed = inc_z * 0.5</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                    </div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                    <span class="keywordflow">if</span> liner_speed &lt; 0.1:</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                        control_input.linear.x = 0.1</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                    <span class="keywordflow">elif</span> liner_speed &gt; 0.2:</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                        control_input.linear.x = 0.2</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                    <span class="keywordflow">else</span> :</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                        control_input.linear.x = liner_speed</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                    <span class="keywordflow">if</span> abs(altitude_speed) &lt; 0.1:</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                        <span class="keywordflow">if</span> altitude_speed ==0 :</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                            control_input.linear.z = 0</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                        <span class="keywordflow">elif</span> altitude_speed &gt; 0 :</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                            control_input.linear.z = 0.1</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                        <span class="keywordflow">else</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                            control_input.linear.z = -0.1</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                    <span class="keywordflow">elif</span> abs(altitude_speed) &gt; 0.2:</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                        <span class="keywordflow">if</span> altitude_speed &gt; 0 :</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                            control_input.linear.z = 0.2</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                        <span class="keywordflow">else</span>:</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                            control_input.linear.z = - 0.2</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                    <span class="keywordflow">else</span>:</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                        control_input.linear.z = altitude_speed</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                    control_input.linear.y = 0.0</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                    </div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                    </div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                self.control_input_pub_.publish(control_input)</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                </div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: current position: [%f, %f]\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[0], self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[1])</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: desired position: [%f, %f]\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[0], self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">desired_position_</a>[1])</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: yaw_error: %f\n&quot;</span>, rospy.get_name(), yaw_error)</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: current orientation: %f\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a6f0119ecb45333a44c85e3342623565a">current_orientation_</a>)</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: desired orientation: %f\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a2ad92e83d7e173798eea5c18f1d2cae2">desired_orientation_</a>)</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: distance_to_goal: %f\n&quot;</span>, rospy.get_name(), distance_to_goal)</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: control_input.linear.x %f\n&quot;</span>, rospy.get_name(), control_input.linear.x)</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: control_input.angular.z %f\n&quot;</span>, rospy.get_name(), control_input.angular.z)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                </div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                <span class="keywordflow">if</span> distance_to_goal &lt;= 0.2:</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                    <span class="keywordflow">break</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                loop_rate.sleep()</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        </div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">return</span> GotoWaypointResponse()</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">def </span>odomCallback(self, odometry_msg):</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[0] = odometry_msg.pose.pose.position.x</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[1] = odometry_msg.pose.pose.position.y</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">current_position_</a>[2] = odometry_msg.pose.pose.position.z</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        (r, p, y) = tf.transformations.euler_from_quaternion([odometry_msg.pose.pose.orientation.x, odometry_msg.pose.pose.orientation.y, odometry_msg.pose.pose.orientation.z, odometry_msg.pose.pose.orientation.w])</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        self.<a class="code" href="classcontroller__quadrotor_1_1_controller.html#a6f0119ecb45333a44c85e3342623565a">current_orientation_</a> = wrapAngle(y)</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">return</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">def </span>wrapAngle(angle):</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;wrapAngle</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="stringliteral">    </span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="stringliteral">    Calculates angles values between 0 and 2pi&quot;&quot;&quot;</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">return</span> (angle + ( 2.0 * math.pi * math.floor( ( math.pi - angle ) / ( 2.0 * math.pi ) ) ) )</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keywordflow">if</span> __name__ == <span class="stringliteral">&#39;__main__&#39;</span>:</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    rospy.init_node(<span class="stringliteral">&#39;control_quadrotor&#39;</span>, log_level=rospy.INFO)</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    rospy.loginfo(<span class="stringliteral">&quot;%s: starting quadrotor controller&quot;</span>, rospy.get_name())</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    controller = <a class="code" href="classcontroller__quadrotor_1_1_controller.html">Controller</a>()</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    rospy.spin()</div><div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_ac8bc2e178fc4d10cbf428c96718c207d"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#ac8bc2e178fc4d10cbf428c96718c207d">controller_quadrotor.Controller.calculateControlInput</a></div><div class="ttdeci">def calculateControlInput(self, req)</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00042">controller_quadrotor.py:42</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a2ad92e83d7e173798eea5c18f1d2cae2"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a2ad92e83d7e173798eea5c18f1d2cae2">controller_quadrotor.Controller.desired_orientation_</a></div><div class="ttdeci">desired_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00031">controller_quadrotor.py:31</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_adc8b42d7259128b78881acda3115e3e8"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#adc8b42d7259128b78881acda3115e3e8">controller_quadrotor.Controller.control_input_pub_</a></div><div class="ttdeci">control_input_pub_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00021">controller_quadrotor.py:21</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00017">controller_quadrotor.py:17</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a3bd6ac9c2af10b852ba1689fa4017220"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a3bd6ac9c2af10b852ba1689fa4017220">controller_quadrotor.Controller.serv_</a></div><div class="ttdeci">serv_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00023">controller_quadrotor.py:23</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a0ec3e8972ee4f5b89280e641f4225462"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a0ec3e8972ee4f5b89280e641f4225462">controller_quadrotor.Controller.odometry_sub_</a></div><div class="ttdeci">odometry_sub_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00020">controller_quadrotor.py:20</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a38abbce68e678d0b90a6356557d82738"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a38abbce68e678d0b90a6356557d82738">controller_quadrotor.Controller.current_position_</a></div><div class="ttdeci">current_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00027">controller_quadrotor.py:27</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a62d58ec161deafcdc5a047dccefd5704"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a62d58ec161deafcdc5a047dccefd5704">controller_quadrotor.Controller.odomCallback</a></div><div class="ttdeci">def odomCallback(self, odometry_msg)</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00130">controller_quadrotor.py:130</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_a6f0119ecb45333a44c85e3342623565a"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#a6f0119ecb45333a44c85e3342623565a">controller_quadrotor.Controller.current_orientation_</a></div><div class="ttdeci">current_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00028">controller_quadrotor.py:28</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_af37f521c7b8f389dabaea148a647b525"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#af37f521c7b8f389dabaea148a647b525">controller_quadrotor.Controller.find_path_to_goal_serv_</a></div><div class="ttdeci">find_path_to_goal_serv_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00036">controller_quadrotor.py:36</a></div></div>
+<div class="ttc" id="classcontroller__quadrotor_1_1_controller_html_ac538fae52d472b815a3e33d9562c01d9"><div class="ttname"><a href="classcontroller__quadrotor_1_1_controller.html#ac538fae52d472b815a3e33d9562c01d9">controller_quadrotor.Controller.desired_position_</a></div><div class="ttdeci">desired_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__quadrotor_8py_source.html#l00030">controller_quadrotor.py:30</a></div></div>
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+<div class="title">controller_turtlebot.py</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">#!/usr/bin/env python</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"># ROS imports</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="keyword">import</span> roslib; roslib.load_manifest(<span class="stringliteral">&#39;control_turtlebot&#39;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">import</span> rospy</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">import</span> tf</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">import</span> math</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">#ROS messages</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">from</span> geometry_msgs.msg <span class="keyword">import</span> Twist</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">from</span> nav_msgs.msg <span class="keyword">import</span> Odometry</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">from</span> control_turtlebot.srv <span class="keyword">import</span> GotoWaypoint, GotoWaypointResponse, FindPathToGoal, FindPathToGoalResponse, FindPathToGoalRequest</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">#Numpy</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">import</span> numpy <span class="keyword">as</span> np</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classcontroller__turtlebot_1_1_controller.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcontroller__turtlebot_1_1_controller.html">Controller</a>(object):</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">def </span>__init__(self):</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a9e702405a4656f2c92c1f97a6eaf1d3a">odometry_sub_</a> = rospy.Subscriber(<span class="stringliteral">&quot;/odom&quot;</span>, Odometry, self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a9522fd0d11ee80005358d87b4ff21abf">odomCallback</a>, queue_size = 1)</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#ab12ce083c79ed96b9b88be1512151f8a">control_input_pub_</a> = rospy.Publisher(<span class="stringliteral">&quot;/mobile_base/commands/velocity&quot;</span>, Twist, queue_size = 1)</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        </div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a681d2bac83a17a99f39b9373d68cbd5a">serv_</a> = rospy.Service(<span class="stringliteral">&#39;/controller_turtlebot/goto&#39;</span>, </div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                                  GotoWaypoint, </div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                                  self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#ac9457ad2cf1576f835254b43bc9d54bb">calculateControlInput</a>)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        </div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a> = np.zeros(2)</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">current_orientation_</a> = 0.0</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        </div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a> = np.zeros(2)</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">desired_orientation_</a> = 0.0</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        </div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        </div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        rospy.wait_for_service(<span class="stringliteral">&#39;/controller_turtlebot/find_path_to_goal&#39;</span>)</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keywordflow">try</span>:</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;            self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#ae68c08350d90bdf8ab82a58b9ab2c532">find_path_to_goal_serv_</a> = rospy.ServiceProxy(<span class="stringliteral">&#39;/controller_turtlebot/find_path_to_goal&#39;</span>, FindPathToGoal)</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keywordflow">except</span> rospy.ServiceException, e:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            <span class="keywordflow">print</span> <span class="stringliteral">&quot;Service call failed: %s&quot;</span>%e</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        </div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keywordflow">return</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    </div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">def </span>calculateControlInput(self, req):</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        planner_request = FindPathToGoalRequest()</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        planner_request.goal_state_x = req.goal_state_x</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        planner_request.goal_state_y = req.goal_state_y</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="comment">#planner_request.goal_state_z = req.goal_state_z</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        planner_response = self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#ae68c08350d90bdf8ab82a58b9ab2c532">find_path_to_goal_serv_</a>(planner_request)</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        </div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">for</span> pose <span class="keywordflow">in</span> planner_response.poses:</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            <span class="comment">#print pose</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            control_input = Twist()</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[0] = pose.position.x</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[1] = pose.position.y</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            <span class="comment">#self.desired_position_[2] = pose.position.z</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            </div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            loop_rate = rospy.Rate(100) <span class="comment"># 10Hz</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            orientation_approach = <span class="keyword">False</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="keywordflow">while</span> <span class="keywordflow">not</span> rospy.is_shutdown():</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                inc_x = self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[0] - self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[0]</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                inc_y = self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[1] - self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[1]</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">desired_orientation_</a> = wrapAngle(math.atan2(inc_y, inc_x))</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                yaw_error = wrapAngle(self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">desired_orientation_</a> - self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">current_orientation_</a>)</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                distance_to_goal = math.sqrt(math.pow(inc_x, 2.0) + math.pow(inc_y, 2.0))</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                </div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                <span class="keywordflow">if</span> abs(yaw_error) &gt; 0.04 <span class="keywordflow">and</span> <span class="keywordflow">not</span> orientation_approach:</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                    control_input.angular.x = 0.0</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                    control_input.angular.y = 0.0</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                    control_input.angular.z = yaw_error * 1.0</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                </div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                    control_input.linear.x = 0.08</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                    control_input.linear.y = 0.0</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                    control_input.linear.z = 0.0</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <span class="keywordflow">else</span>:</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                    control_input.angular.x = 0.0</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                    control_input.angular.y = 0.0</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                    control_input.angular.z = 0.0</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                    </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                    orientation_approach = <span class="keyword">True</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                    liner_speed = abs(distance_to_goal) * 0.5</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                    </div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                    <span class="keywordflow">if</span> liner_speed &lt; 0.1:</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                        control_input.linear.x = 0.1</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                    <span class="keywordflow">elif</span> liner_speed &gt; 0.2:</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                        control_input.linear.x = 0.2</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                    <span class="keywordflow">else</span>:</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                        control_input.linear.x = liner_speed</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                    </div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                    control_input.linear.y = 0.0</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                    control_input.linear.z = 0.0</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                    </div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                self.control_input_pub_.publish(control_input)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                </div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: current position: [%f, %f]\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[0], self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[1])</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: desired position: [%f, %f]\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[0], self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">desired_position_</a>[1])</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: yaw_error: %f\n&quot;</span>, rospy.get_name(), yaw_error)</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: current orientation: %f\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">current_orientation_</a>)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: desired orientation: %f\n&quot;</span>, rospy.get_name(), self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">desired_orientation_</a>)</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: distance_to_goal: %f\n&quot;</span>, rospy.get_name(), distance_to_goal)</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: control_input.linear.x %f\n&quot;</span>, rospy.get_name(), control_input.linear.x)</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                rospy.logdebug(<span class="stringliteral">&quot;%s: control_input.angular.z %f\n&quot;</span>, rospy.get_name(), control_input.angular.z)</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                </div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                <span class="keywordflow">if</span> distance_to_goal &lt;= 0.2:</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                    <span class="keywordflow">break</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                loop_rate.sleep()</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">return</span> GotoWaypointResponse()</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">def </span>odomCallback(self, odometry_msg):</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[0] = odometry_msg.pose.pose.position.x</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">current_position_</a>[1] = odometry_msg.pose.pose.position.y</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        (r, p, y) = tf.transformations.euler_from_quaternion([odometry_msg.pose.pose.orientation.x, odometry_msg.pose.pose.orientation.y, odometry_msg.pose.pose.orientation.z, odometry_msg.pose.pose.orientation.w])</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">current_orientation_</a> = wrapAngle(y)</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">return</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="keyword">def </span>wrapAngle(angle):</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;wrapAngle</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="stringliteral">    </span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="stringliteral">    Calculates angles values between 0 and 2pi&quot;&quot;&quot;</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; 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   rospy.spin()</div><div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a9e702405a4656f2c92c1f97a6eaf1d3a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a9e702405a4656f2c92c1f97a6eaf1d3a">controller_turtlebot.Controller.odometry_sub_</a></div><div class="ttdeci">odometry_sub_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00020">controller_turtlebot.py:20</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a754aa2cb96df9af354b261018c2cf522"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">controller_turtlebot.Controller.desired_orientation_</a></div><div class="ttdeci">desired_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00031">controller_turtlebot.py:31</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a31c05f384a06d2e7944fb2a22a55ce43"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">controller_turtlebot.Controller.desired_position_</a></div><div class="ttdeci">desired_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00030">controller_turtlebot.py:30</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_ac9457ad2cf1576f835254b43bc9d54bb"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#ac9457ad2cf1576f835254b43bc9d54bb">controller_turtlebot.Controller.calculateControlInput</a></div><div class="ttdeci">def calculateControlInput(self, req)</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00042">controller_turtlebot.py:42</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00017">controller_turtlebot.py:17</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_aafc74f6b296182f2e746168cf818caab"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">controller_turtlebot.Controller.current_position_</a></div><div class="ttdeci">current_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00027">controller_turtlebot.py:27</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a681d2bac83a17a99f39b9373d68cbd5a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a681d2bac83a17a99f39b9373d68cbd5a">controller_turtlebot.Controller.serv_</a></div><div class="ttdeci">serv_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00023">controller_turtlebot.py:23</a></div></div>
+<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a73aee3d84665839e3c25bd8e1406d39a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">controller_turtlebot.Controller.current_orientation_</a></div><div class="ttdeci">current_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00028">controller_turtlebot.py:28</a></div></div>
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+<div class="title">OMPL_Planner Directory Reference</div>  </div>
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+a.code, a.code:visited, a.line, a.line:visited {
+	color: #4665A2; 
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: #4665A2; 
+}
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+pre.fragment {
+        border: 1px solid #C4CFE5;
+        background-color: #FBFCFD;
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: monospace, fixed;
+        font-size: 105%;
+}
+
+div.fragment {
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+	background-color: #FBFCFD;
+	border: 1px solid #C4CFE5;
+}
+
+div.line {
+	font-family: monospace, fixed;
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.0;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: cyan;
+	box-shadow: 0 0 10px cyan;
+}
+
+
+span.lineno {
+	padding-right: 4px;
+	text-align: right;
+	border-right: 2px solid #0F0;
+	background-color: #E8E8E8;
+        white-space: pre;
+}
+span.lineno a {
+	background-color: #D8D8D8;
+}
+
+span.lineno a:hover {
+	background-color: #C8C8C8;
+}
+
+div.ah, span.ah {
+	background-color: black;
+	font-weight: bold;
+	color: #ffffff;
+	margin-bottom: 3px;
+	margin-top: 3px;
+	padding: 0.2em;
+	border: solid thin #333;
+	border-radius: 0.5em;
+	-webkit-border-radius: .5em;
+	-moz-border-radius: .5em;
+	box-shadow: 2px 2px 3px #999;
+	-webkit-box-shadow: 2px 2px 3px #999;
+	-moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+	background-image: -webkit-gradient(linear, left top, left bottom, from(#eee), to(#000),color-stop(0.3, #444));
+	background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000 110%);
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	background-color: white;
+	color: black;
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+td.indexkey {
+	background-color: #EBEFF6;
+	font-weight: bold;
+	border: 1px solid #C4CFE5;
+	margin: 2px 0px 2px 0;
+	padding: 2px 10px;
+        white-space: nowrap;
+        vertical-align: top;
+}
+
+td.indexvalue {
+	background-color: #EBEFF6;
+	border: 1px solid #C4CFE5;
+	padding: 2px 10px;
+	margin: 2px 0px;
+}
+
+tr.memlist {
+	background-color: #EEF1F7;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
+	color: #e08000
+}
+
+span.comment {
+	color: #800000
+}
+
+span.preprocessor {
+	color: #806020
+}
+
+span.stringliteral {
+	color: #002080
+}
+
+span.charliteral {
+	color: #008080
+}
+
+span.vhdldigit { 
+	color: #ff00ff 
+}
+
+span.vhdlchar { 
+	color: #000000 
+}
+
+span.vhdlkeyword { 
+	color: #700070 
+}
+
+span.vhdllogic { 
+	color: #ff0000 
+}
+
+blockquote {
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+/*
+.search {
+	color: #003399;
+	font-weight: bold;
+}
+
+form.search {
+	margin-bottom: 0px;
+	margin-top: 0px;
+}
+
+input.search {
+	font-size: 75%;
+	color: #000080;
+	font-weight: normal;
+	background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+	background: #EBEFF6;
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: #F9FAFC;
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: #555;
+}
+
+.memSeparator {
+        border-bottom: 1px solid #DEE4F0;
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: #4665A2;
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtemplate {
+	font-size: 80%;
+	color: #4665A2;
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+        font-weight: bold;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        -moz-border-radius-topleft: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+        -webkit-border-top-left-radius: 4px;
+
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+dl
+{
+        padding: 0 0 0 10px;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug */
+dl.section
+{
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #D0C000;
+}
+
+dl.warning, dl.attention
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00D000;
+}
+
+dl.deprecated
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #505050;
+}
+
+dl.todo
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00C0E0;
+}
+
+dl.test
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #3030E0;
+}
+
+dl.bug
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+div.zoom
+{
+	border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+}
+
+dl.citelist dd {
+        margin:2px 0;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	white-space: nowrap;
+	background-color: white;
+	border: 1px solid gray;
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: 1px 1px 7px gray;
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: grey;
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: #006318;
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font: 12px/16px Roboto,sans-serif;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: #ffffff;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before {
+	border-top-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: #ffffff;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: #ffffff;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: #808080;
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: #ffffff;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: #808080;
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
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diff --git a/Documentation/html/dynsections.js b/Documentation/html/dynsections.js
new file mode 100644
index 0000000..1e6bf07
--- /dev/null
+++ b/Documentation/html/dynsections.js
@@ -0,0 +1,104 @@
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
+ var content = $('#'+base+'-content');
+ var trigger = $('#'+base+'-trigger');
+ var src=$(trigger).attr('src');
+ if (content.is(':visible')===true) {
+   content.hide();
+   summary.show();
+   $(linkObj).addClass('closed').removeClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+ } else {
+   content.show();
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+   <div id="projectname">OMPL Plannification
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diff --git a/Documentation/html/functions.html b/Documentation/html/functions.html
new file mode 100644
index 0000000..61a0a73
--- /dev/null
+++ b/Documentation/html/functions.html
@@ -0,0 +1,276 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
+  $(document).ready(initResizable);
+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
+          </span>
+        </div>
+      </li>
+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li class="current"><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+  <div id="navrow3" class="tabs2">
+    <ul class="tablist">
+      <li class="current"><a href="functions.html"><span>All</span></a></li>
+      <li><a href="functions_func.html"><span>Functions</span></a></li>
+    </ul>
+  </div>
+  <div id="navrow4" class="tabs3">
+    <ul class="tablist">
+      <li><a href="#index_c"><span>c</span></a></li>
+      <li><a href="#index_f"><span>f</span></a></li>
+      <li><a href="#index_g"><span>g</span></a></li>
+      <li><a href="#index_i"><span>i</span></a></li>
+      <li><a href="#index_l"><span>l</span></a></li>
+      <li><a href="#index_o"><span>o</span></a></li>
+      <li><a href="#index_p"><span>p</span></a></li>
+      <li><a href="#index_r"><span>r</span></a></li>
+      <li><a href="#index_s"><span>s</span></a></li>
+      <li><a href="#index_u"><span>u</span></a></li>
+      <li><a href="#index_v"><span>v</span></a></li>
+      <li class="current"><a href="#index_0x7e"><span>~</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('functions.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
+<li>checkPath()
+: <a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_f"></a>- f -</h3><ul>
+<li>findPath()
+: <a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner</a>
+</li>
+<li>findPathToGoal()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
+<li>getObstacleFlag()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">ROS_OMPL_Planner</a>
+</li>
+<li>getPath()
+: <a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner</a>
+</li>
+<li>getSimpleSetup()
+: <a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
+<li>isValid()
+: <a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner</a>
+, <a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_l"></a>- l -</h3><ul>
+<li>LaserScanToPointCloud()
+: <a class="el" href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">LaserScanToPointCloud</a>
+</li>
+<li>loadMap()
+: <a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_o"></a>- o -</h3><ul>
+<li>odomCallback()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner</a>
+</li>
+<li>OMPL_Planner()
+: <a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
+<li>PublishPath()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
+<li>ROS_OMPL_Planner()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
+<li>setCollisionMask()
+: <a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker</a>
+</li>
+<li>setDepthLimit()
+: <a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker</a>
+</li>
+<li>setPlanner()
+: <a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner</a>
+</li>
+<li>setPlanningBounds()
+: <a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner</a>
+</li>
+<li>setPlanningDepth()
+: <a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner</a>
+</li>
+<li>setStartGoal()
+: <a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner</a>
+</li>
+<li>setStateChecker()
+: <a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner</a>
+</li>
+<li>StateChecker()
+: <a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_u"></a>- u -</h3><ul>
+<li>updateMap()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">ROS_OMPL_Planner</a>
+</li>
+<li>updatePath()
+: <a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner</a>
+, <a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">ROS_OMPL_Planner</a>
+</li>
+<li>updateStateChecker()
+: <a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
+<li>visualizeRRT()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_0x7e"></a>- ~ -</h3><ul>
+<li>~OMPL_Planner()
+: <a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">OMPL_Planner</a>
+</li>
+<li>~ROS_OMPL_Planner()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">ROS_OMPL_Planner</a>
+</li>
+<li>~StateChecker()
+: <a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/functions_func.html b/Documentation/html/functions_func.html
new file mode 100644
index 0000000..3bc1676
--- /dev/null
+++ b/Documentation/html/functions_func.html
@@ -0,0 +1,276 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
+  $(document).ready(initResizable);
+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
+          </span>
+        </div>
+      </li>
+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li class="current"><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+  <div id="navrow3" class="tabs2">
+    <ul class="tablist">
+      <li><a href="functions.html"><span>All</span></a></li>
+      <li class="current"><a href="functions_func.html"><span>Functions</span></a></li>
+    </ul>
+  </div>
+  <div id="navrow4" class="tabs3">
+    <ul class="tablist">
+      <li><a href="#index_c"><span>c</span></a></li>
+      <li><a href="#index_f"><span>f</span></a></li>
+      <li><a href="#index_g"><span>g</span></a></li>
+      <li><a href="#index_i"><span>i</span></a></li>
+      <li><a href="#index_l"><span>l</span></a></li>
+      <li><a href="#index_o"><span>o</span></a></li>
+      <li><a href="#index_p"><span>p</span></a></li>
+      <li><a href="#index_r"><span>r</span></a></li>
+      <li><a href="#index_s"><span>s</span></a></li>
+      <li><a href="#index_u"><span>u</span></a></li>
+      <li><a href="#index_v"><span>v</span></a></li>
+      <li class="current"><a href="#index_0x7e"><span>~</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('functions_func.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
+<li>checkPath()
+: <a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_f"></a>- f -</h3><ul>
+<li>findPath()
+: <a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">OMPL_Planner</a>
+</li>
+<li>findPathToGoal()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
+<li>getObstacleFlag()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">ROS_OMPL_Planner</a>
+</li>
+<li>getPath()
+: <a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">OMPL_Planner</a>
+</li>
+<li>getSimpleSetup()
+: <a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
+<li>isValid()
+: <a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">OMPL_Planner</a>
+, <a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_l"></a>- l -</h3><ul>
+<li>LaserScanToPointCloud()
+: <a class="el" href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">LaserScanToPointCloud</a>
+</li>
+<li>loadMap()
+: <a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_o"></a>- o -</h3><ul>
+<li>odomCallback()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">ROS_OMPL_Planner</a>
+</li>
+<li>OMPL_Planner()
+: <a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
+<li>PublishPath()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
+<li>ROS_OMPL_Planner()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
+<li>setCollisionMask()
+: <a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker</a>
+</li>
+<li>setDepthLimit()
+: <a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker</a>
+</li>
+<li>setPlanner()
+: <a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">OMPL_Planner</a>
+</li>
+<li>setPlanningBounds()
+: <a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">OMPL_Planner</a>
+</li>
+<li>setPlanningDepth()
+: <a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">OMPL_Planner</a>
+</li>
+<li>setStartGoal()
+: <a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">OMPL_Planner</a>
+</li>
+<li>setStateChecker()
+: <a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">OMPL_Planner</a>
+</li>
+<li>StateChecker()
+: <a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_u"></a>- u -</h3><ul>
+<li>updateMap()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">ROS_OMPL_Planner</a>
+</li>
+<li>updatePath()
+: <a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">OMPL_Planner</a>
+, <a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">ROS_OMPL_Planner</a>
+</li>
+<li>updateStateChecker()
+: <a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
+<li>visualizeRRT()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">ROS_OMPL_Planner</a>
+</li>
+</ul>
+
+
+<h3><a class="anchor" id="index_0x7e"></a>- ~ -</h3><ul>
+<li>~OMPL_Planner()
+: <a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">OMPL_Planner</a>
+</li>
+<li>~ROS_OMPL_Planner()
+: <a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">ROS_OMPL_Planner</a>
+</li>
+<li>~StateChecker()
+: <a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/graph_legend.html b/Documentation/html/graph_legend.html
new file mode 100644
index 0000000..1d2fc19
--- /dev/null
+++ b/Documentation/html/graph_legend.html
@@ -0,0 +1,145 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>OMPL Plannification: Graph Legend</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript">
+  $(document).ready(initResizable);
+  $(window).load(resizeHeight);
+</script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
+          </span>
+        </div>
+      </li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+$(document).ready(function(){initNavTree('graph_legend.html','');});
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">Graph Legend</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;/*! Invisible class because of truncation */</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;class Invisible { };</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;/*! Truncated class, inheritance relation is hidden */</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;class Truncated : public Invisible { };</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;/* Class not documented with doxygen comments */</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;class Undocumented { };</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;/*! Class that is inherited using public inheritance */</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;class PublicBase : public Truncated { };</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;/*! A template class */</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;template&lt;class T&gt; class Templ { };</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;/*! Class that is inherited using protected inheritance */</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;class ProtectedBase { };</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;/*! Class that is inherited using private inheritance */</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;class PrivateBase { };</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;/*! Class that is used by the Inherited class */</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;class Used { };</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;/*! Super class that inherits a number of other classes */</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;class Inherited : public PublicBase,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                  protected ProtectedBase,</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                  private PrivateBase,</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                  public Undocumented,</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                  public Templ&lt;int&gt;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  private:</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    Used *m_usedClass;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;};</div></div><!-- fragment --><p> This will result in the following graph:</p>
+<center><div class="image">
+<img src="graph_legend.png" />
+</div>
+</center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
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+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+A purple dashed arrow is used if a class is contained or used by another class. The arrow is labeled with the variable(s) through which the pointed class or struct is accessible. </li>
+<li>
+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labeled with the template parameters of the instance. </li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
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+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
+   </div>
+   <div id="projectbrief">Path planning with OMPL</div>
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+</table>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Home page </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><h1><a class="anchor" id="intro_sec"></a>
+Introduction</h1>
+<p>This project regroup tools for path planning in 2D or in 3D using OMPL (<a href="http://ompl.kavrakilab.org/index.html">http://ompl.kavrakilab.org/index.html</a>). It also include a ROS implementation for dynamic plannification.</p>
+<p>Work with Ubuntu 14.04 (and ROS Indigo) or with Ubuntu 16.04 (and ROS Kinetic).</p>
+<h1><a class="anchor" id="install_sec"></a>
+Installation</h1>
+<h2><a class="anchor" id="step1"></a>
+Step 1 : Workspace intialization</h2>
+<p>Catkin Workspace : mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace</p>
+<p>cd ~/catkin_ws/ catkin_make</p>
+<p>echo "source ~/catkin_ws/devel/setup.bash" &gt;&gt; ~/.bashrc source ~/.bashrc</p>
+<h2><a class="anchor" id="step2"></a>
+Step 2 : Compilation</h2>
+<p>It's possible to use the Turtlebot or the Hector Quadrotor (ROS Indigo only).</p>
+<h3><a class="anchor" id="ste2a"></a>
+Step 2a : Turtlebot</h3>
+<p>Turtlebot dependencies : </p><pre class="fragment">sudo apt-get install ros-kinetic-turtlebot* ros-kinetic-octomap* ros-kinetic-octovis
+
+ or
+
+ sudo apt-get install ros-indigo-turtlebot* ros-indigo-octomap* ros-indigo-octovis
+</pre><p>Turtlebot install : </p><pre class="fragment">copy "mapping_planning_tutorial" folder (in Source Files directory) to "~/catkin_ws/src".
+
+cd ~/catkin_ws/
+
+catkin_make (mignt need to be performed multiple times if you have error messages with "FindPathToGoal". Warning : it's possible that you won't manage to compile if you don't have enough computation power)
+</pre><h3><a class="anchor" id="ste2b"></a>
+Step 2b : Hector Quadrotor (ROS Indigo only)    WARNING : There might need some modification for the package path to make it work</h3>
+<pre class="fragment">    copy "hector_quadrotor_tutorial" folder (in Source Files directory) to "~/catkin_ws/src".
+</pre><p>Differences with Turtlebot </p><pre class="fragment">    Launch file : start_turtlebot_mapping_planning_control.launch
+
+        "/odom"  ===&gt; "/world"
+
+    &lt;node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" /&gt;  ===&gt; &lt;node pkg="control_turtlebot" type="controller_quadrotor.py" name="controller_quadrotor" respawn="true" output="screen" /&gt;
+</pre><p><a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a> : </p><pre class="fragment">odom_sub_ = _node_hand.subscribe("/odom", 1, &amp;ROS_OMPL_Planner::odomCallback, this); ==&gt;  odom_sub_ = node_handler_.subscribe("/ground_truth/state", 1, &amp;ROS_OMPL_Planner::odomCallback, this);
+
+visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  "/odom"; ===&gt; visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  "/world";
+</pre><h1><a class="anchor" id="run"></a>
+Running</h1>
+<p>You can run HelloWorld program to understand how works <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> alone or you can run the ROS implementation (<a class="el" href="class_r_o_s___o_m_p_l___planner.html" title="ROS implementation class for OMPL_Planner. ">ROS_OMPL_Planner</a>) which will include the ROS implementation, the visual simulation, the Octomap server, etc.</p>
+<h2><a class="anchor" id="runHello"></a>
+Run HelloWorld</h2>
+<pre class="fragment">copy the octomap file (.bt) (in Maps directory) you want to use from the Map folder in the project to "~/catkin_ws/devel/lib/control_turtlebot" folder.
+
+cd ~/catkin_ws/devel/lib/control_turtlebot
+
+run HelloWorld (./HelloWorld)
+</pre><p>Enjoy !</p>
+<h2><a class="anchor" id="runROS"></a>
+Run ROS implementation</h2>
+<pre class="fragment">1st terminal (Gazebo / Rviz / Controller) : 
+
+    Turtlebot :  roslaunch control_turtlebot start_turtlebot_modules.launch
+
+    Quadrotor :  roslaunch hector_quadrotor_demo indoor
+
+    2nd terminal (Octomap / Planning): roslaunch control_turtlebot start_turtlebot_mapping_planning_control.launch
+
+3rd terminal (Planning request) : rosservice call /controller_turtlebot/find_path_to_goal "goal_state_x: 0.0
+                                                                                           goal_state_y: 0.0
+                                                                                           goal_state_z: 0.0"
+                                  rosservice call /controller_turtlebot/goto "goal_state_x: 0.0
+                                                                              goal_state_y: 0.0
+                                                                              goal_state_z: 0.0" 
+</pre><h3><a class="anchor" id="config"></a>
+Configurations files</h3>
+<p>See launch folder for runtime configurations.</p>
+<p>In config folder : planner_parameters.yaml</p>
+<p>Contains all the necessary parameters for a basic use of the planner (planning dimension, collision mask, etc.).</p>
+<p>See also start_turtlebot_mapping_planning_control.launch file and src folder for a deeper understanding of the ROS implementation.</p>
+<h1><a class="anchor" id="todo"></a>
+Todo</h1>
+<p>BUG : Compilation sur certain linux : FindPathToGoal.h pb de génération avec cmake</p>
+<p>Frontier exploration</p>
+<p>Clean the dynmacilly allowed memory (Needed for dynamic check)</p>
+<p>Optimisation :</p>
+<p>prevent creation of too close state (Ex : start = goal is a problem)</p>
+<p>path check : don't check path already done</p>
+<p>Improving sending speed of the octomap </p>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">OMPL Plannification
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+ * Copyright 2011, The Dojo Foundation
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+/*
+ * Sizzle CSS Selector Engine
+ *  Copyright 2011, The Dojo Foundation
+ *  Released under the MIT, BSD, and GPL Licenses.
+ *  More information: http://sizzlejs.com/
+ */
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b.isWindow(e)?e:e.nodeType===9?e.defaultView||e.parentWindow:false}b.each(["Height","Width"],function(bv,e){var bw=e.toLowerCase();b.fn["inner"+e]=function(){var bx=this[0];return bx?bx.style?parseFloat(b.css(bx,bw,"padding")):this[bw]():null};b.fn["outer"+e]=function(by){var bx=this[0];return bx?bx.style?parseFloat(b.css(bx,bw,by?"margin":"border")):this[bw]():null};b.fn[bw]=function(bz){var bA=this[0];if(!bA){return bz==null?null:this}if(b.isFunction(bz)){return this.each(function(bE){var bD=b(this);bD[bw](bz.call(this,bE,bD[bw]()))})}if(b.isWindow(bA)){var bB=bA.document.documentElement["client"+e],bx=bA.document.body;return bA.document.compatMode==="CSS1Compat"&&bB||bx&&bx["client"+e]||bB}else{if(bA.nodeType===9){return Math.max(bA.documentElement["client"+e],bA.body["scroll"+e],bA.documentElement["scroll"+e],bA.body["offset"+e],bA.documentElement["offset"+e])}else{if(bz===L){var bC=b.css(bA,bw),by=parseFloat(bC);return b.isNumeric(by)?by:bC}else{return this.css(bw,typeof bz==="string"?bz:bz+"px")}}}}});bb.jQuery=bb.$=b;if(typeof define==="function"&&define.amd&&define.amd.jQuery){define("jquery",[],function(){return b})}})(window);/*
+ * jQuery UI 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI
+ */
+(function(a,d){a.ui=a.ui||{};if(a.ui.version){return}a.extend(a.ui,{version:"1.8.18",keyCode:{ALT:18,BACKSPACE:8,CAPS_LOCK:20,COMMA:188,COMMAND:91,COMMAND_LEFT:91,COMMAND_RIGHT:93,CONTROL:17,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,INSERT:45,LEFT:37,MENU:93,NUMPAD_ADD:107,NUMPAD_DECIMAL:110,NUMPAD_DIVIDE:111,NUMPAD_ENTER:108,NUMPAD_MULTIPLY:106,NUMPAD_SUBTRACT:109,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SHIFT:16,SPACE:32,TAB:9,UP:38,WINDOWS:91}});a.fn.extend({propAttr:a.fn.prop||a.fn.attr,_focus:a.fn.focus,focus:function(e,f){return typeof e==="number"?this.each(function(){var g=this;setTimeout(function(){a(g).focus();if(f){f.call(g)}},e)}):this._focus.apply(this,arguments)},scrollParent:function(){var e;if((a.browser.msie&&(/(static|relative)/).test(this.css("position")))||(/absolute/).test(this.css("position"))){e=this.parents().filter(function(){return(/(relative|absolute|fixed)/).test(a.curCSS(this,"position",1))&&(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}else{e=this.parents().filter(function(){return(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}return(/fixed/).test(this.css("position"))||!e.length?a(document):e},zIndex:function(h){if(h!==d){return this.css("zIndex",h)}if(this.length){var f=a(this[0]),e,g;while(f.length&&f[0]!==document){e=f.css("position");if(e==="absolute"||e==="relative"||e==="fixed"){g=parseInt(f.css("zIndex"),10);if(!isNaN(g)&&g!==0){return g}}f=f.parent()}}return 0},disableSelection:function(){return this.bind((a.support.selectstart?"selectstart":"mousedown")+".ui-disableSelection",function(e){e.preventDefault()})},enableSelection:function(){return this.unbind(".ui-disableSelection")}});a.each(["Width","Height"],function(g,e){var f=e==="Width"?["Left","Right"]:["Top","Bottom"],h=e.toLowerCase(),k={innerWidth:a.fn.innerWidth,innerHeight:a.fn.innerHeight,outerWidth:a.fn.outerWidth,outerHeight:a.fn.outerHeight};function j(m,l,i,n){a.each(f,function(){l-=parseFloat(a.curCSS(m,"padding"+this,true))||0;if(i){l-=parseFloat(a.curCSS(m,"border"+this+"Width",true))||0}if(n){l-=parseFloat(a.curCSS(m,"margin"+this,true))||0}});return l}a.fn["inner"+e]=function(i){if(i===d){return k["inner"+e].call(this)}return this.each(function(){a(this).css(h,j(this,i)+"px")})};a.fn["outer"+e]=function(i,l){if(typeof i!=="number"){return k["outer"+e].call(this,i)}return this.each(function(){a(this).css(h,j(this,i,true,l)+"px")})}});function c(g,e){var j=g.nodeName.toLowerCase();if("area"===j){var i=g.parentNode,h=i.name,f;if(!g.href||!h||i.nodeName.toLowerCase()!=="map"){return false}f=a("img[usemap=#"+h+"]")[0];return !!f&&b(f)}return(/input|select|textarea|button|object/.test(j)?!g.disabled:"a"==j?g.href||e:e)&&b(g)}function b(e){return !a(e).parents().andSelf().filter(function(){return a.curCSS(this,"visibility")==="hidden"||a.expr.filters.hidden(this)}).length}a.extend(a.expr[":"],{data:function(g,f,e){return !!a.data(g,e[3])},focusable:function(e){return c(e,!isNaN(a.attr(e,"tabindex")))},tabbable:function(g){var e=a.attr(g,"tabindex"),f=isNaN(e);return(f||e>=0)&&c(g,!f)}});a(function(){var e=document.body,f=e.appendChild(f=document.createElement("div"));f.offsetHeight;a.extend(f.style,{minHeight:"100px",height:"auto",padding:0,borderWidth:0});a.support.minHeight=f.offsetHeight===100;a.support.selectstart="onselectstart" in f;e.removeChild(f).style.display="none"});a.extend(a.ui,{plugin:{add:function(f,g,j){var h=a.ui[f].prototype;for(var e in j){h.plugins[e]=h.plugins[e]||[];h.plugins[e].push([g,j[e]])}},call:function(e,g,f){var j=e.plugins[g];if(!j||!e.element[0].parentNode){return}for(var h=0;h<j.length;h++){if(e.options[j[h][0]]){j[h][1].apply(e.element,f)}}}},contains:function(f,e){return document.compareDocumentPosition?f.compareDocumentPosition(e)&16:f!==e&&f.contains(e)},hasScroll:function(h,f){if(a(h).css("overflow")==="hidden"){return false}var e=(f&&f==="left")?"scrollLeft":"scrollTop",g=false;if(h[e]>0){return true}h[e]=1;g=(h[e]>0);h[e]=0;return g},isOverAxis:function(f,e,g){return(f>e)&&(f<(e+g))},isOver:function(j,f,i,h,e,g){return a.ui.isOverAxis(j,i,e)&&a.ui.isOverAxis(f,h,g)}})})(jQuery);/*
+ * jQuery UI Widget 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Widget
+ */
+(function(b,d){if(b.cleanData){var c=b.cleanData;b.cleanData=function(f){for(var g=0,h;(h=f[g])!=null;g++){try{b(h).triggerHandler("remove")}catch(j){}}c(f)}}else{var a=b.fn.remove;b.fn.remove=function(e,f){return this.each(function(){if(!f){if(!e||b.filter(e,[this]).length){b("*",this).add([this]).each(function(){try{b(this).triggerHandler("remove")}catch(g){}})}}return a.call(b(this),e,f)})}}b.widget=function(f,h,e){var g=f.split(".")[0],j;f=f.split(".")[1];j=g+"-"+f;if(!e){e=h;h=b.Widget}b.expr[":"][j]=function(k){return !!b.data(k,f)};b[g]=b[g]||{};b[g][f]=function(k,l){if(arguments.length){this._createWidget(k,l)}};var i=new h();i.options=b.extend(true,{},i.options);b[g][f].prototype=b.extend(true,i,{namespace:g,widgetName:f,widgetEventPrefix:b[g][f].prototype.widgetEventPrefix||f,widgetBaseClass:j},e);b.widget.bridge(f,b[g][f])};b.widget.bridge=function(f,e){b.fn[f]=function(i){var g=typeof i==="string",h=Array.prototype.slice.call(arguments,1),j=this;i=!g&&h.length?b.extend.apply(null,[true,i].concat(h)):i;if(g&&i.charAt(0)==="_"){return j}if(g){this.each(function(){var k=b.data(this,f),l=k&&b.isFunction(k[i])?k[i].apply(k,h):k;if(l!==k&&l!==d){j=l;return false}})}else{this.each(function(){var k=b.data(this,f);if(k){k.option(i||{})._init()}else{b.data(this,f,new e(i,this))}})}return j}};b.Widget=function(e,f){if(arguments.length){this._createWidget(e,f)}};b.Widget.prototype={widgetName:"widget",widgetEventPrefix:"",options:{disabled:false},_createWidget:function(f,g){b.data(g,this.widgetName,this);this.element=b(g);this.options=b.extend(true,{},this.options,this._getCreateOptions(),f);var e=this;this.element.bind("remove."+this.widgetName,function(){e.destroy()});this._create();this._trigger("create");this._init()},_getCreateOptions:function(){return b.metadata&&b.metadata.get(this.element[0])[this.widgetName]},_create:function(){},_init:function(){},destroy:function(){this.element.unbind("."+this.widgetName).removeData(this.widgetName);this.widget().unbind("."+this.widgetName).removeAttr("aria-disabled").removeClass(this.widgetBaseClass+"-disabled ui-state-disabled")},widget:function(){return this.element},option:function(f,g){var e=f;if(arguments.length===0){return b.extend({},this.options)}if(typeof f==="string"){if(g===d){return this.options[f]}e={};e[f]=g}this._setOptions(e);return this},_setOptions:function(f){var e=this;b.each(f,function(g,h){e._setOption(g,h)});return this},_setOption:function(e,f){this.options[e]=f;if(e==="disabled"){this.widget()[f?"addClass":"removeClass"](this.widgetBaseClass+"-disabled ui-state-disabled").attr("aria-disabled",f)}return this},enable:function(){return this._setOption("disabled",false)},disable:function(){return this._setOption("disabled",true)},_trigger:function(e,f,g){var j,i,h=this.options[e];g=g||{};f=b.Event(f);f.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase();f.target=this.element[0];i=f.originalEvent;if(i){for(j in i){if(!(j in f)){f[j]=i[j]}}}this.element.trigger(f,g);return !(b.isFunction(h)&&h.call(this.element[0],f,g)===false||f.isDefaultPrevented())}}})(jQuery);/*
+ * jQuery UI Mouse 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Mouse
+ *
+ * Depends:
+ *	jquery.ui.widget.js
+ */
+(function(b,c){var a=false;b(document).mouseup(function(d){a=false});b.widget("ui.mouse",{options:{cancel:":input,option",distance:1,delay:0},_mouseInit:function(){var d=this;this.element.bind("mousedown."+this.widgetName,function(e){return d._mouseDown(e)}).bind("click."+this.widgetName,function(e){if(true===b.data(e.target,d.widgetName+".preventClickEvent")){b.removeData(e.target,d.widgetName+".preventClickEvent");e.stopImmediatePropagation();return false}});this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName)},_mouseDown:function(f){if(a){return}(this._mouseStarted&&this._mouseUp(f));this._mouseDownEvent=f;var e=this,g=(f.which==1),d=(typeof this.options.cancel=="string"&&f.target.nodeName?b(f.target).closest(this.options.cancel).length:false);if(!g||d||!this._mouseCapture(f)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){e.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(f)&&this._mouseDelayMet(f)){this._mouseStarted=(this._mouseStart(f)!==false);if(!this._mouseStarted){f.preventDefault();return true}}if(true===b.data(f.target,this.widgetName+".preventClickEvent")){b.removeData(f.target,this.widgetName+".preventClickEvent")}this._mouseMoveDelegate=function(h){return e._mouseMove(h)};this._mouseUpDelegate=function(h){return e._mouseUp(h)};b(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);f.preventDefault();a=true;return true},_mouseMove:function(d){if(b.browser.msie&&!(document.documentMode>=9)&&!d.button){return this._mouseUp(d)}if(this._mouseStarted){this._mouseDrag(d);return d.preventDefault()}if(this._mouseDistanceMet(d)&&this._mouseDelayMet(d)){this._mouseStarted=(this._mouseStart(this._mouseDownEvent,d)!==false);(this._mouseStarted?this._mouseDrag(d):this._mouseUp(d))}return !this._mouseStarted},_mouseUp:function(d){b(document).unbind("mousemove."+this.widgetName,this._mouseMoveDelegate).unbind("mouseup."+this.widgetName,this._mouseUpDelegate);if(this._mouseStarted){this._mouseStarted=false;if(d.target==this._mouseDownEvent.target){b.data(d.target,this.widgetName+".preventClickEvent",true)}this._mouseStop(d)}return false},_mouseDistanceMet:function(d){return(Math.max(Math.abs(this._mouseDownEvent.pageX-d.pageX),Math.abs(this._mouseDownEvent.pageY-d.pageY))>=this.options.distance)},_mouseDelayMet:function(d){return this.mouseDelayMet},_mouseStart:function(d){},_mouseDrag:function(d){},_mouseStop:function(d){},_mouseCapture:function(d){return true}})})(jQuery);(function(c,d){c.widget("ui.resizable",c.ui.mouse,{widgetEventPrefix:"resize",options:{alsoResize:false,animate:false,animateDuration:"slow",animateEasing:"swing",aspectRatio:false,autoHide:false,containment:false,ghost:false,grid:false,handles:"e,s,se",helper:false,maxHeight:null,maxWidth:null,minHeight:10,minWidth:10,zIndex:1000},_create:function(){var f=this,k=this.options;this.element.addClass("ui-resizable");c.extend(this,{_aspectRatio:!!(k.aspectRatio),aspectRatio:k.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:k.helper||k.ghost||k.animate?k.helper||"ui-resizable-helper":null});if(this.element[0].nodeName.match(/canvas|textarea|input|select|button|img/i)){this.element.wrap(c('<div class="ui-wrapper" style="overflow: hidden;"></div>').css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")}));this.element=this.element.parent().data("resizable",this.element.data("resizable"));this.elementIsWrapper=true;this.element.css({marginLeft:this.originalElement.css("marginLeft"),marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom")});this.originalElement.css({marginLeft:0,marginTop:0,marginRight:0,marginBottom:0});this.originalResizeStyle=this.originalElement.css("resize");this.originalElement.css("resize","none");this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"}));this.originalElement.css({margin:this.originalElement.css("margin")});this._proportionallyResize()}this.handles=k.handles||(!c(".ui-resizable-handle",this.element).length?"e,s,se":{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"});if(this.handles.constructor==String){if(this.handles=="all"){this.handles="n,e,s,w,se,sw,ne,nw"}var l=this.handles.split(",");this.handles={};for(var g=0;g<l.length;g++){var j=c.trim(l[g]),e="ui-resizable-"+j;var h=c('<div class="ui-resizable-handle '+e+'"></div>');if(/sw|se|ne|nw/.test(j)){h.css({zIndex:++k.zIndex})}if("se"==j){h.addClass("ui-icon ui-icon-gripsmall-diagonal-se")}this.handles[j]=".ui-resizable-"+j;this.element.append(h)}}this._renderAxis=function(q){q=q||this.element;for(var n in this.handles){if(this.handles[n].constructor==String){this.handles[n]=c(this.handles[n],this.element).show()}if(this.elementIsWrapper&&this.originalElement[0].nodeName.match(/textarea|input|select|button/i)){var o=c(this.handles[n],this.element),p=0;p=/sw|ne|nw|se|n|s/.test(n)?o.outerHeight():o.outerWidth();var m=["padding",/ne|nw|n/.test(n)?"Top":/se|sw|s/.test(n)?"Bottom":/^e$/.test(n)?"Right":"Left"].join("");q.css(m,p);this._proportionallyResize()}if(!c(this.handles[n]).length){continue}}};this._renderAxis(this.element);this._handles=c(".ui-resizable-handle",this.element).disableSelection();this._handles.mouseover(function(){if(!f.resizing){if(this.className){var i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}f.axis=i&&i[1]?i[1]:"se"}});if(k.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){if(k.disabled){return}c(this).removeClass("ui-resizable-autohide");f._handles.show()},function(){if(k.disabled){return}if(!f.resizing){c(this).addClass("ui-resizable-autohide");f._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var e=function(g){c(g).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){e(this.element);var f=this.element;f.after(this.originalElement.css({position:f.css("position"),width:f.outerWidth(),height:f.outerHeight(),top:f.css("top"),left:f.css("left")})).remove()}this.originalElement.css("resize",this.originalResizeStyle);e(this.originalElement);return this},_mouseCapture:function(f){var g=false;for(var e in this.handles){if(c(this.handles[e])[0]==f.target){g=true}}return !this.options.disabled&&g},_mouseStart:function(g){var j=this.options,f=this.element.position(),e=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(e.is(".ui-draggable")||(/absolute/).test(e.css("position"))){e.css({position:"absolute",top:f.top,left:f.left})}this._renderProxy();var k=b(this.helper.css("left")),h=b(this.helper.css("top"));if(j.containment){k+=c(j.containment).scrollLeft()||0;h+=c(j.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:k,top:h};this.size=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalSize=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalPosition={left:k,top:h};this.sizeDiff={width:e.outerWidth()-e.width(),height:e.outerHeight()-e.height()};this.originalMousePosition={left:g.pageX,top:g.pageY};this.aspectRatio=(typeof j.aspectRatio=="number")?j.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var i=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",i=="auto"?this.axis+"-resize":i);e.addClass("ui-resizable-resizing");this._propagate("start",g);return true},_mouseDrag:function(e){var h=this.helper,g=this.options,m={},q=this,j=this.originalMousePosition,n=this.axis;var r=(e.pageX-j.left)||0,p=(e.pageY-j.top)||0;var i=this._change[n];if(!i){return false}var l=i.apply(this,[e,r,p]),k=c.browser.msie&&c.browser.version<7,f=this.sizeDiff;this._updateVirtualBoundaries(e.shiftKey);if(this._aspectRatio||e.shiftKey){l=this._updateRatio(l,e)}l=this._respectSize(l,e);this._propagate("resize",e);h.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(l);this._trigger("resize",e,this.ui());return false},_mouseStop:function(h){this.resizing=false;var i=this.options,m=this;if(this._helper){var g=this._proportionallyResizeElements,e=g.length&&(/textarea/i).test(g[0].nodeName),f=e&&c.ui.hasScroll(g[0],"left")?0:m.sizeDiff.height,k=e?0:m.sizeDiff.width;var n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var j=this.options,i,h,f,k,e;e={minWidth:a(j.minWidth)?j.minWidth:0,maxWidth:a(j.maxWidth)?j.maxWidth:Infinity,minHeight:a(j.minHeight)?j.minHeight:0,maxHeight:a(j.maxHeight)?j.maxHeight:Infinity};if(this._aspectRatio||g){i=e.minHeight*this.aspectRatio;f=e.minWidth/this.aspectRatio;h=e.maxHeight*this.aspectRatio;k=e.maxWidth/this.aspectRatio;if(i>e.minWidth){e.minWidth=i}if(f>e.minHeight){e.minHeight=f}if(h<e.maxWidth){e.maxWidth=h}if(k<e.maxHeight){e.maxHeight=k}}this._vBoundaries=e},_updateCache:function(e){var f=this.options;this.offset=this.helper.offset();if(a(e.left)){this.position.left=e.left}if(a(e.top)){this.position.top=e.top}if(a(e.height)){this.size.height=e.height}if(a(e.width)){this.size.width=e.width}},_updateRatio:function(h,g){var i=this.options,j=this.position,f=this.size,e=this.axis;if(a(h.height)){h.width=(h.height*this.aspectRatio)}else{if(a(h.width)){h.height=(h.width/this.aspectRatio)}}if(e=="sw"){h.left=j.left+(f.width-h.width);h.top=null}if(e=="nw"){h.top=j.top+(f.height-h.height);h.left=j.left+(f.width-h.width)}return h},_respectSize:function(l,g){var j=this.helper,i=this._vBoundaries,r=this._aspectRatio||g.shiftKey,q=this.axis,t=a(l.width)&&i.maxWidth&&(i.maxWidth<l.width),m=a(l.height)&&i.maxHeight&&(i.maxHeight<l.height),h=a(l.width)&&i.minWidth&&(i.minWidth>l.width),s=a(l.height)&&i.minHeight&&(i.minHeight>l.height);if(h){l.width=i.minWidth}if(s){l.height=i.minHeight}if(t){l.width=i.maxWidth}if(m){l.height=i.maxHeight}var f=this.originalPosition.left+this.originalSize.width,p=this.position.top+this.size.height;var k=/sw|nw|w/.test(q),e=/nw|ne|n/.test(q);if(h&&k){l.left=f-i.minWidth}if(t&&k){l.left=f-i.maxWidth}if(s&&e){l.top=p-i.minHeight}if(m&&e){l.top=p-i.maxHeight}var n=!l.width&&!l.height;if(n&&!l.left&&l.top){l.top=null}else{if(n&&!l.top&&l.left){l.left=null}}return l},_proportionallyResize:function(){var k=this.options;if(!this._proportionallyResizeElements.length){return}var g=this.helper||this.element;for(var f=0;f<this._proportionallyResizeElements.length;f++){var h=this._proportionallyResizeElements[f];if(!this.borderDif){var e=[h.css("borderTopWidth"),h.css("borderRightWidth"),h.css("borderBottomWidth"),h.css("borderLeftWidth")],j=[h.css("paddingTop"),h.css("paddingRight"),h.css("paddingBottom"),h.css("paddingLeft")];this.borderDif=c.map(e,function(l,n){var m=parseInt(l,10)||0,o=parseInt(j[n],10)||0;return m+o})}if(c.browser.msie&&!(!(c(g).is(":hidden")||c(g).parents(":hidden").length))){continue}h.css({height:(g.height()-this.borderDif[0]-this.borderDif[2])||0,width:(g.width()-this.borderDif[1]-this.borderDif[3])||0})}},_renderProxy:function(){var f=this.element,i=this.options;this.elementOffset=f.offset();if(this._helper){this.helper=this.helper||c('<div style="overflow:hidden;"></div>');var e=c.browser.msie&&c.browser.version<7,g=(e?1:0),h=(e?2:-1);this.helper.addClass(this._helper).css({width:this.element.outerWidth()+h,height:this.element.outerHeight()+h,position:"absolute",left:this.elementOffset.left-g+"px",top:this.elementOffset.top-g+"px",zIndex:++i.zIndex});this.helper.appendTo("body").disableSelection()}else{this.helper=this.element}},_change:{e:function(g,f,e){return{width:this.originalSize.width+f}},w:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{left:i.left+f,width:g.width-f}},n:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{top:i.top+e,height:g.height-e}},s:function(g,f,e){return{height:this.originalSize.height+e}},se:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},sw:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[g,f,e]))},ne:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},nw:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[g,f,e]))}},_propagate:function(f,e){c.ui.plugin.call(this,f,[e,this.ui()]);(f!="resize"&&this._trigger(f,e,this.ui()))},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}});c.extend(c.ui.resizable,{version:"1.8.18"});c.ui.plugin.add("resizable","alsoResize",{start:function(f,g){var e=c(this).data("resizable"),i=e.options;var h=function(j){c(j).each(function(){var k=c(this);k.data("resizable-alsoresize",{width:parseInt(k.width(),10),height:parseInt(k.height(),10),left:parseInt(k.css("left"),10),top:parseInt(k.css("top"),10)})})};if(typeof(i.alsoResize)=="object"&&!i.alsoResize.parentNode){if(i.alsoResize.length){i.alsoResize=i.alsoResize[0];h(i.alsoResize)}else{c.each(i.alsoResize,function(j){h(j)})}}else{h(i.alsoResize)}},resize:function(g,i){var f=c(this).data("resizable"),j=f.options,h=f.originalSize,l=f.originalPosition;var k={height:(f.size.height-h.height)||0,width:(f.size.width-h.width)||0,top:(f.position.top-l.top)||0,left:(f.position.left-l.left)||0},e=function(m,n){c(m).each(function(){var q=c(this),r=c(this).data("resizable-alsoresize"),p={},o=n&&n.length?n:q.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];c.each(o,function(s,u){var t=(r[u]||0)+(k[u]||0);if(t&&t>=0){p[u]=t||null}});q.css(p)})};if(typeof(j.alsoResize)=="object"&&!j.alsoResize.nodeType){c.each(j.alsoResize,function(m,n){e(m,n)})}else{e(j.alsoResize)}},stop:function(e,f){c(this).removeData("resizable-alsoresize")}});c.ui.plugin.add("resizable","animate",{stop:function(i,n){var p=c(this).data("resizable"),j=p.options;var h=p._proportionallyResizeElements,e=h.length&&(/textarea/i).test(h[0].nodeName),f=e&&c.ui.hasScroll(h[0],"left")?0:p.sizeDiff.height,l=e?0:p.sizeDiff.width;var g={width:(p.size.width-l),height:(p.size.height-f)},k=(parseInt(p.element.css("left"),10)+(p.position.left-p.originalPosition.left))||null,m=(parseInt(p.element.css("top"),10)+(p.position.top-p.originalPosition.top))||null;p.element.animate(c.extend(g,m&&k?{top:m,left:k}:{}),{duration:j.animateDuration,easing:j.animateEasing,step:function(){var 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+<div class="title">laserscan_to_pointcloud.cpp</div>  </div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// ROS</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// ROS LaserScan tools</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;laser_geometry/laser_geometry.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// ROS messages</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Pose.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;message_filters/subscriber.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/LaserScan.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/PointCloud.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;std_msgs/ColorRGBA.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;std_msgs/Bool.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/MarkerArray.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// ROS services</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;std_srvs/Empty.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// ROS tf</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;tf/message_filter.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;tf/transform_listener.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// Octomap</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;octomap/octomap.h&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;octomap_msgs/conversions.h&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">//#include &lt;octomap_msgs/OctomapBinary.h&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;octomap_msgs/GetOctomap.h&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">typedef</span> octomap_msgs::GetOctomap OctomapSrv;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">//#include &lt;laser_octomap/BoundingBoxQuery.h&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//typedef laser_octomap::BoundingBoxQuery BBXSrv;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;octomap_ros/conversions.h&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;signal.h&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keywordtype">void</span> stopNode(<span class="keywordtype">int</span> sig)</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    ros::shutdown();</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    exit(0);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="class_laser_scan_to_point_cloud.html">   44</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_laser_scan_to_point_cloud.html">LaserScanToPointCloud</a></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="comment">// Constructor and destructor</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <a class="code" href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">LaserScanToPointCloud</a>();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//        virtual ~LaserScanToPointCloud();</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="comment">// Callbacks</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordtype">void</span> laserScanCallback(<span class="keyword">const</span> sensor_msgs::LaserScanConstPtr&amp; scan);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="comment">// ROS</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        ros::NodeHandle node_hand_;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        ros::Subscriber laser_scan_sub_;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        ros::Publisher pc_pub_;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">//TF</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        tf::TransformListener listener_;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="comment">//PC</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        laser_geometry::LaserProjection projector_;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;};</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">   69</a></span>&#160;<a class="code" href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">LaserScanToPointCloud::LaserScanToPointCloud</a>(){</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// Subscribers</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">//Mission Flag (feedback)</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    laser_scan_sub_ = node_hand_.subscribe(<span class="stringliteral">&quot;/scan&quot;</span>, 2, &amp;LaserScanToPointCloud::laserScanCallback, <span class="keyword">this</span>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// Publishers</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    pc_pub_ = node_hand_.advertise&lt;sensor_msgs::PointCloud2&gt;(<span class="stringliteral">&quot;pc_from_scan&quot;</span>, 2, <span class="keyword">true</span>);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//    // Waiting for mission flag</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//    ros::Rate loop_rate(10);</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//    if(!mission_flag_available_)</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">//      ROS_WARN(&quot;Waiting for mission_flag&quot;);</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">//    while (ros::ok() &amp;&amp; !mission_flag_available_)</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">//    {</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">//      ros::spinOnce();</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//      loop_rate.sleep();</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">//    }</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">//    //Navigation data (feedback)</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">//    odomSub_ = node_hand_.subscribe(&quot;/pose_ekf_slam/odometry&quot;, 1, &amp;LaserScanToPointCloud::odomCallback, this);</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//    nav_sts_available_ = false;</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">//    while (ros::ok() &amp;&amp; !nav_sts_available_)</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">//    {</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">//      ros::spinOnce();</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">//      loop_rate.sleep();</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">//    }</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keywordtype">void</span> LaserScanToPointCloud::laserScanCallback(<span class="keyword">const</span> sensor_msgs::LaserScanConstPtr &amp;scan){</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">if</span>(!listener_.waitForTransform(</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            scan-&gt;header.frame_id,</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="stringliteral">&quot;/odom&quot;</span>,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            scan-&gt;header.stamp + ros::Duration().fromSec(scan-&gt;ranges.size()*scan-&gt;time_increment),</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            ros::Duration(1.0))){</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    sensor_msgs::PointCloud2 cloud;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    projector_.transformLaserScanToPointCloud(<span class="stringliteral">&quot;/base_link&quot;</span>,*scan,</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            cloud,listener_);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">// Do something with cloud.</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    pc_pub_.publish(cloud);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv){</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">// Override SIGINT handler</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="comment">//=======================================================================</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    signal(SIGINT, stopNode);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">// Init ROS node</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    ros::init(argc, argv, <span class="stringliteral">&quot;laserscan_to_pointcloud&quot;</span>);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    ros::NodeHandle private_nh(<span class="stringliteral">&quot;~&quot;</span>);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// Constructor</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="class_laser_scan_to_point_cloud.html">LaserScanToPointCloud</a> laserscan_to_pc;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// Spin</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    ros::spin();</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// Exit main function without errors</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div><div class="ttc" id="class_laser_scan_to_point_cloud_html"><div class="ttname"><a href="class_laser_scan_to_point_cloud.html">LaserScanToPointCloud</a></div><div class="ttdoc">CLASS DEFINITION ===========================================================. </div><div class="ttdef"><b>Definition:</b> <a href="laserscan__to__pointcloud_8cpp_source.html#l00044">laserscan_to_pointcloud.cpp:44</a></div></div>
+<div class="ttc" id="class_laser_scan_to_point_cloud_html_aa39e6795adce055a15dfe8f0a3aba993"><div class="ttname"><a href="class_laser_scan_to_point_cloud.html#aa39e6795adce055a15dfe8f0a3aba993">LaserScanToPointCloud::LaserScanToPointCloud</a></div><div class="ttdeci">LaserScanToPointCloud()</div><div class="ttdoc">Constructor and destructor =================================================. </div><div class="ttdef"><b>Definition:</b> <a href="laserscan__to__pointcloud_8cpp_source.html#l00069">laserscan_to_pointcloud.cpp:69</a></div></div>
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li><li class="navelem"><a class="el" href="dir_5fee08efe95e6d722a092087df25e95a.html">src</a></li><li class="navelem"><b>laserscan_to_pointcloud.cpp</b></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/nav_f.png b/Documentation/html/nav_f.png
new file mode 100644
index 0000000000000000000000000000000000000000..72a58a529ed3a9ed6aa0c51a79cf207e026deee2
GIT binary patch
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literal 0
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diff --git a/Documentation/html/nav_g.png b/Documentation/html/nav_g.png
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index 0000000000000000000000000000000000000000..2093a237a94f6c83e19ec6e5fd42f7ddabdafa81
GIT binary patch
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literal 0
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diff --git a/Documentation/html/nav_h.png b/Documentation/html/nav_h.png
new file mode 100644
index 0000000000000000000000000000000000000000..33389b101d9cd9b4c98ad286b5d9c46a6671f650
GIT binary patch
literal 98
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literal 0
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diff --git a/Documentation/html/navtree.css b/Documentation/html/navtree.css
new file mode 100644
index 0000000..1a868b3
--- /dev/null
+++ b/Documentation/html/navtree.css
@@ -0,0 +1,143 @@
+#nav-tree .children_ul {
+  margin:0;
+  padding:4px;
+}
+
+#nav-tree ul {
+  list-style:none outside none;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree li {
+  white-space:nowrap;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .plus {
+  margin:0px;
+}
+
+#nav-tree .selected {
+  background-image: url('tab_a.png');
+  background-repeat:repeat-x;
+  color: #fff;
+  text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+}
+
+#nav-tree img {
+  margin:0px;
+  padding:0px;
+  border:0px;
+  vertical-align: middle;
+}
+
+#nav-tree a {
+  text-decoration:none;
+  padding:0px;
+  margin:0px;
+  outline:none;
+}
+
+#nav-tree .label {
+  margin:0px;
+  padding:0px;
+  font: 12px 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+}
+
+#nav-tree .label a {
+  padding:2px;
+}
+
+#nav-tree .selected a {
+  text-decoration:none;
+  color:#fff;
+}
+
+#nav-tree .children_ul {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .item {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree {
+  padding: 0px 0px;
+  background-color: #FAFAFF; 
+  font-size:14px;
+  overflow:auto;
+}
+
+#doc-content {
+  overflow:auto;
+  display:block;
+  padding:0px;
+  margin:0px;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#side-nav {
+  padding:0 6px 0 0;
+  margin: 0px;
+  display:block;
+  position: absolute;
+  left: 0px;
+  width: 250px;
+}
+
+.ui-resizable .ui-resizable-handle {
+  display:block;
+}
+
+.ui-resizable-e {
+  background:url("splitbar.png") repeat scroll right center transparent;
+  cursor:e-resize;
+  height:100%;
+  right:0;
+  top:0;
+  width:6px;
+}
+
+.ui-resizable-handle {
+  display:none;
+  font-size:0.1px;
+  position:absolute;
+  z-index:1;
+}
+
+#nav-tree-contents {
+  margin: 6px 0px 0px 0px;
+}
+
+#nav-tree {
+  background-image:url('nav_h.png');
+  background-repeat:repeat-x;
+  background-color: #F9FAFC;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#nav-sync {
+  position:absolute;
+  top:5px;
+  right:24px;
+  z-index:0;
+}
+
+#nav-sync img {
+  opacity:0.3;
+}
+
+#nav-sync img:hover {
+  opacity:0.9;
+}
+
+@media print
+{
+  #nav-tree { display: none; }
+  div.ui-resizable-handle { display: none; position: relative; }
+}
+
diff --git a/Documentation/html/navtree.js b/Documentation/html/navtree.js
new file mode 100644
index 0000000..9df45a7
--- /dev/null
+++ b/Documentation/html/navtree.js
@@ -0,0 +1,523 @@
+var navTreeSubIndices = new Array();
+
+function getData(varName)
+{
+  var i = varName.lastIndexOf('/');
+  var n = i>=0 ? varName.substring(i+1) : varName;
+  return eval(n.replace(/\-/g,'_'));
+}
+
+function stripPath(uri)
+{
+  return uri.substring(uri.lastIndexOf('/')+1);
+}
+
+function stripPath2(uri)
+{
+  var i = uri.lastIndexOf('/');
+  var s = uri.substring(i+1);
+  var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+  return m ? uri.substring(i-6) : s;
+}
+
+function hashValue()
+{
+  return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,'');
+}
+
+function hashUrl()
+{
+  return '#'+hashValue();
+}
+
+function pathName()
+{
+  return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, '');
+}
+
+function localStorageSupported()
+{
+  try {
+    return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem;
+  }
+  catch(e) {
+    return false;
+  }
+}
+
+
+function storeLink(link)
+{
+  if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) {
+      window.localStorage.setItem('navpath',link);
+  }
+}
+
+function deleteLink()
+{
+  if (localStorageSupported()) {
+    window.localStorage.setItem('navpath','');
+  }
+}
+
+function cachedLink()
+{
+  if (localStorageSupported()) {
+    return window.localStorage.getItem('navpath');
+  } else {
+    return '';
+  }
+}
+
+function getScript(scriptName,func,show)
+{
+  var head = document.getElementsByTagName("head")[0]; 
+  var script = document.createElement('script');
+  script.id = scriptName;
+  script.type = 'text/javascript';
+  script.onload = func; 
+  script.src = scriptName+'.js'; 
+  if ($.browser.msie && $.browser.version<=8) { 
+    // script.onload does not work with older versions of IE
+    script.onreadystatechange = function() {
+      if (script.readyState=='complete' || script.readyState=='loaded') { 
+        func(); if (show) showRoot(); 
+      }
+    }
+  }
+  head.appendChild(script); 
+}
+
+function createIndent(o,domNode,node,level)
+{
+  var level=-1;
+  var n = node;
+  while (n.parentNode) { level++; n=n.parentNode; }
+  if (node.childrenData) {
+    var imgNode = document.createElement("img");
+    imgNode.style.paddingLeft=(16*level).toString()+'px';
+    imgNode.width  = 16;
+    imgNode.height = 22;
+    imgNode.border = 0;
+    node.plus_img = imgNode;
+    node.expandToggle = document.createElement("a");
+    node.expandToggle.href = "javascript:void(0)";
+    node.expandToggle.onclick = function() {
+      if (node.expanded) {
+        $(node.getChildrenUL()).slideUp("fast");
+        node.plus_img.src = node.relpath+"arrowright.png";
+        node.expanded = false;
+      } else {
+        expandNode(o, node, false, false);
+      }
+    }
+    node.expandToggle.appendChild(imgNode);
+    domNode.appendChild(node.expandToggle);
+    imgNode.src = node.relpath+"arrowright.png";
+  } else {
+    var span = document.createElement("span");
+    span.style.display = 'inline-block';
+    span.style.width   = 16*(level+1)+'px';
+    span.style.height  = '22px';
+    span.innerHTML = '&#160;';
+    domNode.appendChild(span);
+  } 
+}
+
+var animationInProgress = false;
+
+function gotoAnchor(anchor,aname,updateLocation)
+{
+  var pos, docContent = $('#doc-content');
+  var ancParent = $(anchor.parent());
+  if (ancParent.hasClass('memItemLeft') ||
+      ancParent.hasClass('fieldname') ||
+      ancParent.hasClass('fieldtype') ||
+      ancParent.is(':header'))
+  {
+    pos = ancParent.position().top;
+  } else if (anchor.position()) {
+    pos = anchor.position().top;
+  }
+  if (pos) {
+    var dist = Math.abs(Math.min(
+               pos-docContent.offset().top,
+               docContent[0].scrollHeight-
+               docContent.height()-docContent.scrollTop()));
+    animationInProgress=true;
+    docContent.animate({
+      scrollTop: pos + docContent.scrollTop() - docContent.offset().top
+    },Math.max(50,Math.min(500,dist)),function(){
+      if (updateLocation) window.location.href=aname;
+      animationInProgress=false;
+    });
+  }
+}
+
+function newNode(o, po, text, link, childrenData, lastNode)
+{
+  var node = new Object();
+  node.children = Array();
+  node.childrenData = childrenData;
+  node.depth = po.depth + 1;
+  node.relpath = po.relpath;
+  node.isLast = lastNode;
+
+  node.li = document.createElement("li");
+  po.getChildrenUL().appendChild(node.li);
+  node.parentNode = po;
+
+  node.itemDiv = document.createElement("div");
+  node.itemDiv.className = "item";
+
+  node.labelSpan = document.createElement("span");
+  node.labelSpan.className = "label";
+
+  createIndent(o,node.itemDiv,node,0);
+  node.itemDiv.appendChild(node.labelSpan);
+  node.li.appendChild(node.itemDiv);
+
+  var a = document.createElement("a");
+  node.labelSpan.appendChild(a);
+  node.label = document.createTextNode(text);
+  node.expanded = false;
+  a.appendChild(node.label);
+  if (link) {
+    var url;
+    if (link.substring(0,1)=='^') {
+      url = link.substring(1);
+      link = url;
+    } else {
+      url = node.relpath+link;
+    }
+    a.className = stripPath(link.replace('#',':'));
+    if (link.indexOf('#')!=-1) {
+      var aname = '#'+link.split('#')[1];
+      var srcPage = stripPath(pathName());
+      var targetPage = stripPath(link.split('#')[0]);
+      a.href = srcPage!=targetPage ? url : "javascript:void(0)"; 
+      a.onclick = function(){
+        storeLink(link);
+        if (!$(a).parent().parent().hasClass('selected'))
+        {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+          $(a).parent().parent().addClass('selected');
+          $(a).parent().parent().attr('id','selected');
+        }
+        var anchor = $(aname);
+        gotoAnchor(anchor,aname,true);
+      };
+    } else {
+      a.href = url;
+      a.onclick = function() { storeLink(link); }
+    }
+  } else {
+    if (childrenData != null) 
+    {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+  }
+
+  node.childrenUL = null;
+  node.getChildrenUL = function() {
+    if (!node.childrenUL) {
+      node.childrenUL = document.createElement("ul");
+      node.childrenUL.className = "children_ul";
+      node.childrenUL.style.display = "none";
+      node.li.appendChild(node.childrenUL);
+    }
+    return node.childrenUL;
+  };
+
+  return node;
+}
+
+function showRoot()
+{
+  var headerHeight = $("#top").height();
+  var footerHeight = $("#nav-path").height();
+  var windowHeight = $(window).height() - headerHeight - footerHeight;
+  (function (){ // retry until we can scroll to the selected item
+    try {
+      var navtree=$('#nav-tree');
+      navtree.scrollTo('#selected',0,{offset:-windowHeight/2});
+    } catch (err) {
+      setTimeout(arguments.callee, 0);
+    }
+  })();
+}
+
+function expandNode(o, node, imm, showRoot)
+{
+  if (node.childrenData && !node.expanded) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        expandNode(o, node, imm, showRoot);
+      }, showRoot);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      } if (imm || ($.browser.msie && $.browser.version>8)) { 
+        // somehow slideDown jumps to the start of tree for IE9 :-(
+        $(node.getChildrenUL()).show();
+      } else {
+        $(node.getChildrenUL()).slideDown("fast");
+      }
+      if (node.isLast) {
+        node.plus_img.src = node.relpath+"arrowdown.png";
+      } else {
+        node.plus_img.src = node.relpath+"arrowdown.png";
+      }
+      node.expanded = true;
+    }
+  }
+}
+
+function glowEffect(n,duration)
+{
+  n.addClass('glow').delay(duration).queue(function(next){
+    $(this).removeClass('glow');next();
+  });
+}
+
+function highlightAnchor()
+{
+  var aname = hashUrl();
+  var anchor = $(aname);
+  if (anchor.parent().attr('class')=='memItemLeft'){
+    var rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+    glowEffect(rows.children(),300); // member without details
+  } else if (anchor.parent().attr('class')=='fieldname'){
+    glowEffect(anchor.parent().parent(),1000); // enum value
+  } else if (anchor.parent().attr('class')=='fieldtype'){
+    glowEffect(anchor.parent().parent(),1000); // struct field
+  } else if (anchor.parent().is(":header")) {
+    glowEffect(anchor.parent(),1000); // section header
+  } else {
+    glowEffect(anchor.next(),1000); // normal member
+  }
+  gotoAnchor(anchor,aname,false);
+}
+
+function selectAndHighlight(hash,n)
+{
+  var a;
+  if (hash) {
+    var link=stripPath(pathName())+':'+hash.substring(1);
+    a=$('.item a[class$="'+link+'"]');
+  }
+  if (a && a.length) {
+    a.parent().parent().addClass('selected');
+    a.parent().parent().attr('id','selected');
+    highlightAnchor();
+  } else if (n) {
+    $(n.itemDiv).addClass('selected');
+    $(n.itemDiv).attr('id','selected');
+  }
+  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+    $('#nav-sync').css('top','30px');
+  } else {
+    $('#nav-sync').css('top','5px');
+  }
+  showRoot();
+}
+
+function showNode(o, node, index, hash)
+{
+  if (node && node.childrenData) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        showNode(o,node,index,hash);
+      },true);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).css({'display':'block'});
+      node.plus_img.src = node.relpath+"arrowdown.png";
+      node.expanded = true;
+      var n = node.children[o.breadcrumbs[index]];
+      if (index+1<o.breadcrumbs.length) {
+        showNode(o,n,index+1,hash);
+      } else {
+        if (typeof(n.childrenData)==='string') {
+          var varName = n.childrenData;
+          getScript(n.relpath+varName,function(){
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          },true);
+        } else {
+          var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, true);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    }
+  } else {
+    selectAndHighlight(hash);
+  }
+}
+
+function removeToInsertLater(element) {
+  var parentNode = element.parentNode;
+  var nextSibling = element.nextSibling;
+  parentNode.removeChild(element);
+  return function() {
+    if (nextSibling) {
+      parentNode.insertBefore(element, nextSibling);
+    } else {
+      parentNode.appendChild(element);
+    }
+  };
+}
+
+function getNode(o, po)
+{
+  var insertFunction = removeToInsertLater(po.li);
+  po.childrenVisited = true;
+  var l = po.childrenData.length-1;
+  for (var i in po.childrenData) {
+    var nodeData = po.childrenData[i];
+    po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
+      i==l);
+  }
+  insertFunction();
+}
+
+function gotoNode(o,subIndex,root,hash,relpath)
+{
+  var nti = navTreeSubIndices[subIndex][root+hash];
+  o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+  if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+    navTo(o,NAVTREE[0][1],"",relpath);
+    $('.item').removeClass('selected');
+    $('.item').removeAttr('id');
+  }
+  if (o.breadcrumbs) {
+    o.breadcrumbs.unshift(0); // add 0 for root node
+    showNode(o, o.node, 0, hash);
+  }
+}
+
+function navTo(o,root,hash,relpath)
+{
+  var link = cachedLink();
+  if (link) {
+    var parts = link.split('#');
+    root = parts[0];
+    if (parts.length>1) hash = '#'+parts[1].replace(/[^\w\-]/g,'');
+    else hash='';
+  }
+  if (hash.match(/^#l\d+$/)) {
+    var anchor=$('a[name='+hash.substring(1)+']');
+    glowEffect(anchor.parent(),1000); // line number
+    hash=''; // strip line number anchors
+  }
+  var url=root+hash;
+  var i=-1;
+  while (NAVTREEINDEX[i+1]<=url) i++;
+  if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+  if (navTreeSubIndices[i]) {
+    gotoNode(o,i,root,hash,relpath)
+  } else {
+    getScript(relpath+'navtreeindex'+i,function(){
+      navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+      if (navTreeSubIndices[i]) {
+        gotoNode(o,i,root,hash,relpath);
+      }
+    },true);
+  }
+}
+
+function showSyncOff(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+}
+
+function showSyncOn(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+}
+
+function toggleSyncButton(relpath)
+{
+  var navSync = $('#nav-sync');
+  if (navSync.hasClass('sync')) {
+    navSync.removeClass('sync');
+    showSyncOff(navSync,relpath);
+    storeLink(stripPath2(pathName())+hashUrl());
+  } else {
+    navSync.addClass('sync');
+    showSyncOn(navSync,relpath);
+    deleteLink();
+  }
+}
+
+function initNavTree(toroot,relpath)
+{
+  var o = new Object();
+  o.toroot = toroot;
+  o.node = new Object();
+  o.node.li = document.getElementById("nav-tree-contents");
+  o.node.childrenData = NAVTREE;
+  o.node.children = new Array();
+  o.node.childrenUL = document.createElement("ul");
+  o.node.getChildrenUL = function() { return o.node.childrenUL; };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.depth = 0;
+  o.node.relpath = relpath;
+  o.node.expanded = false;
+  o.node.isLast = true;
+  o.node.plus_img = document.createElement("img");
+  o.node.plus_img.src = relpath+"arrowright.png";
+  o.node.plus_img.width = 16;
+  o.node.plus_img.height = 22;
+
+  if (localStorageSupported()) {
+    var navSync = $('#nav-sync');
+    if (cachedLink()) {
+      showSyncOff(navSync,relpath);
+      navSync.removeClass('sync');
+    } else {
+      showSyncOn(navSync,relpath);
+    }
+    navSync.click(function(){ toggleSyncButton(relpath); });
+  }
+
+  $(window).load(function(){
+    navTo(o,toroot,hashUrl(),relpath);
+    showRoot();
+  });
+
+  $(window).bind('hashchange', function(){
+     if (window.location.hash && window.location.hash.length>1){
+       var a;
+       if ($(location).attr('hash')){
+         var clslink=stripPath(pathName())+':'+hashValue();
+         a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
+       }
+       if (a==null || !$(a).parent().parent().hasClass('selected')){
+         $('.item').removeClass('selected');
+         $('.item').removeAttr('id');
+       }
+       var link=stripPath2(pathName());
+       navTo(o,link,hashUrl(),relpath);
+     } else if (!animationInProgress) {
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript"><!--
+createResults();
+--></script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript"><!--
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+--></script>
+</div>
+</body>
+</html>
diff --git a/Documentation/html/search/pages_0.js b/Documentation/html/search/pages_0.js
new file mode 100644
index 0000000..a56185a
--- /dev/null
+++ b/Documentation/html/search/pages_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['home_20page',['Home page',['../index.html',1,'']]]
+];
diff --git a/Documentation/html/search/search.css b/Documentation/html/search/search.css
new file mode 100644
index 0000000..4d7612f
--- /dev/null
+++ b/Documentation/html/search/search.css
@@ -0,0 +1,271 @@
+/*---------------- Search Box */
+
+#FSearchBox {
+    float: left;
+}
+
+#MSearchBox {
+    white-space : nowrap;
+    position: absolute;
+    float: none;
+    display: inline;
+    margin-top: 8px;
+    right: 0px;
+    width: 170px;
+    z-index: 102;
+    background-color: white;
+}
+
+#MSearchBox .left
+{
+    display:block;
+    position:absolute;
+    left:10px;
+    width:20px;
+    height:19px;
+    background:url('search_l.png') no-repeat;
+    background-position:right;
+}
+
+#MSearchSelect {
+    display:block;
+    position:absolute;
+    width:20px;
+    height:19px;
+}
+
+.left #MSearchSelect {
+    left:4px;
+}
+
+.right #MSearchSelect {
+    right:5px;
+}
+
+#MSearchField {
+    display:block;
+    position:absolute;
+    height:19px;
+    background:url('search_m.png') repeat-x;
+    border:none;
+    width:111px;
+    margin-left:20px;
+    padding-left:4px;
+    color: #909090;
+    outline: none;
+    font: 9pt Arial, Verdana, sans-serif;
+}
+
+#FSearchBox #MSearchField {
+    margin-left:15px;
+}
+
+#MSearchBox .right {
+    display:block;
+    position:absolute;
+    right:10px;
+    top:0px;
+    width:20px;
+    height:19px;
+    background:url('search_r.png') no-repeat;
+    background-position:left;
+}
+
+#MSearchClose {
+    display: none;
+    position: absolute;
+    top: 4px;
+    background : none;
+    border: none;
+    margin: 0px 4px 0px 0px;
+    padding: 0px 0px;
+    outline: none;
+}
+
+.left #MSearchClose {
+    left: 6px;
+}
+
+.right #MSearchClose {
+    right: 2px;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 1;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+}
+
+.SRResult {
+    display: none;
+}
+
+DIV.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/Documentation/html/search/search.js b/Documentation/html/search/search.js
new file mode 100644
index 0000000..dedce3b
--- /dev/null
+++ b/Documentation/html/search/search.js
@@ -0,0 +1,791 @@
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else if (window.frames.MSearchResults.searchResults)
+      {
+        var elem = window.frames.MSearchResults.searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches.html';
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName == 'DIV' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName == 'DIV' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_checking___box-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Checking_Box Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Collision Mask : virtual representation of the drone as a box with x,y,z length.  
+ <a href="struct_checking___box.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>&gt;</code></p>
+<table class="memberdecls">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Collision Mask : virtual representation of the drone as a box with x,y,z length. </p>
+
+<p>Definition at line <a class="el" href="_state_checker_8hpp_source.html#l00029">29</a> of file <a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>.</p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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R>@Z>X&A?yQ*d^KW{{X?$&q4qI

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HcmV?d00001

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..88cef9e
--- /dev/null
+++ b/README.md
@@ -0,0 +1,11 @@
+Path planning for Turtlebot and Hector_quadrotor with OMPL library.
+
+Ubuntu 16.04 required
+ROS Kinetic required
+
+OR
+
+Ubuntu 14.04 required
+ROS Indigo required
+
+See Documentation : /Documentation/html/index.html
diff --git a/Source Files/hector_quadrotor_tutorial/src/.rosinstall b/Source Files/hector_quadrotor_tutorial/src/.rosinstall
new file mode 100644
index 0000000..9b60f24
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/.rosinstall	
@@ -0,0 +1,21 @@
+# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2017-07-21
+- git:
+    local-name: hector_gazebo
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
+    version: hydro-devel
+- git:
+    local-name: hector_localization
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
+    version: catkin
+- git:
+    local-name: hector_models
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_models.git
+    version: hydro-devel
+- git:
+    local-name: hector_quadrotor
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
+    version: hydro-devel
+- git:
+    local-name: hector_slam
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
+    version: catkin
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/README.md b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/README.md
new file mode 100644
index 0000000..b0fc068
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/README.md	
@@ -0,0 +1,4 @@
+hector_gazebo
+=============
+
+hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CHANGELOG.rst
new file mode 100644
index 0000000..8dc2ff3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CHANGELOG.rst	
@@ -0,0 +1,30 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.6 (2015-03-21)
+------------------
+
+0.3.5 (2015-02-23)
+------------------
+
+0.3.4 (2014-09-01)
+------------------
+* Removed package gazebo_rtt_plugin
+  This package is obsolete. Use the rtt_gazebo stack instead.
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-05-27)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* Made hector_gazebo and hector_sensors_gazebo true metapackages
+* Contributors: Johannes Meyer
+
+0.3.1 (2013-09-23)
+------------------
+
+0.3.0 (2013-09-02)
+------------------
+* Catkinization of stack hector_gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..fca5e1e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_gazebo)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/package.xml
new file mode 100644
index 0000000..4fde17c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo/package.xml	
@@ -0,0 +1,27 @@
+<package>
+  <name>hector_gazebo</name>
+  <version>0.3.6</version>
+  <description>hector_gazebo provides packages related to to simulation of robots using gazebo (gazebo plugins, world files etc.)</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_gazebo</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_gazebo_thermal_camera</run_depend>
+  <run_depend>hector_gazebo_worlds</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst
new file mode 100644
index 0000000..ae220d1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst	
@@ -0,0 +1,76 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_gazebo_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.6 (2015-03-21)
+------------------
+* allow negative offsets in SensorModel dynamic_reconfigure config
+* fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
+* reintroduced orientation bias due to accelerometer and yaw sensor drift
+  This orientation bias was removed in 74b21b7, but there is no need for this.
+  The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
+* interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18)
+  Obviously the SDF conversion assumes that all sensor plugins interpret the `<xyzOffset>` and `<rpyOffset>` parameters in the same way as an
+  additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement.
+  hector_gazebo_ros_imu interpreted the roll and pitch part of `<rpyOffset>` as an orientation offset caused by a (small) accelerometer bias.
+  This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message
+  is set to zero.
+* Contributors: Johannes Meyer
+
+0.3.5 (2015-02-23)
+------------------
+* fixed simulated IMU calibration
+* fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
+* added dynamic_reconfigure servers to gps, magneto and sonar plugins
+  The GPS plugin allows to configure the status and server flags in the output message,
+  additionally to the error characteristics. This allows to simulate GPS dropouts.
+* added dynamic_reconfigure server for IMU sensor model parameters
+* fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
+* calculate angular rate from quaternion difference directly
+  This seems to be numerically more stable and removes the jitter in the angular rate signal.
+* added initial bias
+* added bias publisher to gazebo_ros_imu
+  ...to compare hector_pose_estimation estimates with ground truth.
+  Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
+* added scale error to the sensor model and removed linearization in drift update
+  The scale error is assumed to be constant and its value is loaded from the `scaleError` plugin parameter.
+  The default scale error is 1.0 (no scale error).
+  The value returned by the model is `(real_value * scale_error) + offset + drift + noise`.
+* fixed wrong calculation of reference earth magnetic field vector if declination!=0
+* Contributors: Johannes Meyer
+
+0.3.4 (2014-09-01)
+------------------
+* replaced old copied license header in servo_plugin.cpp
+* simplified attitude error calculation in gazebo_ros_imu (fixes #12)
+* fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
+* linking against catkin_libraries
+* Contributors: Johannes Meyer, Markus Achtelik
+
+0.3.3 (2014-05-27)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
+* diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
+* Fixed boost 1.53 issues
+  Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
+* Add servo plugin (used for vision box currently)
+* Add catkin_LIBRARIES to linking for multiwheel plugin
+* Some fixes to make diffdrive_plugin_multi_wheel work properly
+* Work in progress of a diffdrive plugin supporting multiple wheels per side
+* used updated API to get rid of warnings
+* added topicName parameter back to gazebo_ros_magnetic
+* hector_gazebo: deleted deprecated export sections from package.xml files
+* abort with a fatal error if ROS is not yet initialized + minor code cleanup
+* Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347
+
+0.3.1 (2013-09-23)
+------------------
+* fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
+* removed warnings due to deprecated sdf API calls
+
+0.3.0 (2013-09-02)
+------------------
+* Catkinization of stack hector_gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt
new file mode 100644
index 0000000..4f28f77
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt	
@@ -0,0 +1,122 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_gazebo_plugins)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs std_srvs geometry_msgs nav_msgs tf dynamic_reconfigure)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## Find gazebo
+find_package(gazebo REQUIRED)
+include_directories(${GAZEBO_INCLUDE_DIRS})
+link_directories(${GAZEBO_LIBRARY_DIRS})
+
+## Find Boost
+find_package(Boost REQUIRED COMPONENTS thread)
+include_directories(${Boost_INCLUDE_DIRS})
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  SetBias.srv
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES geometry_msgs
+)
+
+#add dynamic reconfigure api
+generate_dynamic_reconfigure_options(
+  cfg/SensorModel.cfg
+  cfg/GNSS.cfg
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    DEPENDS gazebo
+    CATKIN_DEPENDS roscpp std_msgs geometry_msgs nav_msgs tf
+    INCLUDE_DIRS include
+    LIBRARIES
+)
+
+###########
+## Build ##
+###########
+
+add_library(diffdrive_plugin_6w src/diffdrive_plugin_6w.cpp)
+target_link_libraries(diffdrive_plugin_6w ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+add_library(diffdrive_plugin_multi_wheel src/diffdrive_plugin_multi_wheel.cpp)
+target_link_libraries(diffdrive_plugin_multi_wheel ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+add_library(gazebo_ros_force_based_move src/gazebo_ros_force_based_move.cpp)
+target_link_libraries(gazebo_ros_force_based_move ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+add_library(hector_gazebo_reset_plugin src/reset_plugin.cpp)
+target_link_libraries(hector_gazebo_reset_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+add_library(hector_gazebo_ros_imu src/gazebo_ros_imu.cpp)
+target_link_libraries(hector_gazebo_ros_imu ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(hector_gazebo_ros_imu ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+
+add_library(hector_gazebo_ros_magnetic src/gazebo_ros_magnetic.cpp)
+target_link_libraries(hector_gazebo_ros_magnetic ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(hector_gazebo_ros_magnetic ${PROJECT_NAME}_gencfg)
+
+add_library(hector_gazebo_ros_gps src/gazebo_ros_gps.cpp)
+target_link_libraries(hector_gazebo_ros_gps ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(hector_gazebo_ros_gps ${PROJECT_NAME}_gencfg)
+
+add_library(hector_gazebo_ros_sonar src/gazebo_ros_sonar.cpp)
+target_link_libraries(hector_gazebo_ros_sonar ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(hector_gazebo_ros_sonar ${PROJECT_NAME}_gencfg)
+
+add_library(hector_servo_plugin src/servo_plugin.cpp)
+target_link_libraries(hector_servo_plugin ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(TARGETS
+  diffdrive_plugin_6w
+  diffdrive_plugin_multi_wheel
+  gazebo_ros_force_based_move
+  hector_gazebo_reset_plugin
+  hector_gazebo_ros_imu
+  hector_gazebo_ros_magnetic
+  hector_gazebo_ros_gps
+  hector_gazebo_ros_sonar
+  hector_servo_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg
new file mode 100755
index 0000000..bcac709
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg	
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+PACKAGE = "hector_gazebo_plugins"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("STATUS_FIX",          bool_t, 1, "unaugmented fix", True)
+gen.add("STATUS_SBAS_FIX",     bool_t, 1, "fix with satellite-based augmentation", False)
+gen.add("STATUS_GBAS_FIX",     bool_t, 1, "with ground-based augmentation", False)
+
+gen.add("SERVICE_GPS",         bool_t, 1, "GPS service", True)
+gen.add("SERVICE_GLONASS",     bool_t, 1, "GLONASS service", True)
+gen.add("SERVICE_COMPASS",     bool_t, 1, "COMPASS service", True)
+gen.add("SERVICE_GALILEO",     bool_t, 1, "GALILEO service", True)
+
+exit(gen.generate(PACKAGE, "hector_gazebo_plugins", "GNSS"))
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg
new file mode 100755
index 0000000..1b5d891
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg	
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+PACKAGE = "hector_gazebo_plugins"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("gaussian_noise",      double_t, 1, "Standard deviation of the additive white Gaussian noise", 0.0, 0.0, 10.0)
+gen.add("offset",              double_t, 1, "Zero-offset of the published sensor signal", 0.0, -10.0, 10.0)
+gen.add("drift",               double_t, 1, "Standard deviation of the sensor drift", 0.0, 0.0, 10.0)
+gen.add("drift_frequency",     double_t, 1, "Reciprocal of the time constant of the first-order drift model in Hz", 0.0, 0.0, 1.0)
+gen.add("scale_error",         double_t, 1, "Scale error", 1.0, 0.0, 2.0)
+
+exit(gen.generate(PACKAGE, "hector_gazebo_plugins", "SensorModel"))
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h
new file mode 100644
index 0000000..0d6f241
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h	
@@ -0,0 +1,116 @@
+/*
+ *  Gazebo - Outdoor Multi-Robot Simulator
+ *  Copyright (C) 2003  
+ *     Nate Koenig & Andrew Howard
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
+/*
+ * Desc: ROS interface to a Position2d controller for a Differential drive.
+ * Author: Daniel Hewlett (adapted from Nathan Koenig)
+ */
+#ifndef DIFFDRIVE_PLUGIN_HH
+#define DIFFDRIVE_PLUGIN_HH
+
+#include <map>
+
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/common/Time.hh>
+
+// ROS 
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+
+// Custom Callback Queue
+#include <ros/callback_queue.h>
+#include <ros/advertise_options.h>
+
+// Boost
+#include <boost/thread.hpp>
+#include <boost/bind.hpp>
+
+namespace gazebo
+{
+
+class DiffDrivePlugin6W : public ModelPlugin
+{
+
+public:
+  DiffDrivePlugin6W();
+  virtual ~DiffDrivePlugin6W();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  void publish_odometry();
+  void GetPositionCmd();
+
+  physics::LinkPtr link;
+  physics::WorldPtr world;
+  physics::JointPtr joints[6];
+
+  float wheelSep;
+  float wheelDiam;
+  float torque;
+  float wheelSpeed[2];
+
+  // Simulation time of the last update
+  common::Time prevUpdateTime;
+
+  bool enableMotors;
+  float odomPose[3];
+  float odomVel[3];
+
+  // ROS STUFF
+  ros::NodeHandle* rosnode_;
+  ros::Publisher pub_;
+  ros::Subscriber sub_;
+  tf::TransformBroadcaster *transform_broadcaster_;
+  nav_msgs::Odometry odom_;
+  std::string tf_prefix_;
+
+  boost::mutex lock;
+
+  std::string namespace_;
+  std::string topic_;
+  std::string link_name_;
+
+  // Custom Callback Queue
+  ros::CallbackQueue queue_;
+  boost::thread callback_queue_thread_;
+  void QueueThread();
+
+  // DiffDrive stuff
+  void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
+
+  float x_;
+  float rot_;
+  bool alive_;
+
+  // Pointer to the update event connection
+  event::ConnectionPtr updateConnection;
+};
+
+}
+
+#endif
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h
new file mode 100644
index 0000000..9bc8a74
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h	
@@ -0,0 +1,172 @@
+/*
+ * Copyright (c) 2010, Daniel Hewlett, Antons Rebguns
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *      * Redistributions of source code must retain the above copyright
+ *      notice, this list of conditions and the following disclaimer.
+ *      * Redistributions in binary form must reproduce the above copyright
+ *      notice, this list of conditions and the following disclaimer in the
+ *      documentation and/or other materials provided with the distribution.
+ *      * Neither the name of the <organization> nor the
+ *      names of its contributors may be used to endorse or promote products
+ *      derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY Antons Rebguns <email> ''AS IS'' AND ANY
+ *  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ *  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL Antons Rebguns <email> BE LIABLE FOR ANY
+ *  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ *  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ *  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ **/
+
+/*
+ * \file  gazebo_ros_diff_drive.h
+ *
+ * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin 
+ * developed for the erratic robot (see copyright notice above). The original
+ * plugin can be found in the ROS package gazebo_erratic_plugins.
+ *
+ * \author  Piyush Khandelwal (piyushk@gmail.com)
+ *
+ * $ Id: 06/21/2013 11:23:40 AM piyushk $
+ */
+
+/**
+ * A diff drive plugin supporting multiple wheels per vehicle side. Based on
+ * existing plugins as stated above this notice.
+ */
+
+/*
+    Copyright (c) 2014, Stefan Kohlbrecher
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+        * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+        * Redistributions in binary form must reproduce the above copyright
+        notice, this list of conditions and the following disclaimer in the
+        documentation and/or other materials provided with the distribution.
+        * Neither the name of the <organization> nor the
+        names of its contributors may be used to endorse or promote products
+        derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY Antons Rebguns <email> ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL Antons Rebguns <email> BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+*/
+
+#ifndef DIFFDRIVE_PLUGIN_HH
+#define DIFFDRIVE_PLUGIN_HH
+
+#include <map>
+
+// Gazebo
+#include <gazebo/common/common.hh>
+#include <gazebo/physics/physics.hh>
+
+// ROS
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+#include <nav_msgs/OccupancyGrid.h>
+
+// Custom Callback Queue
+#include <ros/callback_queue.h>
+#include <ros/advertise_options.h>
+
+// Boost
+#include <boost/thread.hpp>
+#include <boost/bind.hpp>
+
+namespace gazebo {
+
+  class Joint;
+  class Entity;
+
+  class GazeboRosDiffDriveMultiWheel : public ModelPlugin {
+
+    public:
+      GazeboRosDiffDriveMultiWheel();
+      ~GazeboRosDiffDriveMultiWheel();
+      void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+
+    protected:
+      virtual void UpdateChild();
+      virtual void FiniChild();
+
+    private:
+      void publishOdometry(double step_time);
+      void getWheelVelocities();
+
+      physics::WorldPtr world;
+      physics::ModelPtr parent;
+      event::ConnectionPtr update_connection_;
+
+      std::vector<std::string> joint_names_[2];
+
+      double wheel_separation_;
+      double wheel_diameter_;
+      double torque;
+      double wheel_speed_[2];
+
+      std::vector<physics::JointPtr> joints_[2];
+
+      // ROS STUFF
+      ros::NodeHandle* rosnode_;
+      ros::Publisher odometry_publisher_;
+      ros::Subscriber cmd_vel_subscriber_;
+      tf::TransformBroadcaster *transform_broadcaster_;
+      nav_msgs::Odometry odom_;
+      std::string tf_prefix_;
+
+      boost::mutex lock;
+
+      std::string robot_namespace_;
+      std::string command_topic_;
+      std::string odometry_topic_;
+      std::string odometry_frame_;
+      std::string robot_base_frame_;
+
+      // Custom Callback Queue
+      ros::CallbackQueue queue_;
+      boost::thread callback_queue_thread_;
+      void QueueThread();
+
+      // DiffDrive stuff
+      void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
+
+      double x_;
+      double rot_;
+      bool alive_;
+
+      // Update Rate
+      double update_rate_;
+      double update_period_;
+      common::Time last_update_time_;
+
+      bool publish_odometry_tf_;
+      bool publish_odometry_msg_;
+
+  };
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h
new file mode 100644
index 0000000..890ad04
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h	
@@ -0,0 +1,106 @@
+/*
+ * Copyright 2015 Stefan Kohlbrecher, TU Darmstadt
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+/*
+ * Desc: Simple model controller that uses a twist message to exert
+ *       forces on a robot, resulting in motion. Based on the
+ *       planar_move plugin by Piyush Khandelwal.
+ * Author: Stefan Kohlbrecher
+ * Date: 06 August 2015
+ */
+
+#ifndef GAZEBO_ROS_FORCE_BASED_MOVE_HH
+#define GAZEBO_ROS_FORCE_BASED_MOVE_HH
+
+#include <boost/bind.hpp>
+#include <boost/thread.hpp>
+#include <map>
+
+#include <gazebo/common/common.hh>
+#include <gazebo/physics/physics.hh>
+#include <sdf/sdf.hh>
+
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <nav_msgs/Odometry.h>
+#include <ros/advertise_options.h>
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+
+namespace gazebo {
+
+  class GazeboRosForceBasedMove : public ModelPlugin {
+
+    public: 
+      GazeboRosForceBasedMove();
+      ~GazeboRosForceBasedMove();
+      void Load(physics::ModelPtr parent, sdf::ElementPtr sdf);
+
+    protected: 
+      virtual void UpdateChild();
+      virtual void FiniChild();
+
+    private:
+      void publishOdometry(double step_time);
+
+      physics::ModelPtr parent_;
+      event::ConnectionPtr update_connection_;
+
+      /// \brief A pointer to the Link, where force is applied
+      physics::LinkPtr link_;
+
+      /// \brief The Link this plugin is attached to, and will exert forces on.
+      private: std::string link_name_;
+
+      boost::shared_ptr<ros::NodeHandle> rosnode_;
+      ros::Publisher odometry_pub_;
+      ros::Subscriber vel_sub_;
+      boost::shared_ptr<tf::TransformBroadcaster> transform_broadcaster_;
+      nav_msgs::Odometry odom_;
+      std::string tf_prefix_;
+
+      boost::mutex lock;
+
+      std::string robot_namespace_;
+      std::string command_topic_;
+      std::string odometry_topic_;
+      std::string odometry_frame_;
+      std::string robot_base_frame_;
+      double odometry_rate_;
+
+      // Custom Callback Queue
+      ros::CallbackQueue queue_;
+      boost::thread callback_queue_thread_;
+      void QueueThread();
+
+      // command velocity callback
+      void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
+
+      double x_;
+      double y_;
+      double rot_;
+      bool alive_;
+      common::Time last_odom_publish_time_;
+      math::Pose last_odom_pose_;
+
+  };
+
+}
+
+#endif /* end of include guard: GAZEBO_ROS_PLANAR_MOVE_HH */
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h
new file mode 100644
index 0000000..81fc389
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h	
@@ -0,0 +1,100 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
+#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/ros.h>
+#include <sensor_msgs/NavSatFix.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <hector_gazebo_plugins/sensor_model.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <dynamic_reconfigure/server.h>
+#include <hector_gazebo_plugins/GNSSConfig.h>
+
+namespace gazebo
+{
+
+class GazeboRosGps : public ModelPlugin
+{
+public:
+  GazeboRosGps();
+  virtual ~GazeboRosGps();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+  typedef hector_gazebo_plugins::GNSSConfig GNSSConfig;
+  void dynamicReconfigureCallback(GNSSConfig &config, uint32_t level);
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  ros::NodeHandle* node_handle_;
+  ros::Publisher fix_publisher_;
+  ros::Publisher velocity_publisher_;
+
+  sensor_msgs::NavSatFix fix_;
+  geometry_msgs::Vector3Stamped velocity_;
+
+  std::string namespace_;
+  std::string link_name_;
+  std::string frame_id_;
+  std::string fix_topic_;
+  std::string velocity_topic_;
+
+  double reference_latitude_;
+  double reference_longitude_;
+  double reference_heading_;
+  double reference_altitude_;
+
+  double radius_north_;
+  double radius_east_;
+
+  SensorModel3 position_error_model_;
+  SensorModel3 velocity_error_model_;
+
+  UpdateTimer updateTimer;
+  event::ConnectionPtr updateConnection;
+
+  boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_position_, dynamic_reconfigure_server_velocity_;
+  boost::shared_ptr<dynamic_reconfigure::Server<GNSSConfig> > dynamic_reconfigure_server_status_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h
new file mode 100644
index 0000000..6b47d51
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h	
@@ -0,0 +1,141 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H
+#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H
+
+// #define USE_CBQ
+#ifdef USE_CBQ
+#include <ros/callback_queue.h>
+#include <ros/advertise_options.h>
+#endif
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/ros.h>
+#include <boost/thread/mutex.hpp>
+#include <sensor_msgs/Imu.h>
+#include <std_srvs/Empty.h>
+#include <hector_gazebo_plugins/SetBias.h>
+#include <hector_gazebo_plugins/sensor_model.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <dynamic_reconfigure/server.h>
+
+namespace gazebo
+{
+   class GazeboRosIMU : public ModelPlugin
+   {
+   public:
+      /// \brief Constructor
+      GazeboRosIMU();
+
+      /// \brief Destructor
+      virtual ~GazeboRosIMU();
+
+   protected:
+      virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+      virtual void Reset();
+      virtual void Update();
+
+   private:
+      /// \brief The parent World
+      physics::WorldPtr world;
+
+      /// \brief The link referred to by this plugin
+      physics::LinkPtr link;
+
+      /// \brief pointer to ros node
+      ros::NodeHandle* node_handle_;
+      ros::Publisher pub_;
+      ros::Publisher bias_pub_;
+
+      /// \brief ros message
+      sensor_msgs::Imu imuMsg;
+      sensor_msgs::Imu biasMsg;
+
+      /// \brief store link name
+      std::string link_name_;
+
+      /// \brief frame id
+      std::string frame_id_;
+
+      /// \brief topic name
+      std::string topic_;
+      std::string bias_topic_;
+
+      /// \brief allow specifying constant xyz and rpy offsets
+      math::Pose offset_;
+
+      /// \brief Sensor models
+      SensorModel3 accelModel;
+      SensorModel3 rateModel;
+      SensorModel yawModel;
+
+      /// \brief A mutex to lock access to fields that are used in message callbacks
+      boost::mutex lock;
+
+      /// \brief save current body/physics state
+      math::Quaternion orientation;
+      math::Vector3 velocity;
+      math::Vector3 accel;
+      math::Vector3 rate;
+      math::Vector3 gravity;
+
+      /// \brief Gaussian noise generator
+      double GaussianKernel(double mu,double sigma);
+
+      /// \brief for setting ROS name space
+      std::string namespace_;
+
+      /// \brief call back when using service
+      bool ServiceCallback(std_srvs::Empty::Request &req,
+                                    std_srvs::Empty::Response &res);
+      ros::ServiceServer srv_;
+      std::string serviceName;
+
+      /// \brief Bias service callbacks
+      bool SetAccelBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res);
+      bool SetRateBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res);
+      ros::ServiceServer accelBiasService;
+      ros::ServiceServer rateBiasService;
+
+#ifdef USE_CBQ
+      ros::CallbackQueue callback_queue_;
+      void CallbackQueueThread();
+      boost::thread callback_queue_thread_;
+#endif
+
+      UpdateTimer updateTimer;
+      event::ConnectionPtr updateConnection;
+
+      boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_accel_, dynamic_reconfigure_server_rate_, dynamic_reconfigure_server_yaw_;
+   };
+}
+
+#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h
new file mode 100644
index 0000000..97e8f1f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h	
@@ -0,0 +1,88 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
+#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/ros.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <hector_gazebo_plugins/sensor_model.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <dynamic_reconfigure/server.h>
+
+namespace gazebo
+{
+
+class GazeboRosMagnetic : public ModelPlugin
+{
+public:
+  GazeboRosMagnetic();
+  virtual ~GazeboRosMagnetic();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  ros::NodeHandle* node_handle_;
+  ros::Publisher publisher_;
+
+  geometry_msgs::Vector3Stamped magnetic_field_;
+  gazebo::math::Vector3 magnetic_field_world_;
+
+  std::string namespace_;
+  std::string topic_;
+  std::string link_name_;
+  std::string frame_id_;
+
+  double magnitude_;
+  double reference_heading_;
+  double declination_;
+  double inclination_;
+
+  SensorModel3 sensor_model_;
+
+  UpdateTimer updateTimer;
+  event::ConnectionPtr updateConnection;
+
+  boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h
new file mode 100644
index 0000000..e35c833
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h	
@@ -0,0 +1,82 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H
+#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+
+#include <sensor_msgs/Range.h>
+#include <hector_gazebo_plugins/sensor_model.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <dynamic_reconfigure/server.h>
+
+namespace gazebo
+{
+
+class GazeboRosSonar : public SensorPlugin
+{
+public:
+  GazeboRosSonar();
+  virtual ~GazeboRosSonar();
+
+protected:
+  virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  sensors::RaySensorPtr sensor_;
+
+  ros::NodeHandle* node_handle_;
+  ros::Publisher publisher_;
+
+  sensor_msgs::Range range_;
+
+  std::string namespace_;
+  std::string topic_;
+  std::string frame_id_;
+
+  SensorModel sensor_model_;
+
+  UpdateTimer updateTimer;
+  event::ConnectionPtr updateConnection;
+
+  boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h
new file mode 100644
index 0000000..269f2a2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h	
@@ -0,0 +1,55 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H
+#define HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H
+
+#include <gazebo/common/Plugin.hh>
+#include <ros/ros.h>
+
+namespace gazebo
+{
+
+class GazeboResetPlugin : public ModelPlugin
+{
+public:
+  GazeboResetPlugin();
+  virtual ~GazeboResetPlugin();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+
+private:
+  ros::NodeHandle* node_handle_;
+  ros::Publisher publisher_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h
new file mode 100644
index 0000000..d4cc7c1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h	
@@ -0,0 +1,236 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H
+#define HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H
+
+#include <sdf/sdf.hh>
+#include <gazebo/math/Vector3.hh>
+
+#include <hector_gazebo_plugins/SensorModelConfig.h>
+#include <numeric>
+
+namespace gazebo {
+
+using hector_gazebo_plugins::SensorModelConfig;
+
+template <typename T>
+class SensorModel_ {
+public:
+  SensorModel_();
+  virtual ~SensorModel_();
+
+  virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = std::string());
+
+  virtual T operator()(const T& value) const { return value * scale_error + current_error_; }
+  virtual T operator()(const T& value, double dt) { return value * scale_error + update(dt); }
+
+  virtual T update(double dt);
+  virtual void reset();
+  virtual void reset(const T& value);
+
+  virtual const T& getCurrentError() const { return current_error_; }
+  virtual T getCurrentBias() const { return current_drift_ + offset; }
+  virtual const T& getCurrentDrift() const { return current_drift_; }
+  virtual const T& getScaleError() const { return scale_error; }
+
+  virtual void setCurrentDrift(const T& new_drift) { current_drift_ = new_drift; }
+
+  virtual void dynamicReconfigureCallback(SensorModelConfig &config, uint32_t level);
+
+private:
+  virtual bool LoadImpl(sdf::ElementPtr _element, T& _value);
+
+public:
+  T offset;
+  T drift;
+  T drift_frequency;
+  T gaussian_noise;
+  T scale_error;
+
+private:
+  T current_drift_;
+  T current_error_;
+};
+
+template <typename T>
+SensorModel_<T>::SensorModel_()
+  : offset()
+  , drift()
+  , drift_frequency()
+  , gaussian_noise()
+{
+  drift_frequency = 1.0/3600.0; // time constant 1h
+  scale_error = 1.0;
+  reset();
+}
+
+template <typename T>
+SensorModel_<T>::~SensorModel_()
+{
+}
+
+template <typename T>
+void SensorModel_<T>::Load(sdf::ElementPtr _sdf, const std::string& prefix)
+{
+  std::string _offset, _drift, _drift_frequency, _gaussian_noise, _scale_error;
+
+  if (prefix.empty()) {
+    _offset              = "offset";
+    _drift               = "drift";
+    _drift_frequency     = "driftFrequency";
+    _gaussian_noise      = "gaussianNoise";
+    _scale_error         = "scaleError";
+  } else {
+    _offset              = prefix + "Offset";
+    _drift               = prefix + "Drift";
+    _drift_frequency     = prefix + "DriftFrequency";
+    _gaussian_noise      = prefix + "GaussianNoise";
+    _scale_error         = prefix + "ScaleError";
+  }
+
+  if (_sdf->HasElement(_offset))              LoadImpl(_sdf->GetElement(_offset), offset);
+  if (_sdf->HasElement(_drift))               LoadImpl(_sdf->GetElement(_drift), drift);
+  if (_sdf->HasElement(_drift_frequency))     LoadImpl(_sdf->GetElement(_drift_frequency), drift_frequency);
+  if (_sdf->HasElement(_gaussian_noise))      LoadImpl(_sdf->GetElement(_gaussian_noise), gaussian_noise);
+  if (_sdf->HasElement(_scale_error))         LoadImpl(_sdf->GetElement(_scale_error), scale_error);
+
+  reset();
+}
+
+template <typename T>
+bool SensorModel_<T>::LoadImpl(sdf::ElementPtr _element, T& _value) {
+  if (!_element->GetValue()) return false;
+  return _element->GetValue()->Get(_value);
+}
+
+namespace {
+  template <typename T>
+  static inline T SensorModelGaussianKernel(T mu, T sigma)
+  {
+    // using Box-Muller transform to generate two independent standard normally distributed normal variables
+    // see wikipedia
+    T U = (T)rand()/(T)RAND_MAX; // normalized uniform random variable
+    T V = (T)rand()/(T)RAND_MAX; // normalized uniform random variable
+    T X = sqrt(-2.0 * ::log(U)) * cos( 2.0*M_PI * V);
+    X = sigma * X + mu;
+    return X;
+  }
+
+  template <typename T>
+  static inline T SensorModelInternalUpdate(T& current_drift, T drift, T drift_frequency, T offset, T gaussian_noise, double dt)
+  {
+    // current_drift = current_drift - dt * (current_drift * drift_frequency + SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift));
+    current_drift = exp(-dt * drift_frequency) * current_drift + dt * SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift);
+    return offset + current_drift + SensorModelGaussianKernel(T(), gaussian_noise);
+  }
+}
+
+template <typename T>
+T SensorModel_<T>::update(double dt)
+{
+  for(std::size_t i = 0; i < current_error_.size(); ++i) current_error_[i] = SensorModelInternalUpdate(current_drift_[i], drift[i], drift_frequency[i], offset[i], gaussian_noise[i], dt);
+  return current_error_;
+}
+
+template <>
+double SensorModel_<double>::update(double dt)
+{
+  current_error_ = SensorModelInternalUpdate(current_drift_, drift, drift_frequency, offset, gaussian_noise, dt);
+  return current_error_;
+}
+
+template <>
+math::Vector3 SensorModel_<math::Vector3>::update(double dt)
+{
+  current_error_.x = SensorModelInternalUpdate(current_drift_.x, drift.x, drift_frequency.x, offset.x, gaussian_noise.x, dt);
+  current_error_.y = SensorModelInternalUpdate(current_drift_.y, drift.y, drift_frequency.y, offset.y, gaussian_noise.y, dt);
+  current_error_.z = SensorModelInternalUpdate(current_drift_.z, drift.z, drift_frequency.z, offset.z, gaussian_noise.z, dt);
+  return current_error_;
+}
+
+template <typename T>
+void SensorModel_<T>::reset()
+{
+  for(std::size_t i = 0; i < current_drift_.size(); ++i) current_drift_[i] = SensorModelGaussianKernel(T::value_type(), drift[i]);
+  current_error_ = T();
+}
+
+template <>
+void SensorModel_<double>::reset()
+{
+  current_drift_ = SensorModelGaussianKernel(0.0, drift);
+  current_error_ = 0.0;
+}
+
+template <>
+void SensorModel_<math::Vector3>::reset()
+{
+  current_drift_.x = SensorModelGaussianKernel(0.0, drift.x);
+  current_drift_.y = SensorModelGaussianKernel(0.0, drift.y);
+  current_drift_.z = SensorModelGaussianKernel(0.0, drift.z);
+  current_error_ = math::Vector3();
+}
+
+template <typename T>
+void SensorModel_<T>::reset(const T& value)
+{
+  current_drift_ = value;
+  current_error_ = T();
+}
+
+namespace helpers {
+  template <typename T> struct scalar_value { static double toDouble(const T &orig) { return orig; } };
+  template <typename T> struct scalar_value<std::vector<T> > { static double toDouble(const std::vector<T> &orig) { return (double) std::accumulate(orig.begin(), orig.end()) / orig.size(); } };
+  template <> struct scalar_value<math::Vector3> { static double toDouble(const math::Vector3 &orig) { return (orig.x + orig.y + orig.z) / 3; } };
+}
+
+template <typename T>
+void SensorModel_<T>::dynamicReconfigureCallback(SensorModelConfig &config, uint32_t level)
+{
+  if (level == 1) {
+    gaussian_noise  = config.gaussian_noise;
+    offset          = config.offset;
+    drift           = config.drift;
+    drift_frequency = config.drift_frequency;
+    scale_error     = config.scale_error;
+  } else {
+    config.gaussian_noise  = helpers::scalar_value<T>::toDouble(gaussian_noise);
+    config.offset          = helpers::scalar_value<T>::toDouble(offset);
+    config.drift           = helpers::scalar_value<T>::toDouble(drift);
+    config.drift_frequency = helpers::scalar_value<T>::toDouble(drift_frequency);
+    config.scale_error     = helpers::scalar_value<T>::toDouble(scale_error);
+  }
+}
+
+typedef SensorModel_<double> SensorModel;
+typedef SensorModel_<math::Vector3> SensorModel3;
+
+}
+
+#endif // HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h
new file mode 100644
index 0000000..6f77ab6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h	
@@ -0,0 +1,117 @@
+/*
+ *  Gazebo - Outdoor Multi-Robot Simulator
+ *  Copyright (C) 2003  
+ *     Nate Koenig & Andrew Howard
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
+
+#ifndef SERVO_PLUGIN_H
+#define SERVO_PLUGIN_H
+
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/common/Time.hh>
+#include <gazebo/math/Quaternion.hh>
+
+// ROS 
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/QuaternionStamped.h>
+#include <sensor_msgs/JointState.h>
+
+// Boost
+#include <boost/thread.hpp>
+#include <boost/bind.hpp>
+
+namespace gazebo
+{
+
+class ServoPlugin : public ModelPlugin
+{
+
+public:
+  ServoPlugin();
+  virtual ~ServoPlugin();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Init();
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  void CalculateVelocities();
+  void publish_joint_states();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  // Simulation time of the last update
+  common::Time prevUpdateTime;
+
+  bool enableMotors;
+
+  struct Servo {
+    std::string name;
+    math::Vector3 axis;
+    physics::JointPtr joint;
+    float velocity;
+    Servo() : velocity() {}
+  } servo[3];
+
+  unsigned int countOfServos;
+  unsigned int orderOfAxes[3];
+  unsigned int rotationConv;
+  sensor_msgs::JointState joint_state;
+
+  // parameters
+  std::string robotNamespace;
+  std::string topicName;
+  std::string jointStateName;
+  common::Time controlPeriod;
+
+  float proportionalControllerGain;
+  float derivativeControllerGain;
+  double maximumVelocity;
+  float maximumTorque;
+
+  // ROS STUFF
+  ros::NodeHandle* rosnode_;
+  ros::Publisher jointStatePub_;
+  ros::Subscriber sub_;
+  tf::TransformListener* transform_listener_;
+
+  // Custom Callback Queue
+  ros::CallbackQueue queue_;
+//  boost::thread* callback_queue_thread_;
+//  void QueueThread();
+
+  // DiffDrive stuff
+  void cmdCallback(const geometry_msgs::QuaternionStamped::ConstPtr& cmd_msg);
+
+  boost::mutex mutex;
+  geometry_msgs::QuaternionStamped::ConstPtr current_cmd;
+  math::Quaternion rotation_;
+
+  // Pointer to the update event connection
+  event::ConnectionPtr updateConnection;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h
new file mode 100644
index 0000000..30155bd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h	
@@ -0,0 +1,168 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H
+#define HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H
+
+#include <sdf/sdf.hh>
+#include <gazebo/physics/World.hh>
+#include <gazebo/physics/PhysicsEngine.hh>
+
+#include <gazebo/common/Event.hh>
+#include <gazebo/common/Events.hh>
+
+namespace gazebo {
+
+class UpdateTimer {
+public:
+  UpdateTimer()
+    : connection_count_(0)
+  {
+  }
+
+  virtual ~UpdateTimer()
+  {
+  }
+
+  virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf, const std::string& _prefix = "update")
+  {
+    this->world_ = _world;
+
+    if (_sdf->HasElement(_prefix + "Rate")) {
+      double update_rate = 0.0;
+      _sdf->GetElement(_prefix + "Rate")->GetValue()->Get(update_rate);
+      update_period_ = update_rate > 0.0 ? 1.0/update_rate : 0.0;
+    }
+
+    if (_sdf->HasElement(_prefix + "Period")) {
+      _sdf->GetElement(_prefix + "Period")->GetValue()->Get(update_period_);
+    }
+
+    if (_sdf->HasElement(_prefix + "Offset")) {
+      _sdf->GetElement(_prefix + "Offset")->GetValue()->Get(update_offset_);
+    }
+  }
+
+  virtual event::ConnectionPtr Connect(const boost::function<void()> &_subscriber, bool connectToWorldUpdateBegin = true)
+  {
+    if (connectToWorldUpdateBegin && !update_connection_) {
+      update_connection_ = event::Events::ConnectWorldUpdateBegin(
+            boost::bind(&UpdateTimer::Update, this));
+    }
+    connection_count_++;
+    return update_event_.Connect(_subscriber);
+  }
+
+  virtual void Disconnect(event::ConnectionPtr const& _c = event::ConnectionPtr())
+  {
+    if (_c) update_event_.Disconnect(_c);
+
+    if (update_connection_ && (!_c || --connection_count_ == 0)) {
+      event::Events::DisconnectWorldUpdateBegin(update_connection_);
+      update_connection_.reset();
+    }
+  }
+
+  common::Time const& getUpdatePeriod() const {
+    return update_period_;
+  }
+
+  void setUpdatePeriod(common::Time const& period) {
+    update_period_ = period;
+  }
+
+  double getUpdateRate() const {
+    double period = update_period_.Double();
+    return (period > 0.0)  ? (1.0 / period) : 0.0;
+  }
+
+  void setUpdateRate(double rate) {
+    update_period_ = (rate > 0.0) ? (1.0 / rate) : 0.0;
+  }
+
+  common::Time const& getLastUpdate() const {
+    return last_update_;
+  }
+
+  common::Time getTimeSinceLastUpdate() const {
+    if (last_update_ == common::Time()) return common::Time();
+    return world_->GetSimTime() - last_update_;
+  }
+
+  virtual bool checkUpdate() const
+  {
+    double period = update_period_.Double();
+    double step = world_->GetPhysicsEngine()->GetMaxStepSize();
+    if (period == 0) return true;
+    double fraction = fmod((world_->GetSimTime() - update_offset_).Double() + (step / 2.0), period);
+    return (fraction >= 0.0) && (fraction < step);
+  }
+
+  virtual bool update()
+  {
+    if (!checkUpdate()) return false;
+    last_update_ = world_->GetSimTime();
+    return true;
+  }
+
+  virtual bool update(double& dt)
+  {
+    dt = getTimeSinceLastUpdate().Double();
+    return update();
+  }
+
+  virtual void Reset()
+  {
+    last_update_ = common::Time();
+  }
+
+protected:
+  virtual bool Update()
+  {
+    if (!checkUpdate()) {
+      return false;
+    }
+    update_event_();
+    last_update_ = world_->GetSimTime();
+    return true;
+  }
+
+private:
+  physics::WorldPtr world_;
+  common::Time update_period_;
+  common::Time update_offset_;
+  common::Time last_update_;
+
+  event::EventT<void()> update_event_;
+  unsigned int connection_count_;
+  event::ConnectionPtr update_connection_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/package.xml
new file mode 100644
index 0000000..c372d34
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/package.xml	
@@ -0,0 +1,41 @@
+<package>
+  <name>hector_gazebo_plugins</name>
+  <version>0.3.6</version>
+  <description>hector_gazebo_plugins provides gazebo plugins from Team Hector.
+     Currently it contains a 6wd differential drive plugin, an IMU sensor plugin,
+     an earth magnetic field sensor plugin, a GPS sensor plugin and a
+     sonar ranger plugin.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_gazebo_plugins</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp
new file mode 100644
index 0000000..7e22da6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp	
@@ -0,0 +1,335 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+/**
+ * Based on diffdrive_plugin by Nathan Koenig, Andrew Howard and Daniel Hewlett
+ */
+
+#include <algorithm>
+#include <assert.h>
+
+#include <hector_gazebo_plugins/diffdrive_plugin_6w.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+#include <boost/bind.hpp>
+
+namespace gazebo {
+
+enum
+{
+  FRONT_LEFT,
+  FRONT_RIGHT,
+  MID_LEFT,
+  MID_RIGHT,
+  REAR_LEFT,
+  REAR_RIGHT,
+  NUM_WHEELS
+};
+
+// Constructor
+DiffDrivePlugin6W::DiffDrivePlugin6W()
+{
+}
+
+// Destructor
+DiffDrivePlugin6W::~DiffDrivePlugin6W()
+{
+  event::Events::DisconnectWorldUpdateBegin(updateConnection);
+  delete transform_broadcaster_;
+  rosnode_->shutdown();
+  callback_queue_thread_.join();
+  delete rosnode_;
+}
+
+// Load the controller
+void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+
+  // default parameters
+  namespace_.clear();
+  topic_ = "cmd_vel";
+  wheelSep = 0.34;
+  wheelDiam = 0.15;
+  torque = 10.0;
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))
+    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("topicName"))
+    topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("bodyName"))
+  {
+    link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
+    link = _model->GetLink(link_name_);
+  } else {
+    link = _model->GetLink();
+    link_name_ = link->GetName();
+  }
+
+  // assert that the body by link_name_ exists
+  if (!link)
+  {
+    ROS_FATAL("DiffDrivePlugin6W plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  if (_sdf->HasElement("frontLeftJoint"))  joints[FRONT_LEFT]  = _model->GetJoint(_sdf->GetElement("frontLeftJoint")->GetValue()->GetAsString());
+  if (_sdf->HasElement("frontRightJoint")) joints[FRONT_RIGHT] = _model->GetJoint(_sdf->GetElement("frontRightJoint")->GetValue()->GetAsString());
+  if (_sdf->HasElement("midLeftJoint"))    joints[MID_LEFT]    = _model->GetJoint(_sdf->GetElement("midLeftJoint")->GetValue()->GetAsString());
+  if (_sdf->HasElement("midRightJoint"))   joints[MID_RIGHT]   = _model->GetJoint(_sdf->GetElement("midRightJoint")->GetValue()->GetAsString());
+  if (_sdf->HasElement("rearLeftJoint"))   joints[REAR_LEFT]   = _model->GetJoint(_sdf->GetElement("rearLeftJoint")->GetValue()->GetAsString());
+  if (_sdf->HasElement("rearRightJoint"))  joints[REAR_RIGHT]  = _model->GetJoint(_sdf->GetElement("rearRightJoint")->GetValue()->GetAsString());
+
+  if (!joints[FRONT_LEFT])  ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front left joint");
+  if (!joints[FRONT_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front right joint");
+  if (!joints[MID_LEFT])    ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid left joint");
+  if (!joints[MID_RIGHT])   ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid right joint");
+  if (!joints[REAR_LEFT])   ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear left joint");
+  if (!joints[REAR_RIGHT])  ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear right joint");
+
+  if (_sdf->HasElement("wheelSeparation"))
+    _sdf->GetElement("wheelSeparation")->GetValue()->Get(wheelSep);
+
+  if (_sdf->HasElement("wheelDiameter"))
+    _sdf->GetElement("wheelDiameter")->GetValue()->Get(wheelDiam);
+
+  if (_sdf->HasElement("torque"))
+    _sdf->GetElement("torque")->GetValue()->Get(torque);
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  rosnode_ = new ros::NodeHandle(namespace_);
+
+  tf_prefix_ = tf::getPrefixParam(*rosnode_);
+  transform_broadcaster_ = new tf::TransformBroadcaster();
+
+  // ROS: Subscribe to the velocity command topic (usually "cmd_vel")
+  ros::SubscribeOptions so =
+      ros::SubscribeOptions::create<geometry_msgs::Twist>(topic_, 1,
+                                                          boost::bind(&DiffDrivePlugin6W::cmdVelCallback, this, _1),
+                                                          ros::VoidPtr(), &queue_);
+  sub_ = rosnode_->subscribe(so);
+  pub_ = rosnode_->advertise<nav_msgs::Odometry>("odom", 1);
+
+  callback_queue_thread_ = boost::thread(boost::bind(&DiffDrivePlugin6W::QueueThread, this));
+
+  Reset();
+
+  // New Mechanism for Updating every World Cycle
+  // Listen to the update event. This event is broadcast every
+  // simulation iteration.
+  updateConnection = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&DiffDrivePlugin6W::Update, this));
+}
+
+// Initialize the controller
+void DiffDrivePlugin6W::Reset()
+{
+  enableMotors = true;
+
+  for (size_t i = 0; i < 2; ++i){
+    wheelSpeed[i] = 0;
+  }
+
+  prevUpdateTime = world->GetSimTime();
+
+  x_ = 0;
+  rot_ = 0;
+  alive_ = true;
+
+  // Reset odometric pose
+  odomPose[0] = 0.0;
+  odomPose[1] = 0.0;
+  odomPose[2] = 0.0;
+
+  odomVel[0] = 0.0;
+  odomVel[1] = 0.0;
+  odomVel[2] = 0.0;
+}
+
+// Update the controller
+void DiffDrivePlugin6W::Update()
+{
+  // TODO: Step should be in a parameter of this function
+  double d1, d2;
+  double dr, da;
+  common::Time stepTime;
+
+  GetPositionCmd();
+
+  //stepTime = World::Instance()->GetPhysicsEngine()->GetStepTime();
+  stepTime = world->GetSimTime() - prevUpdateTime;
+  prevUpdateTime = world->GetSimTime();
+
+  // Distance travelled by front wheels
+  d1 = stepTime.Double() * wheelDiam / 2 * joints[MID_LEFT]->GetVelocity(0);
+  d2 = stepTime.Double() * wheelDiam / 2 * joints[MID_RIGHT]->GetVelocity(0);
+
+  dr = (d1 + d2) / 2;
+  da = (d1 - d2) / wheelSep;
+
+  // Compute odometric pose
+  odomPose[0] += dr * cos(odomPose[2]);
+  odomPose[1] += dr * sin(odomPose[2]);
+  odomPose[2] += da;
+
+  // Compute odometric instantaneous velocity
+  odomVel[0] = dr / stepTime.Double();
+  odomVel[1] = 0.0;
+  odomVel[2] = da / stepTime.Double();
+
+  if (enableMotors)
+  {
+    joints[FRONT_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0));
+    joints[MID_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0));
+    joints[REAR_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0));
+
+    joints[FRONT_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0));
+    joints[MID_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0));
+    joints[REAR_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0));
+
+    joints[FRONT_LEFT]->SetMaxForce(0, torque);
+    joints[MID_LEFT]->SetMaxForce(0, torque);
+    joints[REAR_LEFT]->SetMaxForce(0, torque);
+
+    joints[FRONT_RIGHT]->SetMaxForce(0, torque);
+    joints[MID_RIGHT]->SetMaxForce(0, torque);
+    joints[REAR_RIGHT]->SetMaxForce(0, torque);
+  }
+
+  //publish_odometry();
+}
+
+// NEW: Now uses the target velocities from the ROS message, not the Iface 
+void DiffDrivePlugin6W::GetPositionCmd()
+{
+  lock.lock();
+
+  double vr, va;
+
+  vr = x_; //myIface->data->cmdVelocity.pos.x;
+  va = -rot_; //myIface->data->cmdVelocity.yaw;
+
+  //std::cout << "X: [" << x_ << "] ROT: [" << rot_ << "]" << std::endl;
+
+  // Changed motors to be always on, which is probably what we want anyway
+  enableMotors = true; //myIface->data->cmdEnableMotors > 0;
+
+  //std::cout << enableMotors << std::endl;
+
+  wheelSpeed[0] = vr + va * wheelSep / 2;
+  wheelSpeed[1] = vr - va * wheelSep / 2;
+
+  lock.unlock();
+}
+
+// NEW: Store the velocities from the ROS message
+void DiffDrivePlugin6W::cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg)
+{
+  //std::cout << "BEGIN CALLBACK\n";
+
+  lock.lock();
+
+  x_ = cmd_msg->linear.x;
+  rot_ = cmd_msg->angular.z;
+
+  lock.unlock();
+
+  //std::cout << "END CALLBACK\n";
+}
+
+// NEW: custom callback queue thread
+void DiffDrivePlugin6W::QueueThread()
+{
+  static const double timeout = 0.01;
+
+  while (alive_ && rosnode_->ok())
+  {
+    //    std::cout << "CALLING STUFF\n";
+    queue_.callAvailable(ros::WallDuration(timeout));
+  }
+}
+
+// NEW: Update this to publish odometry topic
+void DiffDrivePlugin6W::publish_odometry()
+{
+  // get current time
+  ros::Time current_time_((world->GetSimTime()).sec, (world->GetSimTime()).nsec); 
+
+  // getting data for base_footprint to odom transform
+  math::Pose pose = link->GetWorldPose();
+  math::Vector3 velocity = link->GetWorldLinearVel();
+  math::Vector3 angular_velocity = link->GetWorldAngularVel();
+
+  tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w);
+  tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z);
+  tf::Transform base_footprint_to_odom(qt, vt);
+
+  transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odom,
+                                                            current_time_,
+                                                            "odom",
+                                                            "base_footprint"));
+
+  // publish odom topic
+  odom_.pose.pose.position.x = pose.pos.x;
+  odom_.pose.pose.position.y = pose.pos.y;
+
+  odom_.pose.pose.orientation.x = pose.rot.x;
+  odom_.pose.pose.orientation.y = pose.rot.y;
+  odom_.pose.pose.orientation.z = pose.rot.z;
+  odom_.pose.pose.orientation.w = pose.rot.w;
+
+  odom_.twist.twist.linear.x = velocity.x;
+  odom_.twist.twist.linear.y = velocity.y;
+  odom_.twist.twist.angular.z = angular_velocity.z;
+
+  odom_.header.frame_id = tf::resolve(tf_prefix_, "odom");
+  odom_.child_frame_id = "base_footprint";
+  odom_.header.stamp = current_time_;
+
+  pub_.publish(odom_);
+}
+
+GZ_REGISTER_MODEL_PLUGIN(DiffDrivePlugin6W)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp
new file mode 100644
index 0000000..738d69e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp	
@@ -0,0 +1,408 @@
+/*
+    Copyright (c) 2010, Daniel Hewlett, Antons Rebguns
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+        * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+        * Redistributions in binary form must reproduce the above copyright
+        notice, this list of conditions and the following disclaimer in the
+        documentation and/or other materials provided with the distribution.
+        * Neither the name of the <organization> nor the
+        names of its contributors may be used to endorse or promote products
+        derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY Antons Rebguns <email> ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL Antons Rebguns <email> BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+*/
+
+/*
+ * \file  gazebo_ros_diff_drive.cpp
+ *
+ * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin 
+ * developed for the erratic robot (see copyright notice above). The original
+ * plugin can be found in the ROS package gazebo_erratic_plugins.
+ *
+ * \author  Piyush Khandelwal (piyushk@gmail.com)
+ *
+ * $ Id: 06/21/2013 11:23:40 AM piyushk $
+ */
+
+
+/**
+ * A diff drive plugin supporting multiple wheels per vehicle side. Based on
+ * existing plugins as stated above this notice.
+ */
+
+/*
+    Copyright (c) 2014, Stefan Kohlbrecher
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+        * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+        * Redistributions in binary form must reproduce the above copyright
+        notice, this list of conditions and the following disclaimer in the
+        documentation and/or other materials provided with the distribution.
+        * Neither the name of the <organization> nor the
+        names of its contributors may be used to endorse or promote products
+        derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY Antons Rebguns <email> ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL Antons Rebguns <email> BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+*/
+
+#include <algorithm>
+#include <assert.h>
+
+#include <hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h>
+
+#include <gazebo/math/gzmath.hh>
+#include <sdf/sdf.hh>
+
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/GetMap.h>
+#include <nav_msgs/Odometry.h>
+#include <boost/bind.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/algorithm/string/split.hpp>
+#include <boost/algorithm/string/classification.hpp>
+
+namespace gazebo {
+
+  enum {
+    RIGHT,
+    LEFT,
+  };
+
+  GazeboRosDiffDriveMultiWheel::GazeboRosDiffDriveMultiWheel() {}
+
+  // Destructor
+  GazeboRosDiffDriveMultiWheel::~GazeboRosDiffDriveMultiWheel() {
+    delete rosnode_;
+    delete transform_broadcaster_;
+  }
+
+  // Load the controller
+  void GazeboRosDiffDriveMultiWheel::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
+
+    this->parent = _parent;
+    this->world = _parent->GetWorld();
+
+    this->robot_namespace_ = "";
+    if (!_sdf->HasElement("robotNamespace")) {
+      ROS_INFO("GazeboRosDiffDriveMultiWheel Plugin missing <robotNamespace>, defaults to \"%s\"", 
+          this->robot_namespace_.c_str());
+    } else {
+      this->robot_namespace_ = 
+        _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
+    }
+
+    //this->left_joint_names_ = "left_joint";
+    if (!_sdf->HasElement("leftJoints")) {
+      gzthrow("Have to specify space separated left side joint names via <leftJoints> tag!");
+    } else {
+      std::string joint_string = _sdf->GetElement("leftJoints")->Get<std::string>();
+      boost::split( joint_names_[LEFT], joint_string, boost::is_any_of(" ") );
+    }
+
+    //this->right_joint_names_ = "right_joint";
+    if (!_sdf->HasElement("rightJoints")) {
+      gzthrow("Have to specify space separated right side joint names via <rightJoints> tag!");
+    } else {
+      std::string joint_string = _sdf->GetElement("rightJoints")->Get<std::string>();
+      boost::split( joint_names_[RIGHT], joint_string, boost::is_any_of(" ") );
+    }
+
+    this->wheel_separation_ = 0.34;
+    if (!_sdf->HasElement("wheelSeparation")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <wheelSeparation>, defaults to %f",
+          this->robot_namespace_.c_str(), this->wheel_separation_);
+    } else {
+      this->wheel_separation_ = 
+        _sdf->GetElement("wheelSeparation")->Get<double>();
+    }
+
+    this->wheel_diameter_ = 0.15;
+    if (!_sdf->HasElement("wheelDiameter")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <wheelDiameter>, defaults to %f",
+          this->robot_namespace_.c_str(), this->wheel_diameter_);
+    } else {
+      this->wheel_diameter_ = _sdf->GetElement("wheelDiameter")->Get<double>();
+    }
+
+    this->torque = 5.0;
+    if (!_sdf->HasElement("torque")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <torque>, defaults to %f",
+          this->robot_namespace_.c_str(), this->torque);
+    } else {
+      this->torque = _sdf->GetElement("torque")->Get<double>();
+    }
+
+    this->command_topic_ = "cmd_vel";
+    if (!_sdf->HasElement("commandTopic")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <commandTopic>, defaults to \"%s\"",
+          this->robot_namespace_.c_str(), this->command_topic_.c_str());
+    } else {
+      this->command_topic_ = _sdf->GetElement("commandTopic")->Get<std::string>();
+    }
+
+    this->odometry_topic_ = "odom";
+    if (!_sdf->HasElement("odometryTopic")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <odometryTopic>, defaults to \"%s\"",
+          this->robot_namespace_.c_str(), this->odometry_topic_.c_str());
+    } else {
+      this->odometry_topic_ = _sdf->GetElement("odometryTopic")->Get<std::string>();
+    }
+
+    this->odometry_frame_ = "odom";
+    if (!_sdf->HasElement("odometryFrame")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <odometryFrame>, defaults to \"%s\"",
+          this->robot_namespace_.c_str(), this->odometry_frame_.c_str());
+    } else {
+      this->odometry_frame_ = _sdf->GetElement("odometryFrame")->Get<std::string>();
+    }
+
+    this->robot_base_frame_ = "base_footprint";
+    if (!_sdf->HasElement("robotBaseFrame")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <robotBaseFrame>, defaults to \"%s\"",
+          this->robot_namespace_.c_str(), this->robot_base_frame_.c_str());
+    } else {
+      this->robot_base_frame_ = _sdf->GetElement("robotBaseFrame")->Get<std::string>();
+    }
+
+    this->update_rate_ = 100.0;
+    if (!_sdf->HasElement("updateRate")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <updateRate>, defaults to %f",
+          this->robot_namespace_.c_str(), this->update_rate_);
+    } else {
+      this->update_rate_ = _sdf->GetElement("updateRate")->Get<double>();
+    }
+
+
+    this->publish_odometry_tf_ = true;
+    if (!_sdf->HasElement("publishOdometryTf")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <publishOdometryTf>, defaults to %s",
+               this->robot_namespace_.c_str(), this->publish_odometry_tf_ ? "true" : "false");
+    } else {
+      this->publish_odometry_tf_ = _sdf->GetElement("publishOdometryTf")->Get<bool>();
+    }
+
+    this->publish_odometry_msg_ = true;
+    if (!_sdf->HasElement("publishOdometryMsg")) {
+      ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing <publishOdometryMsg>, defaults to %s",
+               this->robot_namespace_.c_str(), this->publish_odometry_msg_ ? "true" : "false");
+    } else {
+      this->publish_odometry_msg_ = _sdf->GetElement("publishOdometryMsg")->Get<bool>();
+    }
+
+
+
+    // Initialize update rate stuff
+    if (this->update_rate_ > 0.0) {
+      this->update_period_ = 1.0 / this->update_rate_;
+    } else {
+      this->update_period_ = 0.0;
+    }
+    last_update_time_ = this->world->GetSimTime();
+
+    // Initialize velocity stuff
+    wheel_speed_[RIGHT] = 0;
+    wheel_speed_[LEFT] = 0;
+
+    x_ = 0;
+    rot_ = 0;
+    alive_ = true;
+
+    for (size_t side = 0; side < 2; ++side){
+      for (size_t i = 0; i < joint_names_[side].size(); ++i){
+        joints_[side].push_back(this->parent->GetJoint(joint_names_[side][i]));
+        if (!joints_[side][i]){
+          char error[200];
+          snprintf(error, 200,
+                   "GazeboRosDiffDriveMultiWheel Plugin (ns = %s) couldn't get hinge joint named \"%s\"",
+                   this->robot_namespace_.c_str(), joint_names_[side][i].c_str());
+          gzthrow(error);
+        }
+        joints_[side][i]->SetMaxForce(0, torque);
+      }
+    }
+
+    // Make sure the ROS node for Gazebo has already been initialized
+    if (!ros::isInitialized())
+    {
+      ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+        << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+      return;
+    }
+
+    rosnode_ = new ros::NodeHandle(this->robot_namespace_);
+
+    ROS_INFO("Starting GazeboRosDiffDriveMultiWheel Plugin (ns = %s)!", this->robot_namespace_.c_str());
+
+    tf_prefix_ = tf::getPrefixParam(*rosnode_);
+    transform_broadcaster_ = new tf::TransformBroadcaster();
+
+    // ROS: Subscribe to the velocity command topic (usually "cmd_vel")
+    ros::SubscribeOptions so =
+      ros::SubscribeOptions::create<geometry_msgs::Twist>(command_topic_, 1,
+          boost::bind(&GazeboRosDiffDriveMultiWheel::cmdVelCallback, this, _1),
+          ros::VoidPtr(), &queue_);
+
+    cmd_vel_subscriber_ = rosnode_->subscribe(so);
+
+    odometry_publisher_ = rosnode_->advertise<nav_msgs::Odometry>(odometry_topic_, 1);
+
+    // start custom queue for diff drive
+    this->callback_queue_thread_ = 
+      boost::thread(boost::bind(&GazeboRosDiffDriveMultiWheel::QueueThread, this));
+
+    // listen to the update event (broadcast every simulation iteration)
+    this->update_connection_ = 
+      event::Events::ConnectWorldUpdateBegin(
+          boost::bind(&GazeboRosDiffDriveMultiWheel::UpdateChild, this));
+
+  }
+
+  // Update the controller
+  void GazeboRosDiffDriveMultiWheel::UpdateChild() {
+    common::Time current_time = this->world->GetSimTime();
+    double seconds_since_last_update = 
+      (current_time - last_update_time_).Double();
+    if (seconds_since_last_update > update_period_) {
+
+      if (this->publish_odometry_tf_ || this->publish_odometry_msg_){
+        publishOdometry(seconds_since_last_update);
+      }
+
+      // Update robot in case new velocities have been requested
+      getWheelVelocities();
+      //joints[LEFT]->SetVelocity(0, wheel_speed_[LEFT] / wheel_diameter_);
+      //joints[RIGHT]->SetVelocity(0, wheel_speed_[RIGHT] / wheel_diameter_);
+
+      for (size_t side = 0; side < 2; ++side){
+        for (size_t i = 0; i < joints_[side].size(); ++i){
+          joints_[side][i]->SetVelocity(0, wheel_speed_[side] / (0.5 * wheel_diameter_));
+        }
+      }
+
+      last_update_time_+= common::Time(update_period_);
+
+    }
+  }
+
+  // Finalize the controller
+  void GazeboRosDiffDriveMultiWheel::FiniChild() {
+    alive_ = false;
+    queue_.clear();
+    queue_.disable();
+    rosnode_->shutdown();
+    callback_queue_thread_.join();
+  }
+
+  void GazeboRosDiffDriveMultiWheel::getWheelVelocities() {
+    boost::mutex::scoped_lock scoped_lock(lock);
+
+    double vr = x_;
+    double va = rot_;
+
+    wheel_speed_[LEFT] = vr - va * wheel_separation_ / 2.0;
+    wheel_speed_[RIGHT] = vr + va * wheel_separation_ / 2.0;
+  }
+
+  void GazeboRosDiffDriveMultiWheel::cmdVelCallback(
+      const geometry_msgs::Twist::ConstPtr& cmd_msg) {
+
+    boost::mutex::scoped_lock scoped_lock(lock);
+    x_ = cmd_msg->linear.x;
+    rot_ = cmd_msg->angular.z;
+  }
+
+  void GazeboRosDiffDriveMultiWheel::QueueThread() {
+    static const double timeout = 0.01;
+
+    while (alive_ && rosnode_->ok()) {
+      queue_.callAvailable(ros::WallDuration(timeout));
+    }
+  }
+
+  void GazeboRosDiffDriveMultiWheel::publishOdometry(double step_time) {
+    ros::Time current_time = ros::Time::now();
+    std::string odom_frame = 
+      tf::resolve(tf_prefix_, odometry_frame_);
+    std::string base_footprint_frame = 
+      tf::resolve(tf_prefix_, robot_base_frame_);
+
+    // getting data for base_footprint to odom transform
+    math::Pose pose = this->parent->GetWorldPose();
+
+    tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w);
+    tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z);
+
+    tf::Transform base_footprint_to_odom(qt, vt);
+
+    if (this->publish_odometry_tf_){
+      transform_broadcaster_->sendTransform(
+            tf::StampedTransform(base_footprint_to_odom, current_time,
+                                 odom_frame, base_footprint_frame));
+    }
+
+    // publish odom topic
+    odom_.pose.pose.position.x = pose.pos.x;
+    odom_.pose.pose.position.y = pose.pos.y;
+
+    odom_.pose.pose.orientation.x = pose.rot.x;
+    odom_.pose.pose.orientation.y = pose.rot.y;
+    odom_.pose.pose.orientation.z = pose.rot.z;
+    odom_.pose.pose.orientation.w = pose.rot.w;
+    odom_.pose.covariance[0] = 0.00001;
+    odom_.pose.covariance[7] = 0.00001;
+    odom_.pose.covariance[14] = 1000000000000.0;
+    odom_.pose.covariance[21] = 1000000000000.0;
+    odom_.pose.covariance[28] = 1000000000000.0;
+    odom_.pose.covariance[35] = 0.001;
+
+    // get velocity in /odom frame
+    math::Vector3 linear;
+    linear = this->parent->GetWorldLinearVel();
+    odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().z;
+
+    // convert velocity to child_frame_id (aka base_footprint)
+    float yaw = pose.rot.GetYaw();
+    odom_.twist.twist.linear.x = cosf(yaw) * linear.x + sinf(yaw) * linear.y;
+    odom_.twist.twist.linear.y = cosf(yaw) * linear.y - sinf(yaw) * linear.x;
+
+    odom_.header.stamp = current_time;
+    odom_.header.frame_id = odom_frame;
+    odom_.child_frame_id = base_footprint_frame;
+
+    if (this->publish_odometry_msg_){
+      odometry_publisher_.publish(odom_);
+    }
+  }
+
+  GZ_REGISTER_MODEL_PLUGIN(GazeboRosDiffDriveMultiWheel)
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp
new file mode 100644
index 0000000..bcf6c55
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp	
@@ -0,0 +1,296 @@
+/*
+ * Copyright 2015 Stefan Kohlbrecher, TU Darmstadt
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+/*
+ * Desc: Simple model controller that uses a twist message to exert
+ *       forces on a robot, resulting in motion. Based on the
+ *       planar_move plugin by Piyush Khandelwal.
+ * Author: Stefan Kohlbrecher
+ * Date: 06 August 2015
+ */
+
+#include <hector_gazebo_plugins/gazebo_ros_force_based_move.h>
+
+namespace gazebo 
+{
+
+  GazeboRosForceBasedMove::GazeboRosForceBasedMove() {}
+
+  GazeboRosForceBasedMove::~GazeboRosForceBasedMove() {}
+
+  // Load the controller
+  void GazeboRosForceBasedMove::Load(physics::ModelPtr parent,
+      sdf::ElementPtr sdf) 
+  {
+
+    parent_ = parent;
+
+    /* Parse parameters */
+
+    robot_namespace_ = "";
+    if (!sdf->HasElement("robotNamespace")) 
+    {
+      ROS_INFO("PlanarMovePlugin missing <robotNamespace>, "
+          "defaults to \"%s\"", robot_namespace_.c_str());
+    }
+    else 
+    {
+      robot_namespace_ = 
+        sdf->GetElement("robotNamespace")->Get<std::string>();
+    }
+
+    command_topic_ = "cmd_vel";
+    if (!sdf->HasElement("commandTopic")) 
+    {
+      ROS_WARN("PlanarMovePlugin (ns = %s) missing <commandTopic>, "
+          "defaults to \"%s\"", 
+          robot_namespace_.c_str(), command_topic_.c_str());
+    } 
+    else 
+    {
+      command_topic_ = sdf->GetElement("commandTopic")->Get<std::string>();
+    }
+
+    odometry_topic_ = "odom";
+    if (!sdf->HasElement("odometryTopic")) 
+    {
+      ROS_WARN("PlanarMovePlugin (ns = %s) missing <odometryTopic>, "
+          "defaults to \"%s\"", 
+          robot_namespace_.c_str(), odometry_topic_.c_str());
+    } 
+    else 
+    {
+      odometry_topic_ = sdf->GetElement("odometryTopic")->Get<std::string>();
+    }
+
+    odometry_frame_ = "odom";
+    if (!sdf->HasElement("odometryFrame")) 
+    {
+      ROS_WARN("PlanarMovePlugin (ns = %s) missing <odometryFrame>, "
+          "defaults to \"%s\"",
+          robot_namespace_.c_str(), odometry_frame_.c_str());
+    }
+    else 
+    {
+      odometry_frame_ = sdf->GetElement("odometryFrame")->Get<std::string>();
+    }
+
+    robot_base_frame_ = "base_footprint";
+    if (!sdf->HasElement("robotBaseFrame")) 
+    {
+      ROS_WARN("PlanarMovePlugin (ns = %s) missing <robotBaseFrame>, "
+          "defaults to \"%s\"",
+          robot_namespace_.c_str(), robot_base_frame_.c_str());
+    } 
+    else 
+    {
+      robot_base_frame_ = sdf->GetElement("robotBaseFrame")->Get<std::string>();
+    }
+
+    ROS_INFO_STREAM("robotBaseFrame for force based move plugin: " << robot_base_frame_  << "\n");
+
+    this->link_ = parent->GetLink(robot_base_frame_);
+
+    odometry_rate_ = 20.0;
+    if (!sdf->HasElement("odometryRate")) 
+    {
+      ROS_WARN("PlanarMovePlugin (ns = %s) missing <odometryRate>, "
+          "defaults to %f",
+          robot_namespace_.c_str(), odometry_rate_);
+    } 
+    else 
+    {
+      odometry_rate_ = sdf->GetElement("odometryRate")->Get<double>();
+    } 
+ 
+    last_odom_publish_time_ = parent_->GetWorld()->GetSimTime();
+    last_odom_pose_ = parent_->GetWorldPose();
+    x_ = 0;
+    y_ = 0;
+    rot_ = 0;
+    alive_ = true;
+
+    // Ensure that ROS has been initialized and subscribe to cmd_vel
+    if (!ros::isInitialized()) 
+    {
+      ROS_FATAL_STREAM("PlanarMovePlugin (ns = " << robot_namespace_
+        << "). A ROS node for Gazebo has not been initialized, "
+        << "unable to load plugin. Load the Gazebo system plugin "
+        << "'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+      return;
+    }
+    rosnode_.reset(new ros::NodeHandle(robot_namespace_));
+
+    ROS_DEBUG("OCPlugin (%s) has started!", 
+        robot_namespace_.c_str());
+
+    tf_prefix_ = tf::getPrefixParam(*rosnode_);
+    transform_broadcaster_.reset(new tf::TransformBroadcaster());
+
+    // subscribe to the odometry topic
+    ros::SubscribeOptions so =
+      ros::SubscribeOptions::create<geometry_msgs::Twist>(command_topic_, 1,
+          boost::bind(&GazeboRosForceBasedMove::cmdVelCallback, this, _1),
+          ros::VoidPtr(), &queue_);
+
+    vel_sub_ = rosnode_->subscribe(so);
+    odometry_pub_ = rosnode_->advertise<nav_msgs::Odometry>(odometry_topic_, 1);
+
+    // start custom queue for diff drive
+    callback_queue_thread_ = 
+      boost::thread(boost::bind(&GazeboRosForceBasedMove::QueueThread, this));
+
+    // listen to the update event (broadcast every simulation iteration)
+    update_connection_ = 
+      event::Events::ConnectWorldUpdateBegin(
+          boost::bind(&GazeboRosForceBasedMove::UpdateChild, this));
+
+  }
+
+  // Update the controller
+  void GazeboRosForceBasedMove::UpdateChild()
+  {
+    boost::mutex::scoped_lock scoped_lock(lock);
+    math::Pose pose = parent_->GetWorldPose();
+
+    math::Vector3 angular_vel = parent_->GetWorldAngularVel();
+
+    double error = angular_vel.z - rot_;
+
+    link_->AddTorque(math::Vector3(0.0, 0.0, -error * 100.0));
+
+    float yaw = pose.rot.GetYaw();
+
+    math::Vector3 linear_vel = parent_->GetRelativeLinearVel();
+
+    link_->AddRelativeForce(math::Vector3((x_ - linear_vel.x)* 10000,
+                                          (y_ - linear_vel.y)* 10000,
+                                          0.0));
+    //parent_->PlaceOnNearestEntityBelow();
+    //parent_->SetLinearVel(math::Vector3(
+    //      x_ * cosf(yaw) - y_ * sinf(yaw),
+    //      y_ * cosf(yaw) + x_ * sinf(yaw),
+    //      0));
+    //parent_->SetAngularVel(math::Vector3(0, 0, rot_));
+
+    if (odometry_rate_ > 0.0) {
+      common::Time current_time = parent_->GetWorld()->GetSimTime();
+      double seconds_since_last_update = 
+        (current_time - last_odom_publish_time_).Double();
+      if (seconds_since_last_update > (1.0 / odometry_rate_)) {
+        publishOdometry(seconds_since_last_update);
+        last_odom_publish_time_ = current_time;
+      }
+    }
+  }
+
+  // Finalize the controller
+  void GazeboRosForceBasedMove::FiniChild() {
+    alive_ = false;
+    queue_.clear();
+    queue_.disable();
+    rosnode_->shutdown();
+    callback_queue_thread_.join();
+  }
+
+  void GazeboRosForceBasedMove::cmdVelCallback(
+      const geometry_msgs::Twist::ConstPtr& cmd_msg) 
+  {
+    boost::mutex::scoped_lock scoped_lock(lock);
+    x_ = cmd_msg->linear.x;
+    y_ = cmd_msg->linear.y;
+    rot_ = cmd_msg->angular.z;
+  }
+
+  void GazeboRosForceBasedMove::QueueThread()
+  {
+    static const double timeout = 0.01;
+    while (alive_ && rosnode_->ok()) 
+    {
+      queue_.callAvailable(ros::WallDuration(timeout));
+    }
+  }
+
+  void GazeboRosForceBasedMove::publishOdometry(double step_time)
+  {
+
+    ros::Time current_time = ros::Time::now();
+    std::string odom_frame = tf::resolve(tf_prefix_, odometry_frame_);
+    std::string base_footprint_frame = 
+      tf::resolve(tf_prefix_, robot_base_frame_);
+
+    // getting data for base_footprint to odom transform
+    math::Pose pose = this->parent_->GetWorldPose();
+
+    tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w);
+    tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z);
+
+    tf::Transform base_footprint_to_odom(qt, vt);
+    transform_broadcaster_->sendTransform(
+        tf::StampedTransform(base_footprint_to_odom, current_time, odom_frame,
+            base_footprint_frame));
+
+    // publish odom topic
+    odom_.pose.pose.position.x = pose.pos.x;
+    odom_.pose.pose.position.y = pose.pos.y;
+
+    odom_.pose.pose.orientation.x = pose.rot.x;
+    odom_.pose.pose.orientation.y = pose.rot.y;
+    odom_.pose.pose.orientation.z = pose.rot.z;
+    odom_.pose.pose.orientation.w = pose.rot.w;
+    odom_.pose.covariance[0] = 0.00001;
+    odom_.pose.covariance[7] = 0.00001;
+    odom_.pose.covariance[14] = 1000000000000.0;
+    odom_.pose.covariance[21] = 1000000000000.0;
+    odom_.pose.covariance[28] = 1000000000000.0;
+    odom_.pose.covariance[35] = 0.001;
+
+    // get velocity in /odom frame
+    math::Vector3 linear;
+    linear.x = (pose.pos.x - last_odom_pose_.pos.x) / step_time;
+    linear.y = (pose.pos.y - last_odom_pose_.pos.y) / step_time;
+    if (rot_ > M_PI / step_time) 
+    { 
+      // we cannot calculate the angular velocity correctly
+      odom_.twist.twist.angular.z = rot_;
+    } 
+    else 
+    {
+      float last_yaw = last_odom_pose_.rot.GetYaw();
+      float current_yaw = pose.rot.GetYaw();
+      while (current_yaw < last_yaw - M_PI) current_yaw += 2 * M_PI;
+      while (current_yaw > last_yaw + M_PI) current_yaw -= 2 * M_PI;
+      float angular_diff = current_yaw - last_yaw;
+      odom_.twist.twist.angular.z = angular_diff / step_time;
+    }
+    last_odom_pose_ = pose;
+
+    // convert velocity to child_frame_id (aka base_footprint)
+    float yaw = pose.rot.GetYaw();
+    odom_.twist.twist.linear.x = cosf(yaw) * linear.x + sinf(yaw) * linear.y;
+    odom_.twist.twist.linear.y = cosf(yaw) * linear.y - sinf(yaw) * linear.x;
+
+    odom_.header.stamp = current_time;
+    odom_.header.frame_id = odom_frame;
+    odom_.child_frame_id = base_footprint_frame;
+
+    odometry_pub_.publish(odom_);
+  }
+
+  GZ_REGISTER_MODEL_PLUGIN(GazeboRosForceBasedMove)
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp
new file mode 100644
index 0000000..7d12ae6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp	
@@ -0,0 +1,243 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/gazebo_ros_gps.h>
+#include <gazebo/physics/physics.hh>
+
+// WGS84 constants
+static const double equatorial_radius = 6378137.0;
+static const double flattening = 1.0/298.257223563;
+static const double excentrity2 = 2*flattening - flattening*flattening;
+
+// default reference position
+static const double DEFAULT_REFERENCE_LATITUDE  = 49.9;
+static const double DEFAULT_REFERENCE_LONGITUDE = 8.9;
+static const double DEFAULT_REFERENCE_HEADING   = 0.0;
+static const double DEFAULT_REFERENCE_ALTITUDE  = 0.0;
+
+namespace gazebo {
+
+GazeboRosGps::GazeboRosGps()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboRosGps::~GazeboRosGps()
+{
+  updateTimer.Disconnect(updateConnection);
+
+  dynamic_reconfigure_server_position_.reset();
+  dynamic_reconfigure_server_velocity_.reset();
+  dynamic_reconfigure_server_status_.reset();
+
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+
+  // load parameters
+  if (!_sdf->HasElement("robotNamespace"))
+    namespace_.clear();
+  else
+    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
+
+  if (!_sdf->HasElement("bodyName"))
+  {
+    link = _model->GetLink();
+    link_name_ = link->GetName();
+  }
+  else {
+    link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
+    link = _model->GetLink(link_name_);
+  }
+
+  if (!link)
+  {
+    ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  // default parameters
+  frame_id_ = "/world";
+  fix_topic_ = "fix";
+  velocity_topic_ = "fix_velocity";
+
+  reference_latitude_  = DEFAULT_REFERENCE_LATITUDE;
+  reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE;
+  reference_heading_   = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
+  reference_altitude_  = DEFAULT_REFERENCE_ALTITUDE;
+
+  fix_.status.status  = sensor_msgs::NavSatStatus::STATUS_FIX;
+  fix_.status.service = sensor_msgs::NavSatStatus::STATUS_FIX;
+
+  if (_sdf->HasElement("frameId"))
+    frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("topicName"))
+    fix_topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("velocityTopicName"))
+    velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("referenceLatitude"))
+    _sdf->GetElement("referenceLatitude")->GetValue()->Get(reference_latitude_);
+
+  if (_sdf->HasElement("referenceLongitude"))
+    _sdf->GetElement("referenceLongitude")->GetValue()->Get(reference_longitude_);
+
+  if (_sdf->HasElement("referenceHeading"))
+    if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_))
+      reference_heading_ *= M_PI/180.0;
+
+  if (_sdf->HasElement("referenceAltitude"))
+    _sdf->GetElement("referenceAltitude")->GetValue()->Get(reference_altitude_);
+
+  if (_sdf->HasElement("status"))
+    _sdf->GetElement("status")->GetValue()->Get(fix_.status.status);
+
+  if (_sdf->HasElement("service"))
+    _sdf->GetElement("service")->GetValue()->Get(fix_.status.service);
+
+  fix_.header.frame_id = frame_id_;
+  velocity_.header.frame_id = frame_id_;
+
+  position_error_model_.Load(_sdf);
+  velocity_error_model_.Load(_sdf, "velocity");
+
+  // calculate earth radii
+  double temp = 1.0 / (1.0 - excentrity2 * sin(reference_latitude_ * M_PI/180.0) * sin(reference_latitude_ * M_PI/180.0));
+  double prime_vertical_radius = equatorial_radius * sqrt(temp);
+  radius_north_ = prime_vertical_radius * (1 - excentrity2) * temp;
+  radius_east_  = prime_vertical_radius * cos(reference_latitude_ * M_PI/180.0);
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+  fix_publisher_ = node_handle_->advertise<sensor_msgs::NavSatFix>(fix_topic_, 10);
+  velocity_publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(velocity_topic_, 10);
+
+  // setup dynamic_reconfigure servers
+  dynamic_reconfigure_server_position_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, fix_topic_ + "/position")));
+  dynamic_reconfigure_server_velocity_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, fix_topic_ + "/velocity")));
+  dynamic_reconfigure_server_status_.reset(new dynamic_reconfigure::Server<GNSSConfig>(ros::NodeHandle(*node_handle_, fix_topic_ + "/status")));
+  dynamic_reconfigure_server_position_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &position_error_model_, _1, _2));
+  dynamic_reconfigure_server_velocity_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &velocity_error_model_, _1, _2));
+  dynamic_reconfigure_server_status_->setCallback(boost::bind(&GazeboRosGps::dynamicReconfigureCallback, this, _1, _2));
+
+  Reset();
+
+  // connect Update function
+  updateTimer.setUpdateRate(4.0);
+  updateTimer.Load(world, _sdf);
+  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosGps::Update, this));
+}
+
+void GazeboRosGps::Reset()
+{
+  updateTimer.Reset();
+  position_error_model_.reset();
+  velocity_error_model_.reset();
+}
+
+void GazeboRosGps::dynamicReconfigureCallback(GazeboRosGps::GNSSConfig &config, uint32_t level)
+{
+  using sensor_msgs::NavSatStatus;
+
+  if (level == 1) {
+    if (!config.STATUS_FIX) {
+      fix_.status.status = NavSatStatus::STATUS_NO_FIX;
+    } else {
+      fix_.status.status = (config.STATUS_SBAS_FIX ? NavSatStatus::STATUS_SBAS_FIX : 0) |
+                           (config.STATUS_GBAS_FIX ? NavSatStatus::STATUS_GBAS_FIX : 0);
+    }
+    fix_.status.service = (config.SERVICE_GPS     ? NavSatStatus::SERVICE_GPS : 0) |
+                          (config.SERVICE_GLONASS ? NavSatStatus::SERVICE_GLONASS : 0) |
+                          (config.SERVICE_COMPASS ? NavSatStatus::SERVICE_COMPASS : 0) |
+                          (config.SERVICE_GALILEO ? NavSatStatus::SERVICE_GALILEO : 0);
+  } else {
+    config.STATUS_FIX      = (fix_.status.status != NavSatStatus::STATUS_NO_FIX);
+    config.STATUS_SBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_SBAS_FIX);
+    config.STATUS_GBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_GBAS_FIX);
+    config.SERVICE_GPS     = (fix_.status.service & NavSatStatus::SERVICE_GPS);
+    config.SERVICE_GLONASS = (fix_.status.service & NavSatStatus::SERVICE_GLONASS);
+    config.SERVICE_COMPASS = (fix_.status.service & NavSatStatus::SERVICE_COMPASS);
+    config.SERVICE_GALILEO = (fix_.status.service & NavSatStatus::SERVICE_GALILEO);
+  }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboRosGps::Update()
+{
+  common::Time sim_time = world->GetSimTime();
+  double dt = updateTimer.getTimeSinceLastUpdate().Double();
+
+  math::Pose pose = link->GetWorldPose();
+
+  gazebo::math::Vector3 velocity = velocity_error_model_(link->GetWorldLinearVel(), dt);
+  gazebo::math::Vector3 position = position_error_model_(pose.pos, dt);
+
+  // An offset error in the velocity is integrated into the position error for the next timestep.
+  // Note: Usually GNSS receivers have almost no drift in the velocity signal.
+  position_error_model_.setCurrentDrift(position_error_model_.getCurrentDrift() + dt * velocity_error_model_.getCurrentDrift());
+
+  fix_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec);
+  velocity_.header.stamp = fix_.header.stamp;
+
+  fix_.latitude  = reference_latitude_  + ( cos(reference_heading_) * position.x + sin(reference_heading_) * position.y) / radius_north_ * 180.0/M_PI;
+  fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.x + cos(reference_heading_) * position.y) / radius_east_  * 180.0/M_PI;
+  fix_.altitude  = reference_altitude_  + position.z;
+  velocity_.vector.x =  cos(reference_heading_) * velocity.x + sin(reference_heading_) * velocity.y;
+  velocity_.vector.y = -sin(reference_heading_) * velocity.x + cos(reference_heading_) * velocity.y;
+  velocity_.vector.z = velocity.z;
+
+  fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
+  fix_.position_covariance[0] = position_error_model_.drift.x*position_error_model_.drift.x + position_error_model_.gaussian_noise.x*position_error_model_.gaussian_noise.x;
+  fix_.position_covariance[4] = position_error_model_.drift.y*position_error_model_.drift.y + position_error_model_.gaussian_noise.y*position_error_model_.gaussian_noise.y;
+  fix_.position_covariance[8] = position_error_model_.drift.z*position_error_model_.drift.z + position_error_model_.gaussian_noise.z*position_error_model_.gaussian_noise.z;
+
+  fix_publisher_.publish(fix_);
+  velocity_publisher_.publish(velocity_);
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosGps)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp
new file mode 100644
index 0000000..d48fef0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp	
@@ -0,0 +1,384 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/gazebo_ros_imu.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <ros/console.h>
+
+namespace gazebo
+{
+
+// #define DEBUG_OUTPUT
+#ifdef DEBUG_OUTPUT
+  #include <geometry_msgs/PoseStamped.h>
+  static ros::Publisher debugPublisher;
+#endif // DEBUG_OUTPUT
+
+////////////////////////////////////////////////////////////////////////////////
+// Constructor
+GazeboRosIMU::GazeboRosIMU()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboRosIMU::~GazeboRosIMU()
+{
+  updateTimer.Disconnect(updateConnection);
+
+  dynamic_reconfigure_server_accel_.reset();
+  dynamic_reconfigure_server_rate_.reset();
+  dynamic_reconfigure_server_yaw_.reset();
+
+  node_handle_->shutdown();
+#ifdef USE_CBQ
+  callback_queue_thread_.join();
+#endif
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  // Get the world name.
+  world = _model->GetWorld();
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))
+    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
+  else
+    namespace_.clear();
+
+  if (_sdf->HasElement("bodyName"))
+  {
+    link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
+    link = _model->GetLink(link_name_);
+  }
+  else
+  {
+    link = _model->GetLink();
+    link_name_ = link->GetName();
+  }
+
+  // assert that the body by link_name_ exists
+  if (!link)
+  {
+    ROS_FATAL("GazeboRosIMU plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  // default parameters
+  frame_id_ = link_name_;
+  topic_ = "imu";
+
+  if (_sdf->HasElement("frameId"))
+    frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("topicName"))
+    topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("biasTopicName"))
+    bias_topic_ = _sdf->GetElement("biasTopicName")->GetValue()->GetAsString();
+  else
+    bias_topic_ = (!topic_.empty() ? topic_ + "/bias" : "");
+
+  if (_sdf->HasElement("serviceName"))
+    serviceName = _sdf->GetElement("serviceName")->GetValue()->GetAsString();
+  else
+    serviceName = topic_ + "/calibrate";
+
+  accelModel.Load(_sdf, "accel");
+  rateModel.Load(_sdf, "rate");
+  yawModel.Load(_sdf, "yaw");
+
+  // also use old configuration variables from gazebo_ros_imu
+  if (_sdf->HasElement("gaussianNoise")) {
+    double gaussianNoise;
+    if (_sdf->GetElement("gaussianNoise")->GetValue()->Get(gaussianNoise) && gaussianNoise != 0.0) {
+      accelModel.gaussian_noise = gaussianNoise;
+      rateModel.gaussian_noise  = gaussianNoise;
+    }
+  }
+
+  if (_sdf->HasElement("xyzOffset")) {
+    this->offset_.pos = _sdf->Get<math::Vector3>("xyzOffset");
+  } else {
+    ROS_INFO("imu plugin missing <xyzOffset>, defaults to 0s");
+    this->offset_.pos = math::Vector3(0, 0, 0);
+  }
+
+  if (_sdf->HasElement("rpyOffset")) {
+    this->offset_.rot = _sdf->Get<math::Vector3>("rpyOffset");
+  } else {
+    ROS_INFO("imu plugin missing <rpyOffset>, defaults to 0s");
+    this->offset_.rot = math::Vector3(0, 0, 0);
+  }
+
+  // fill in constant covariance matrix
+  imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.x*rateModel.gaussian_noise.x;
+  imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.y*rateModel.gaussian_noise.y;
+  imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.z*rateModel.gaussian_noise.z;
+  imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x;
+  imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y;
+  imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.z*accelModel.gaussian_noise.z;
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package.");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+
+  // if topic name specified as empty, do not publish (then what is this plugin good for?)
+  if (!topic_.empty())
+    pub_ = node_handle_->advertise<sensor_msgs::Imu>(topic_, 10);
+  if (!bias_topic_.empty())
+    bias_pub_ = node_handle_->advertise<sensor_msgs::Imu>(bias_topic_, 10);
+
+#ifdef DEBUG_OUTPUT
+  debugPublisher = rosnode_->advertise<geometry_msgs::PoseStamped>(topic_ + "/pose", 10);
+#endif // DEBUG_OUTPUT
+
+  // advertise services for calibration and bias setting
+  if (!serviceName.empty())
+    srv_ = node_handle_->advertiseService(serviceName, &GazeboRosIMU::ServiceCallback, this);
+
+  accelBiasService = node_handle_->advertiseService(topic_ + "/set_accel_bias", &GazeboRosIMU::SetAccelBiasCallback, this);
+  rateBiasService  = node_handle_->advertiseService(topic_ + "/set_rate_bias", &GazeboRosIMU::SetRateBiasCallback, this);
+
+  // setup dynamic_reconfigure servers
+  if (!topic_.empty()) {
+    dynamic_reconfigure_server_accel_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_ + "/accel")));
+    dynamic_reconfigure_server_rate_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_ + "/rate")));
+    dynamic_reconfigure_server_yaw_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_ + "/yaw")));
+    dynamic_reconfigure_server_accel_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &accelModel, _1, _2));
+    dynamic_reconfigure_server_rate_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &rateModel, _1, _2));
+    dynamic_reconfigure_server_yaw_->setCallback(boost::bind(&SensorModel::dynamicReconfigureCallback, &yawModel, _1, _2));
+  }
+
+#ifdef USE_CBQ
+  // start custom queue for imu
+  callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosIMU::CallbackQueueThread,this ) );
+#endif
+
+  Reset();
+
+  // connect Update function
+  updateTimer.Load(world, _sdf);
+  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosIMU::Update, this));
+}
+
+void GazeboRosIMU::Reset()
+{
+  updateTimer.Reset();
+
+  orientation = math::Quaternion();
+  velocity = 0.0;
+  accel = 0.0;
+
+  accelModel.reset();
+  rateModel.reset();
+  yawModel.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// returns true always, imu is always calibrated in sim
+bool GazeboRosIMU::ServiceCallback(std_srvs::Empty::Request &req,
+                                        std_srvs::Empty::Response &res)
+{
+  boost::mutex::scoped_lock scoped_lock(lock);
+  rateModel.reset(math::Vector3(0.0, 0.0, 0.0));
+  return true;
+}
+
+bool GazeboRosIMU::SetAccelBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)
+{
+  boost::mutex::scoped_lock scoped_lock(lock);
+  accelModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z));
+  return true;
+}
+
+bool GazeboRosIMU::SetRateBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)
+{
+  boost::mutex::scoped_lock scoped_lock(lock);
+  rateModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z));
+  return true;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboRosIMU::Update()
+{
+  // Get Time Difference dt
+  common::Time cur_time = world->GetSimTime();
+  double dt = updateTimer.getTimeSinceLastUpdate().Double();
+  boost::mutex::scoped_lock scoped_lock(lock);
+
+  // Get Pose/Orientation
+  math::Pose pose = link->GetWorldPose();
+  // math::Vector3 pos = pose.pos + this->offset_.pos;
+  math::Quaternion rot = this->offset_.rot * pose.rot;
+  rot.Normalize();
+
+  // get Gravity
+  gravity = world->GetPhysicsEngine()->GetGravity();
+  double gravity_length = gravity.GetLength();
+  ROS_DEBUG_NAMED("gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.x, gravity.y, gravity.z);
+
+  // get Acceleration and Angular Rates
+  // the result of GetRelativeLinearAccel() seems to be unreliable (sum of forces added during the current simulation step)?
+  //accel = myBody->GetRelativeLinearAccel(); // get acceleration in body frame
+  math::Vector3 temp = link->GetWorldLinearVel(); // get velocity in world frame
+  if (dt > 0.0) accel = rot.RotateVectorReverse((temp - velocity) / dt - gravity);
+  velocity = temp;
+
+  // calculate angular velocity from delta quaternion
+  // note: link->GetRelativeAngularVel() sometimes return nan?
+  // rate  = link->GetRelativeAngularVel(); // get angular rate in body frame
+  math::Quaternion delta = this->orientation.GetInverse() * rot;
+  this->orientation = rot;
+  if (dt > 0.0) {
+    rate = 2.0 * acos(std::max(std::min(delta.w, 1.0), -1.0)) * math::Vector3(delta.x, delta.y, delta.z).Normalize() / dt;
+  }
+
+  // update sensor models
+  accel = accelModel(accel, dt);
+  rate  = rateModel(rate, dt);
+  yawModel.update(dt);
+  ROS_DEBUG_NAMED("gazebo_ros_imu", "Current bias errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g",
+                 accelModel.getCurrentBias().x, accelModel.getCurrentBias().y, accelModel.getCurrentBias().z,
+                 rateModel.getCurrentBias().x, rateModel.getCurrentBias().y, rateModel.getCurrentBias().z,
+                 yawModel.getCurrentBias());
+  ROS_DEBUG_NAMED("gazebo_ros_imu", "Scale errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g",
+                 accelModel.getScaleError().x, accelModel.getScaleError().y, accelModel.getScaleError().z,
+                 rateModel.getScaleError().x, rateModel.getScaleError().y, rateModel.getScaleError().z,
+                 yawModel.getScaleError());
+
+
+  // apply accelerometer and yaw drift error to orientation (pseudo AHRS)
+  math::Vector3 accelDrift = pose.rot.RotateVector(accelModel.getCurrentBias());
+  double yawError = yawModel.getCurrentBias();
+  math::Quaternion orientationError(
+    math::Quaternion(cos(yawError/2), 0.0, 0.0, sin(yawError/2)) *                                         // yaw error
+    math::Quaternion(1.0, 0.5 * accelDrift.y / gravity_length, 0.5 * -accelDrift.x / gravity_length, 0.0)  // roll and pitch error
+  );
+  orientationError.Normalize();
+  rot = orientationError * rot;
+
+  // copy data into pose message
+  imuMsg.header.frame_id = frame_id_;
+  imuMsg.header.stamp.sec = cur_time.sec;
+  imuMsg.header.stamp.nsec = cur_time.nsec;
+
+  // orientation quaternion
+  imuMsg.orientation.x = rot.x;
+  imuMsg.orientation.y = rot.y;
+  imuMsg.orientation.z = rot.z;
+  imuMsg.orientation.w = rot.w;
+
+  // pass angular rates
+  imuMsg.angular_velocity.x    = rate.x;
+  imuMsg.angular_velocity.y    = rate.y;
+  imuMsg.angular_velocity.z    = rate.z;
+
+  // pass accelerations
+  imuMsg.linear_acceleration.x    = accel.x;
+  imuMsg.linear_acceleration.y    = accel.y;
+  imuMsg.linear_acceleration.z    = accel.z;
+
+  // fill in covariance matrix
+  imuMsg.orientation_covariance[8] = yawModel.gaussian_noise*yawModel.gaussian_noise;
+  if (gravity_length > 0.0) {
+    imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x/(gravity_length*gravity_length);
+    imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y/(gravity_length*gravity_length);
+  } else {
+    imuMsg.orientation_covariance[0] = -1;
+    imuMsg.orientation_covariance[4] = -1;
+  }
+
+  // publish to ros
+  pub_.publish(imuMsg);
+  ROS_DEBUG_NAMED("gazebo_ros_imu", "Publishing IMU data at t = %f", cur_time.Double());
+
+  // publish bias
+  if (bias_pub_) {
+    biasMsg.header = imuMsg.header;
+    biasMsg.orientation.x = orientationError.x;
+    biasMsg.orientation.y = orientationError.y;
+    biasMsg.orientation.z = orientationError.z;
+    biasMsg.orientation.w = orientationError.w;
+    biasMsg.angular_velocity.x = rateModel.getCurrentBias().x;
+    biasMsg.angular_velocity.y = rateModel.getCurrentBias().y;
+    biasMsg.angular_velocity.z = rateModel.getCurrentBias().z;
+    biasMsg.linear_acceleration.x = accelModel.getCurrentBias().x;
+    biasMsg.linear_acceleration.y = accelModel.getCurrentBias().y;
+    biasMsg.linear_acceleration.z = accelModel.getCurrentBias().z;
+    bias_pub_.publish(biasMsg);
+  }
+
+  // debug output
+#ifdef DEBUG_OUTPUT
+  if (debugPublisher) {
+    geometry_msgs::PoseStamped debugPose;
+    debugPose.header = imuMsg.header;
+    debugPose.header.frame_id = "/map";
+    debugPose.pose.orientation.w = imuMsg.orientation.w;
+    debugPose.pose.orientation.x = imuMsg.orientation.x;
+    debugPose.pose.orientation.y = imuMsg.orientation.y;
+    debugPose.pose.orientation.z = imuMsg.orientation.z;
+    math::Pose pose = link->GetWorldPose();
+    debugPose.pose.position.x = pose.pos.x;
+    debugPose.pose.position.y = pose.pos.y;
+    debugPose.pose.position.z = pose.pos.z;
+    debugPublisher.publish(debugPose);
+  }
+#endif // DEBUG_OUTPUT
+}
+
+#ifdef USE_CBQ
+void GazeboRosIMU::CallbackQueueThread()
+{
+  static const double timeout = 0.01;
+
+  while (rosnode_->ok())
+  {
+    callback_queue_.callAvailable(ros::WallDuration(timeout));
+  }
+}
+#endif
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosIMU)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp
new file mode 100644
index 0000000..9962059
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp	
@@ -0,0 +1,173 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/gazebo_ros_magnetic.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+static const double DEFAULT_MAGNITUDE           = 1.0;
+static const double DEFAULT_REFERENCE_HEADING   = 0.0;
+static const double DEFAULT_DECLINATION         = 0.0;
+static const double DEFAULT_INCLINATION         = 60.0;
+
+namespace gazebo {
+
+GazeboRosMagnetic::GazeboRosMagnetic()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboRosMagnetic::~GazeboRosMagnetic()
+{
+  updateTimer.Disconnect(updateConnection);
+
+  dynamic_reconfigure_server_.reset();
+
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))
+    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
+  else
+    namespace_.clear();
+
+  if (!_sdf->HasElement("topicName"))
+    topic_ = "magnetic";
+  else
+    topic_ = _sdf->GetElement("topicName")->Get<std::string>();
+
+
+  if (_sdf->HasElement("bodyName"))
+  {
+    link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
+    link = _model->GetLink(link_name_);
+  }
+  else
+  {
+    link = _model->GetLink();
+    link_name_ = link->GetName();
+  }
+
+  if (!link)
+  {
+    ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  // default parameters
+  frame_id_ = link_name_;
+  magnitude_ = DEFAULT_MAGNITUDE;
+  reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
+  declination_ = DEFAULT_DECLINATION * M_PI/180.0;
+  inclination_ = DEFAULT_INCLINATION * M_PI/180.0;
+
+  if (_sdf->HasElement("frameId"))
+    frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("magnitude"))
+    _sdf->GetElement("magnitude")->GetValue()->Get(magnitude_);
+
+  if (_sdf->HasElement("referenceHeading"))
+    if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_))
+      reference_heading_ *= M_PI/180.0;
+
+  if (_sdf->HasElement("declination"))
+    if (_sdf->GetElement("declination")->GetValue()->Get(declination_))
+      declination_ *= M_PI/180.0;
+
+  if (_sdf->HasElement("inclination"))
+    if (_sdf->GetElement("inclination")->GetValue()->Get(inclination_))
+      inclination_ *= M_PI/180.0;
+
+  // Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings
+  magnetic_field_.header.frame_id = frame_id_;
+  magnetic_field_world_.x = magnitude_ *  cos(inclination_) * cos(reference_heading_ - declination_);
+  magnetic_field_world_.y = magnitude_ *  cos(inclination_) * sin(reference_heading_ - declination_);
+  magnetic_field_world_.z = magnitude_ * -sin(inclination_);
+
+  sensor_model_.Load(_sdf);
+
+  // start ros node
+  if (!ros::isInitialized())
+  {
+    int argc = 0;
+    char** argv = NULL;
+    ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+  publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(topic_, 1);
+
+  // setup dynamic_reconfigure server
+  dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_)));
+  dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &sensor_model_, _1, _2));
+
+  Reset();
+
+  // connect Update function
+  updateTimer.Load(world, _sdf);
+  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosMagnetic::Update, this));
+}
+
+void GazeboRosMagnetic::Reset()
+{
+  updateTimer.Reset();
+  sensor_model_.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboRosMagnetic::Update()
+{
+  common::Time sim_time = world->GetSimTime();
+  double dt = updateTimer.getTimeSinceLastUpdate().Double();
+
+  math::Pose pose = link->GetWorldPose();
+  math::Vector3 field = sensor_model_(pose.rot.RotateVectorReverse(magnetic_field_world_), dt);
+
+  magnetic_field_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec);
+  magnetic_field_.vector.x = field.x;
+  magnetic_field_.vector.y = field.y;
+  magnetic_field_.vector.z = field.z;
+
+  publisher_.publish(magnetic_field_);
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosMagnetic)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp
new file mode 100644
index 0000000..cf80b74
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp	
@@ -0,0 +1,160 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/gazebo_ros_sonar.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/sensors/RaySensor.hh>
+
+#include <limits>
+
+namespace gazebo {
+
+GazeboRosSonar::GazeboRosSonar()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboRosSonar::~GazeboRosSonar()
+{
+  updateTimer.Disconnect(updateConnection);
+  sensor_->SetActive(false);
+
+  dynamic_reconfigure_server_.reset();
+
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
+{
+  // Get then name of the parent sensor
+  sensor_ = boost::dynamic_pointer_cast<sensors::RaySensor>(_sensor);
+  if (!sensor_)
+  {
+    gzthrow("GazeboRosSonar requires a Ray Sensor as its parent");
+    return;
+  }
+
+  // Get the world name.
+  std::string worldName = sensor_->GetWorldName();
+  world = physics::get_world(worldName);
+
+  // default parameters
+  namespace_.clear();
+  topic_ = "sonar";
+  frame_id_ = "/sonar_link";
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))
+    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("frameId"))
+    frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
+
+  if (_sdf->HasElement("topicName"))
+    topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
+
+  sensor_model_.Load(_sdf);
+
+  range_.header.frame_id = frame_id_;
+  range_.radiation_type = sensor_msgs::Range::ULTRASOUND;
+  range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).Radian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin()).Radian()));
+  range_.max_range = sensor_->GetRangeMax();
+  range_.min_range = sensor_->GetRangeMin();
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+  publisher_ = node_handle_->advertise<sensor_msgs::Range>(topic_, 1);
+
+  // setup dynamic_reconfigure server
+  dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_)));
+  dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel::dynamicReconfigureCallback, &sensor_model_, _1, _2));
+
+  Reset();
+
+  // connect Update function
+  updateTimer.setUpdateRate(10.0);
+  updateTimer.Load(world, _sdf);
+  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosSonar::Update, this));
+
+  // activate RaySensor
+  sensor_->SetActive(true);
+}
+
+void GazeboRosSonar::Reset()
+{
+  updateTimer.Reset();
+  sensor_model_.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboRosSonar::Update()
+{
+  common::Time sim_time = world->GetSimTime();
+  double dt = updateTimer.getTimeSinceLastUpdate().Double();
+
+  // activate RaySensor if it is not yet active
+  if (!sensor_->IsActive()) sensor_->SetActive(true);
+
+  range_.header.stamp.sec  = (world->GetSimTime()).sec;
+  range_.header.stamp.nsec = (world->GetSimTime()).nsec;
+
+  // find ray with minimal range
+  range_.range = std::numeric_limits<sensor_msgs::Range::_range_type>::max();
+  int num_ranges = sensor_->GetLaserShape()->GetSampleCount() * sensor_->GetLaserShape()->GetVerticalSampleCount();
+  for(int i = 0; i < num_ranges; ++i) {
+    double ray = sensor_->GetLaserShape()->GetRange(i);
+    if (ray < range_.range) range_.range = ray;
+  }
+
+  // add Gaussian noise (and limit to min/max range)
+  if (range_.range < range_.max_range) {
+    range_.range = sensor_model_(range_.range, dt);
+    if (range_.range < range_.min_range) range_.range = range_.min_range;
+    if (range_.range > range_.max_range) range_.range = range_.max_range;
+  }
+
+  publisher_.publish(range_);
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_SENSOR_PLUGIN(GazeboRosSonar)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp
new file mode 100644
index 0000000..3867f00
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp	
@@ -0,0 +1,76 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/reset_plugin.h>
+#include <gazebo/common/Events.hh>
+
+#include <std_msgs/String.h>
+
+namespace gazebo {
+
+GazeboResetPlugin::GazeboResetPlugin()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboResetPlugin::~GazeboResetPlugin()
+{
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle;
+  publisher_ = node_handle_->advertise<std_msgs::String>("/syscommand", 1);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Reset the controller
+void GazeboResetPlugin::Reset()
+{
+  std_msgs::String command;
+  command.data = "reset";
+  publisher_.publish(command);
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp
new file mode 100644
index 0000000..567e720
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp	
@@ -0,0 +1,386 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_gazebo_plugins/servo_plugin.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <sensor_msgs/JointState.h>
+
+#if (GAZEBO_MAJOR_VERSION > 1) || (GAZEBO_MINOR_VERSION >= 2)
+  #define RADIAN Radian
+#else
+  #define RADIAN GetAsRadian
+#endif
+
+namespace gazebo {
+
+GZ_REGISTER_MODEL_PLUGIN(ServoPlugin)
+
+enum
+{
+  FIRST = 0, SECOND = 1, THIRD = 2
+};
+
+enum
+{
+  xyz, zyx
+};
+
+// Constructor
+ServoPlugin::ServoPlugin()
+{
+  rosnode_ = 0;
+  transform_listener_ = 0;
+}
+
+// Destructor
+ServoPlugin::~ServoPlugin()
+{
+  event::Events::DisconnectWorldUpdateBegin(updateConnection);
+  delete transform_listener_;
+  rosnode_->shutdown();
+  delete rosnode_;
+}
+
+// Load the controller
+void ServoPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  // Get the world name.
+  world = _model->GetWorld();
+
+  // default parameters
+  topicName = "drive";
+  jointStateName = "joint_states";
+  robotNamespace.clear();
+  controlPeriod = 0;
+  proportionalControllerGain = 8.0;
+  derivativeControllerGain = 0.0;
+  maximumVelocity = 0.0;
+  maximumTorque = 0.0;
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace")) robotNamespace = _sdf->Get<std::string>("robotNamespace");
+  if (_sdf->HasElement("topicName")) topicName = _sdf->Get<std::string>("topicName");
+  if (_sdf->HasElement("jointStateName")) jointStateName = _sdf->Get<std::string>("jointStateName");
+  if (_sdf->HasElement("firstServoName")) servo[FIRST].name = _sdf->Get<std::string>("firstServoName");
+  if (_sdf->HasElement("firstServoAxis")) servo[FIRST].axis = _sdf->Get<math::Vector3>("firstServoAxis");
+  if (_sdf->HasElement("secondServoName")) servo[SECOND].name = _sdf->Get<std::string>("secondServoName");
+  if (_sdf->HasElement("secondServoAxis")) servo[SECOND].axis = _sdf->Get<math::Vector3>("secondServoAxis");
+  if (_sdf->HasElement("thirdServoName")) servo[THIRD].name = _sdf->Get<std::string>("thirdServoName");
+  if (_sdf->HasElement("thirdServoAxis")) servo[THIRD].axis = _sdf->Get<math::Vector3>("thirdServoAxis");
+  if (_sdf->HasElement("proportionalControllerGain")) proportionalControllerGain = _sdf->Get<double>("proportionalControllerGain");
+  if (_sdf->HasElement("derivativeControllerGain")) derivativeControllerGain = _sdf->Get<double>("derivativeControllerGain");
+  if (_sdf->HasElement("maxVelocity")) maximumVelocity = _sdf->Get<double>("maxVelocity");
+  if (_sdf->HasElement("torque")) maximumTorque = _sdf->Get<double>("torque");
+
+  double controlRate = 0.0;
+  if (_sdf->HasElement("controlRate")) controlRate = _sdf->Get<double>("controlRate");
+  controlPeriod = controlRate > 0.0 ? 1.0/controlRate : 0.0;
+
+  servo[FIRST].joint  = _model->GetJoint(servo[FIRST].name);
+  servo[SECOND].joint = _model->GetJoint(servo[SECOND].name);
+  servo[THIRD].joint  = _model->GetJoint(servo[THIRD].name);
+
+  if (!servo[FIRST].joint)
+    gzthrow("The controller couldn't get first joint");
+
+  countOfServos = 1;
+  if (servo[SECOND].joint) {
+    countOfServos = 2;
+    if (servo[THIRD].joint) {
+      countOfServos = 3;
+    }
+  }
+  else {
+    if (servo[THIRD].joint) {
+      gzthrow("The controller couldn't get second joint, but third joint was loaded");
+    }
+  }
+
+  if (!ros::isInitialized()) {
+    int argc = 0;
+    char** argv = NULL;
+    ros::init(argc, argv, "gazebo", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName);
+  }
+
+  rosnode_ = new ros::NodeHandle(robotNamespace);
+
+  transform_listener_ = new tf::TransformListener();
+  transform_listener_->setExtrapolationLimit(ros::Duration(1.0));
+
+  if (!topicName.empty()) {
+    ros::SubscribeOptions so = ros::SubscribeOptions::create<geometry_msgs::QuaternionStamped>(topicName, 1,
+                                                                                               boost::bind(&ServoPlugin::cmdCallback, this, _1),
+                                                                                               ros::VoidPtr(), &queue_);
+    sub_ = rosnode_->subscribe(so);
+  }
+
+  if (!jointStateName.empty()) {
+    jointStatePub_ = rosnode_->advertise<sensor_msgs::JointState>(jointStateName, 10);
+  }
+
+  joint_state.header.frame_id = transform_listener_->resolve(_model->GetLink()->GetName());
+
+  // New Mechanism for Updating every World Cycle
+  // Listen to the update event. This event is broadcast every
+  // simulation iteration.
+  updateConnection = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&ServoPlugin::Update, this));
+}
+
+// Initialize the controller
+void ServoPlugin::Init()
+{
+  Reset();
+}
+
+// Reset
+void ServoPlugin::Reset()
+{
+  // Reset orientation
+  current_cmd.reset();
+
+  enableMotors = true;
+
+  servo[FIRST].velocity = 0;
+  servo[SECOND].velocity = 0;
+  servo[THIRD].velocity = 0;
+
+  prevUpdateTime = world->GetSimTime();
+}
+
+// Update the controller
+void ServoPlugin::Update()
+{
+  // handle callbacks
+  queue_.callAvailable();
+
+  common::Time stepTime;
+  stepTime = world->GetSimTime() - prevUpdateTime;
+
+  if (controlPeriod == 0.0 || stepTime > controlPeriod) {
+    CalculateVelocities();
+    publish_joint_states();
+    prevUpdateTime = world->GetSimTime();
+  }
+
+  if (enableMotors)
+  {
+    servo[FIRST].joint->SetVelocity(0, servo[FIRST].velocity);
+    if (countOfServos > 1) {
+      servo[SECOND].joint->SetVelocity(0, servo[SECOND].velocity);
+      if (countOfServos > 2) {
+        servo[THIRD].joint->SetVelocity(0, servo[THIRD].velocity);
+      }
+    }
+
+    servo[FIRST].joint->SetMaxForce(0, maximumTorque);
+    if (countOfServos > 1) {
+      servo[SECOND].joint->SetMaxForce(0, maximumTorque);
+      if (countOfServos > 2) {
+        servo[THIRD].joint->SetMaxForce(0, maximumTorque);
+      }
+    }
+  } else {
+    servo[FIRST].joint->SetMaxForce(0, 0.0);
+    if (countOfServos > 1) {
+      servo[SECOND].joint->SetMaxForce(0, 0.0);
+      if (countOfServos > 2) {
+        servo[THIRD].joint->SetMaxForce(0, 0.0);
+      }
+    }
+  }
+}
+
+void ServoPlugin::CalculateVelocities()
+{
+  tf::StampedTransform transform;
+  boost::mutex::scoped_lock lock(mutex);
+
+  if(!current_cmd){
+    geometry_msgs::QuaternionStamped *default_cmd = new geometry_msgs::QuaternionStamped;
+    default_cmd->header.frame_id = "base_stabilized";
+    default_cmd->quaternion.w = 1;
+    current_cmd.reset(default_cmd);
+  }
+
+  try{
+    // ros::Time simTime(world->GetSimTime().sec, world->GetSimTime().nsec);
+    transform_listener_->lookupTransform("base_link", current_cmd->header.frame_id, ros::Time(0), transform);
+  }
+  catch (tf::TransformException ex){
+    ROS_DEBUG("%s",ex.what());
+    servo[FIRST].velocity = 0.0;
+    servo[SECOND].velocity = 0.0;
+    servo[THIRD].velocity = 0.0;
+    return;
+  }
+
+  rotation_.Set(current_cmd->quaternion.w, current_cmd->quaternion.x, current_cmd->quaternion.y, current_cmd->quaternion.z);
+
+  math::Quaternion quat(transform.getRotation().getW(),transform.getRotation().getX(),transform.getRotation().getY(),transform.getRotation().getZ());
+
+  rotation_ = quat * rotation_;
+
+  double temp[5];
+  double desAngle[3];
+  double actualAngle[3] = {0.0, 0.0, 0.0};
+  double actualVel[3] = {0.0, 0.0, 0.0};
+
+  //TODO use countOfServos for calculation
+  rotationConv = 99;
+  orderOfAxes[0] = 99;
+  orderOfAxes[1] = 99;
+  orderOfAxes[2] = 99;
+
+  switch(countOfServos) {
+    case 2:
+      if ((servo[FIRST].axis.z == 1) && (servo[SECOND].axis.y == 1)) {
+        rotationConv = zyx;
+        orderOfAxes[0] = 0;
+        orderOfAxes[1] = 1;
+      }
+      else {
+        if ((servo[FIRST].axis.x == 1) && (servo[SECOND].axis.y == 1)) {
+          rotationConv = xyz;
+          orderOfAxes[0] = 0;
+          orderOfAxes[1] = 1;
+        }
+      }
+      break;
+
+    case 3:
+      if ((servo[FIRST].axis.z == 1) && (servo[SECOND].axis.y == 1) && (servo[THIRD].axis.x == 1)) {
+        rotationConv = zyx;
+        orderOfAxes[0] = 0;
+        orderOfAxes[1] = 1;
+        orderOfAxes[2] = 2;
+      }
+      else if ((servo[FIRST].axis.x == 1) && (servo[SECOND].axis.y == 1) && (servo[THIRD].axis.z == 1)) {
+        rotationConv = xyz;
+        orderOfAxes[0] = 0;
+        orderOfAxes[1] = 1;
+        orderOfAxes[2] = 2;
+      }
+      break;
+
+    case 1:
+      if (servo[FIRST].axis.y == 1) {
+         rotationConv = xyz;
+         orderOfAxes[0] = 1;
+      }
+      break;
+
+    default:
+      gzthrow("Something went wrong. The count of servos is greater than 3");
+      break;
+  }
+
+  switch(rotationConv)  {
+    case zyx:
+      temp[0] =  2*(rotation_.x*rotation_.y + rotation_.w*rotation_.z);
+      temp[1] =     rotation_.w*rotation_.w + rotation_.x*rotation_.x - rotation_.y*rotation_.y - rotation_.z*rotation_.z;
+      temp[2] = -2*(rotation_.x*rotation_.z - rotation_.w*rotation_.y);
+      temp[3] =  2*(rotation_.y*rotation_.z + rotation_.w*rotation_.x);
+      temp[4] =     rotation_.w*rotation_.w - rotation_.x*rotation_.x - rotation_.y*rotation_.y + rotation_.z*rotation_.z;
+      break;
+
+    case xyz:
+      temp[0] =  -2*(rotation_.y*rotation_.z - rotation_.w*rotation_.x);
+      temp[1] =      rotation_.w*rotation_.w - rotation_.x*rotation_.x - rotation_.y*rotation_.y + rotation_.z*rotation_.z;
+      temp[2] =   2*(rotation_.x*rotation_.z + rotation_.w*rotation_.y);
+      temp[3] =  -2*(rotation_.x*rotation_.y - rotation_.w*rotation_.z);
+      temp[4] =      rotation_.w*rotation_.w + rotation_.x*rotation_.x - rotation_.y*rotation_.y - rotation_.z*rotation_.z;
+      break;
+
+    default:
+      gzthrow("joint order " << rotationConv << " not supported");
+      break;
+  }
+
+  desAngle[0] = atan2(temp[0], temp[1]);
+  desAngle[1] = asin(temp[2]);
+  desAngle[2] = atan2(temp[3], temp[4]);
+
+  actualAngle[FIRST] = servo[FIRST].joint->GetAngle(0).RADIAN();
+  actualVel[FIRST] = servo[FIRST].joint->GetVelocity(0);
+  ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[FIRST].name.c_str(), desAngle[orderOfAxes[FIRST]], actualAngle[FIRST]);
+  servo[FIRST].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[FIRST]] - actualAngle[FIRST]) - derivativeControllerGain*actualVel[FIRST]);
+  if (maximumVelocity > 0.0 && fabs(servo[FIRST].velocity) > maximumVelocity) servo[FIRST].velocity = (servo[FIRST].velocity > 0 ? maximumVelocity : -maximumVelocity);
+
+  if (countOfServos > 1) {
+    actualAngle[SECOND] = servo[SECOND].joint->GetAngle(0).RADIAN();
+    actualVel[SECOND] = servo[SECOND].joint->GetVelocity(0);
+    ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[SECOND].name.c_str(), desAngle[orderOfAxes[SECOND]], actualAngle[SECOND]);
+    servo[SECOND].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[SECOND]] - actualAngle[SECOND]) - derivativeControllerGain*actualVel[SECOND]);
+    if (maximumVelocity > 0.0 && fabs(servo[SECOND].velocity) > maximumVelocity) servo[SECOND].velocity = (servo[SECOND].velocity > 0 ? maximumVelocity : -maximumVelocity);
+
+    if (countOfServos == 3) {
+      actualAngle[THIRD] = servo[THIRD].joint->GetAngle(0).RADIAN();
+      actualVel[THIRD] = servo[THIRD].joint->GetVelocity(0);
+      ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[THIRD].name.c_str(), desAngle[orderOfAxes[THIRD]], actualAngle[THIRD]);
+      servo[THIRD].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[THIRD]] - actualAngle[THIRD]) - derivativeControllerGain*actualVel[THIRD]);
+      if (maximumVelocity > 0.0 && fabs(servo[THIRD].velocity) > maximumVelocity) servo[THIRD].velocity = (servo[THIRD].velocity > 0 ? maximumVelocity : -maximumVelocity);
+    }
+  }
+
+  // Changed motors to be always on, which is probably what we want anyway
+  enableMotors = true; //myIface->data->cmdEnableMotors > 0;
+}
+
+// NEW: Store the velocities from the ROS message
+void ServoPlugin::cmdCallback(const geometry_msgs::QuaternionStamped::ConstPtr& cmd_msg)
+{
+  boost::mutex::scoped_lock lock(mutex);
+  current_cmd = cmd_msg;
+}
+
+void ServoPlugin::publish_joint_states()
+{
+  if (!jointStatePub_) return;
+
+  joint_state.header.stamp.sec = (world->GetSimTime()).sec;
+  joint_state.header.stamp.nsec = (world->GetSimTime()).nsec;
+
+  joint_state.name.resize(countOfServos);
+  joint_state.position.resize(countOfServos);
+  joint_state.velocity.resize(countOfServos);
+  joint_state.effort.resize(countOfServos);
+
+  for (unsigned int i = 0; i < countOfServos; i++) {
+    joint_state.name[i] = servo[i].joint->GetName();
+    joint_state.position[i] = servo[i].joint->GetAngle(0).RADIAN();
+    joint_state.velocity[i] = servo[i].joint->GetVelocity(0);
+    joint_state.effort[i] = servo[i].joint->GetForce(0u);
+  }
+
+  jointStatePub_.publish(joint_state);
+}
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv
new file mode 100644
index 0000000..78cb852
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv	
@@ -0,0 +1,2 @@
+geometry_msgs/Vector3 bias
+---
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst
new file mode 100644
index 0000000..c8c9d19
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst	
@@ -0,0 +1,31 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_gazebo_thermal_camera
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.6 (2015-03-21)
+------------------
+
+0.3.5 (2015-02-23)
+------------------
+
+0.3.4 (2014-09-01)
+------------------
+
+0.3.3 (2014-05-27)
+------------------
+* Fix bad bug with index access
+* Contributors: Stefan Kohlbrecher
+
+0.3.2 (2014-03-30)
+------------------
+* added missing dependency to roscpp
+* hector_gazebo: deleted deprecated export sections from package.xml files
+* Contributors: Johannes Meyer
+
+0.3.1 (2013-09-23)
+------------------
+* fixed image_connect_count_ compile issues with the latest gazebo_plugins version 2.3.2
+
+0.3.0 (2013-09-02)
+------------------
+* Catkinization of stack hector_gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt
new file mode 100644
index 0000000..64161f6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt	
@@ -0,0 +1,83 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_gazebo_thermal_camera)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS nodelet image_transport dynamic_reconfigure driver_base gazebo_plugins)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## Find gazebo
+find_package(gazebo REQUIRED)
+include_directories(${GAZEBO_INCLUDE_DIRS})
+link_directories(${GAZEBO_LIBRARY_DIRS})
+
+## Find OGRE and OGRE-Paging (required for CameraPlugin.hh in Gazebo 5)
+include (FindPkgConfig)
+if (PKG_CONFIG_FOUND)
+  pkg_check_modules(OGRE OGRE)
+  pkg_check_modules(OGRE-Paging OGRE-Paging)
+endif()
+include_directories(${OGRE_INCLUDE_DIRS} ${OGRE-Paging_INCLUDE_DIRS})
+link_directories(${OGRE_LIBRARY_DIRS} ${OGRE-Paging_LIBRARY_DIRS})
+
+## Find Boost
+find_package(Boost REQUIRED COMPONENTS thread)
+include_directories(${Boost_INCLUDE_DIRS})
+
+###################################
+## dynamic_reconfigure ##
+###################################
+
+generate_dynamic_reconfigure_options(
+  cfg/GazeboRosThermalCamera.cfg
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    DEPENDS gazebo
+    CATKIN_DEPENDS nodelet image_transport dynamic_reconfigure driver_base gazebo_plugins
+    INCLUDE_DIRS include
+    LIBRARIES
+)
+
+###########
+## Build ##
+###########
+
+add_library(gazebo_ros_thermal_camera src/gazebo_ros_thermal_camera_plugin.cpp)
+target_link_libraries(gazebo_ros_thermal_camera ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} CameraPlugin)
+add_dependencies(gazebo_ros_thermal_camera ${PROJECT_NAME}_gencfg)
+
+add_library(gazebo_ros_thermal_depth_camera src/gazebo_ros_thermal_depth_camera_plugin.cpp)
+target_link_libraries(gazebo_ros_thermal_depth_camera ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} DepthCameraPlugin)
+add_dependencies(gazebo_ros_thermal_depth_camera ${PROJECT_NAME}_gencfg)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(TARGETS
+  gazebo_ros_thermal_camera
+  gazebo_ros_thermal_depth_camera
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/cfg/GazeboRosThermalCamera.cfg b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/cfg/GazeboRosThermalCamera.cfg
new file mode 100755
index 0000000..aa9f6df
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/cfg/GazeboRosThermalCamera.cfg	
@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+PKG = 'hector_gazebo_thermal_camera'
+
+from driver_base.msg import SensorLevels
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("imager_rate", double_t, SensorLevels.RECONFIGURE_CLOSE, \
+            "Sets the frame rate of the imager. In externally triggered mode this must be more than trig_rate", 2, 1, 50)  
+
+exit(gen.generate(PKG, "gazebo_ros_thermal_camera", "GazeboRosThermalCamera"))
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h
new file mode 100644
index 0000000..c19a162
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h	
@@ -0,0 +1,93 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+/**
+ * Copy of the DepthCameraSensor plugin with minor changes
+ */
+
+/*
+ *  Gazebo - Outdoor Multi-Robot Simulator
+ *  Copyright (C) 2003
+ *     Nate Koenig & Andrew Howard
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
+
+#ifndef GAZEBO_ROS_THERMAL_CAMERA_HH
+#define GAZEBO_ROS_THERMAL_CAMERA_HH
+
+// camera stuff
+#include <gazebo_plugins/gazebo_ros_camera_utils.h>
+
+namespace gazebo
+{
+  template <typename Base>
+  class GazeboRosThermalCamera_ : public Base, GazeboRosCameraUtils
+  {
+    /// \brief Constructor
+    /// \param parent The parent entity, must be a Model or a Sensor
+    public: GazeboRosThermalCamera_();
+
+    /// \brief Destructor
+    public: ~GazeboRosThermalCamera_();
+
+    /// \brief Load the plugin
+    /// \param take in SDF root element
+    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
+    public: void LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) {}
+
+    /// \brief Update the controller
+    protected: virtual void OnNewFrame(const unsigned char *_image,
+                   unsigned int _width, unsigned int _height,
+                   unsigned int _depth, const std::string &_format);
+
+    /// \brief Update the controller
+    protected: virtual void OnNewImageFrame(const unsigned char *_image,
+                   unsigned int _width, unsigned int _height,
+                   unsigned int _depth, const std::string &_format);
+
+    /// \brief Put camera data to the ROS topic
+    protected: void PutCameraData(const unsigned char *_src);
+    protected: void PutCameraData(const unsigned char *_src, common::Time &last_update_time);
+  };
+
+}
+#endif
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/package.xml
new file mode 100644
index 0000000..bd75514
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/package.xml	
@@ -0,0 +1,35 @@
+<package>
+  <name>hector_gazebo_thermal_camera</name>
+  <version>0.3.6</version>
+  <description>hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_gazebo_thermal_camera</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>driver_base</build_depend>
+  <build_depend>gazebo_plugins</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>driver_base</run_depend>
+  <run_depend>gazebo_plugins</run_depend>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp
new file mode 100644
index 0000000..aaac3e2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp	
@@ -0,0 +1,194 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+/**
+ * Copy of the CameraSensor/DepthCameraSensor plugin with minor changes
+ */
+
+/*
+ *  Gazebo - Outdoor Multi-Robot Simulator
+ *  Copyright (C) 2003
+ *     Nate Koenig & Andrew Howard
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
+
+#include <hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h>
+
+#include <gazebo/sensors/Sensor.hh>
+#include <gazebo/sensors/SensorTypes.hh>
+
+#include <sensor_msgs/image_encodings.h>
+
+namespace gazebo
+{
+
+////////////////////////////////////////////////////////////////////////////////
+// Constructor
+template <class Base>
+GazeboRosThermalCamera_<Base>::GazeboRosThermalCamera_()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+template <class Base>
+GazeboRosThermalCamera_<Base>::~GazeboRosThermalCamera_()
+{
+}
+
+template <class Base>
+void GazeboRosThermalCamera_<Base>::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+{
+  Base::Load(_parent, _sdf);
+  // copying from CameraPlugin into GazeboRosCameraUtils
+  this->parentSensor_ = this->parentSensor;
+  this->width_ = this->width;
+  this->height_ = this->height;
+  this->depth_ = this->depth;
+  this->format_ = this->format;
+
+  this->image_connect_count_ = boost::shared_ptr<int>(new int);
+  *this->image_connect_count_ = 0;
+  this->image_connect_count_lock_ = boost::shared_ptr<boost::mutex>(new boost::mutex);
+  this->was_active_ = boost::shared_ptr<bool>(new bool);
+  *this->was_active_ = false;
+
+  LoadImpl(_parent, _sdf);
+  GazeboRosCameraUtils::Load(_parent, _sdf);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+template <class Base>
+void GazeboRosThermalCamera_<Base>::OnNewFrame(const unsigned char *_image,
+    unsigned int _width, unsigned int _height, unsigned int _depth,
+    const std::string &_format)
+{
+  if (!this->initialized_ || this->height_ <=0 || this->width_ <=0)
+    return;
+
+  this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();
+
+  if (!this->parentSensor->IsActive())
+  {
+    if ((*this->image_connect_count_) > 0)
+      // do this first so there's chance for sensor to run 1 frame after activate
+      this->parentSensor->SetActive(true);
+  }
+  else
+  {
+    if ((*this->image_connect_count_) > 0)
+    {
+      common::Time cur_time = this->world_->GetSimTime();
+      if (cur_time - this->last_update_time_ >= this->update_period_)
+      {
+        this->PutCameraData(_image);
+        this->PublishCameraInfo();
+        this->last_update_time_ = cur_time;
+      }
+    }
+  }
+}
+
+template <class Base>
+void GazeboRosThermalCamera_<Base>::OnNewImageFrame(const unsigned char *_image,
+    unsigned int _width, unsigned int _height, unsigned int _depth,
+    const std::string &_format)
+{
+  OnNewFrame(_image, _width, _height, _depth, _format);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Put camera_ data to the interface
+template <class Base>
+void GazeboRosThermalCamera_<Base>::PutCameraData(const unsigned char *_src, common::Time &last_update_time)
+{
+  this->sensor_update_time_ = last_update_time;
+  this->PutCameraData(_src);
+}
+
+template <class Base>
+void GazeboRosThermalCamera_<Base>::PutCameraData(const unsigned char *_src)
+{
+  if (!this->initialized_ || this->height_ <=0 || this->width_ <=0)
+    return;
+
+  this->lock_.lock();
+
+  // copy data into image
+  this->image_msg_.header.frame_id = this->frame_name_;
+  this->image_msg_.header.stamp.sec = this->sensor_update_time_.sec;
+  this->image_msg_.header.stamp.nsec = this->sensor_update_time_.nsec;
+
+  /// don't bother if there are no subscribers
+  if ((*this->image_connect_count_) > 0)
+  {
+    this->image_msg_.width = this->width_;
+    this->image_msg_.height = this->height_;
+    this->image_msg_.encoding = sensor_msgs::image_encodings::MONO8;
+    this->image_msg_.step = this->image_msg_.width;
+
+    size_t size = this->width_ * this->height_;
+
+    std::vector<uint8_t>& data (this->image_msg_.data);
+    data.resize(size);
+
+    size_t img_index = 0;
+
+    for (size_t i = 0; i < size; ++i){
+      if ((_src[img_index] >254) && (_src[img_index+1] < 1) && (_src[img_index+2] < 1)){
+        //RGB [255,0,0] translates to white (white hot)
+        data[i]= 255;
+      }else{
+        //Everything else is written to the MONO8 output image much darker
+        data[i]= (_src[img_index] + _src[img_index+1] + _src[img_index+2]) /8 ;
+      }
+      img_index += 3;
+    }
+
+    // publish to ros
+    this->image_pub_.publish(this->image_msg_);
+  }
+
+  this->lock_.unlock();
+}
+
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp
new file mode 100644
index 0000000..aa71c21
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp	
@@ -0,0 +1,49 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "gazebo_ros_thermal_camera.cpp"
+
+// gazebo stuff
+#include <gazebo/plugins/CameraPlugin.hh>
+
+namespace gazebo
+{
+
+template <>
+void GazeboRosThermalCamera_<CameraPlugin>::LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+{
+  this->camera_ = this->CameraPlugin::camera;
+}
+
+template class GazeboRosThermalCamera_<CameraPlugin>;
+typedef GazeboRosThermalCamera_<CameraPlugin> GazeboRosThermalCamera;
+
+// Register this plugin with the simulator
+GZ_REGISTER_SENSOR_PLUGIN(GazeboRosThermalCamera)
+
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp
new file mode 100644
index 0000000..5615f94
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp	
@@ -0,0 +1,49 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "gazebo_ros_thermal_camera.cpp"
+
+// gazebo stuff
+#include <gazebo/plugins/DepthCameraPlugin.hh>
+
+namespace gazebo
+{
+
+template <>
+void GazeboRosThermalCamera_<DepthCameraPlugin>::LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+{
+  this->camera_ = this->DepthCameraPlugin::depthCamera;
+}
+
+template class GazeboRosThermalCamera_<DepthCameraPlugin>;
+typedef GazeboRosThermalCamera_<DepthCameraPlugin> GazeboRosThermalCamera;
+
+// Register this plugin with the simulator
+GZ_REGISTER_SENSOR_PLUGIN(GazeboRosThermalCamera)
+
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst
new file mode 100644
index 0000000..558df1d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst	
@@ -0,0 +1,50 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_gazebo_worlds
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.6 (2015-03-21)
+------------------
+
+0.3.5 (2015-02-23)
+------------------
+* Change drc qual 4 settings to be same as current Atlas default
+* Add drc final qual step block world and launch file
+* - Adjusted lighting
+* - Update world
+* -Add inner block with stations model
+* -Add complete sick robot day 2014 outer ring with stations
+* -Add two target panel examples to world
+* -Update world file
+* -Add complete sick robot day 2014 target stations
+* -Add inner block to world
+* -Add inner block for sick robot day 2014
+* -Add target model to sick robot day 2014 world
+* -Add sick robot day target model
+* Contributors: Stefan Kohlbrecher
+
+0.3.4 (2014-09-01)
+------------------
+* updated world files to SDF 1.4 using gzsdf
+* Change light for sick robot day 2014 world, add number panel example
+* Add sick robot number panel stl file for collision geom
+* Add collada files for sick robot day number panels
+* Add sick robot day number panels
+* Add sick robot day 2014 related files
+* Add model for sick robot day 2014 ring
+* added args roslaunch argument to pass additional command line arguments to gzserver
+* Contributors: Johannes Meyer, Stefan Kohlbrecher
+
+0.3.3 (2014-05-27)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* added missing install rule
+* Contributors: Johannes Meyer
+
+0.3.1 (2013-09-23)
+------------------
+
+0.3.0 (2013-09-02)
+------------------
+* Catkinization of stack hector_gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt
new file mode 100644
index 0000000..b6030cc
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt	
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_gazebo_worlds)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS
+    INCLUDE_DIRS
+    LIBRARIES
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+  launch
+  maps
+  Media
+  worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material
new file mode 100644
index 0000000..eaf19a2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material	
@@ -0,0 +1,177 @@
+material Hector/Gouraud
+{
+  receive_shadows on
+  shading gouraud
+
+  technique
+  {
+    pass Ambient
+    {
+      ambient 1.000000 1.000000 1.000000 1.000000
+      diffuse 1.0 1.0 1.0 1.0
+      specular 0.8 0.8 0.8 1 20
+      shading gouraud
+    }
+
+    pass PointLight
+    {
+      ambient 1.000000 1.000000 1.000000 1.000000
+      diffuse 1.0 1.0 1.0 1.0
+      specular 0.8 0.8 0.8 1 20
+      shading gouraud
+    }
+  }
+}
+
+material Hector/Black
+{
+  receive_shadows on
+  lighting on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.1 0.1 0.1 1.0
+      diffuse 0.1 0.1 0.1 1.0
+      specular 0.0 0.0 0.0 0.0
+    }
+  }
+}
+
+material Hector/Blue
+{
+  receive_shadows on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.0 0.0 0.2 1.0
+      diffuse 0.0 0.0 0.8 1.0
+      specular 0.0 0.0 0.2 1.0
+      emissive 0.0 0.0 0.0 1.0
+      shading gouraud
+    }
+  }
+}
+
+material Hector/Green
+{
+  receive_shadows on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.0 0.2 0.0 1.0
+      diffuse 0.0 0.8 0.0 1.0
+      specular 0.0 0.2 0.0 1.0
+      emissive 0.0 0.0 0.0 0.0
+      lighting on
+      shading phong
+    }
+  }
+}
+
+material Hector/Grey
+{
+  receive_shadows on
+  lighting on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.1 0.1 0.1 1.0
+      diffuse 0.7 0.7 0.7 1.0
+      specular 0.8 0.8 0.8 1
+    }
+  }
+}
+
+material Hector/Grey2
+{
+  receive_shadows on
+  lighting on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.0
+      diffuse 0.9 0.9 0.9 1.0
+      specular 0.8 0.8 0.8 1
+      lighting on
+    }
+  }
+}
+
+material Hector/Red
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 0.2 0.0 0.0 1.0
+      diffuse 0.8 0.0 0.0 1.0
+      specular 0.2 0.0 0.0 1.0
+      emissive 0.0 0.0 0.0 1.0
+      lighting on
+      shading phong
+    }
+  }
+}
+
+material Hector/White
+{
+  receive_shadows on
+  lighting on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.0
+      diffuse 1.0 1.0 1.0 1.0
+      specular 1.0 1.0 1.0 1.0
+      shading gouraud
+    }
+  }
+}
+
+material Hector/Yellow
+{
+  receive_shadows on
+
+  technique
+  {
+    pass
+    {
+      ambient 0.2 0.2 0.0 1.0
+      diffuse 0.8 0.8 0.0 1.0
+      specular 0.2 0.2 0.0 1.0
+      emissive 0.0 0.0 0.0 1.0
+      lighting on
+    }
+  }
+}
+
+material Hector/BlueBrushedAluminum
+{
+  technique
+  {
+    pass
+    {
+      ambient 0.75 0.75 0.75
+      cull_hardware none
+      cull_software none
+      texture_unit
+      {
+        texture blue_brushed_aluminum.jpg
+      }
+    }
+  }
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae
new file mode 100644
index 0000000..573c3a0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae	
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10380 154 457 457 80 155 458 458 10379 152 459 459 80 155 460 460 79 153 461 461 10380 154 462 462 10381 156 463 463 81 157 464 464 10380 154 465 465 81 157 466 466 80 155 467 467 10381 156 468 468 10382 158 469 469 82 159 470 470 10381 156 471 471 82 159 472 472 81 157 473 473 10382 158 474 474 10383 160 475 475 82 159 476 476 10383 160 477 477 83 161 478 478 82 159 479 479 10383 160 480 480 10384 162 481 481 84 163 482 482 10383 160 483 483 84 163 484 484 83 161 485 485 10384 162 486 486 10385 164 487 487 85 165 488 488 10384 162 489 489 85 165 490 490 84 163 491 491 10385 164 492 492 10386 166 493 493 86 167 494 494 10385 164 495 495 86 167 496 496 85 165 497 497 10386 166 498 498 10387 168 499 499 87 169 500 500 10386 166 501 501 87 169 502 502 86 167 503 503 10387 168 504 504 10388 170 505 505 88 171 506 506 10387 168 507 507 88 171 508 508 87 169 509 509 10388 170 510 510 10389 172 511 511 88 171 512 512 10389 172 513 513 89 173 514 514 88 171 515 515 10389 172 516 516 10390 174 517 517 90 175 518 518 10389 172 519 519 90 175 520 520 89 173 521 521 10390 174 522 522 10391 176 523 523 91 177 524 524 10390 174 525 525 91 177 526 526 90 175 527 527 10391 176 528 528 10392 178 529 529 92 179 530 530 10391 176 531 531 92 179 532 532 91 177 533 533 10392 178 534 534 10393 180 535 535 93 181 536 536 10392 178 537 537 93 181 538 538 92 179 539 539 10393 180 540 540 10394 182 541 541 94 183 542 542 10393 180 543 543 94 183 544 544 93 181 545 545 10394 182 546 546 10395 184 547 547 94 183 548 548 10395 184 549 549 95 185 550 550 94 183 551 551 10395 184 552 552 10396 186 553 553 96 187 554 554 10395 184 555 555 96 187 556 556 95 185 557 557 10396 186 558 558 10397 188 559 559 97 189 560 560 10396 186 561 561 97 189 562 562 96 187 563 563 10397 188 564 564 10398 190 565 565 98 191 566 566 10397 188 567 567 98 191 568 568 97 189 569 569 10398 190 570 570 10399 192 571 571 99 193 572 572 10398 190 573 573 99 193 574 574 98 191 575 575 10399 192 576 576 10400 194 577 577 100 195 578 578 10399 192 579 579 100 195 580 580 99 193 581 581 10400 194 582 582 10401 196 583 583 100 195 584 584 10401 196 585 585 101 197 586 586 100 195 587 587 10401 196 588 588 10402 198 589 589 102 199 590 590 10401 196 591 591 102 199 592 592 101 197 593 593 10402 198 594 594 10403 200 595 595 103 201 596 596 10402 198 597 597 103 201 598 598 102 199 599 599 10403 200 600 600 304 202 601 601 2 203 602 602 10403 200 603 603 2 203 604 604 103 201 605 605 202 204 606 606 10204 205 607 607 10304 1 608 608 202 204 609 609 10304 1 610 610 203 0 611 611 10204 205 612 612 10205 206 613 613 10305 4 614 614 10204 205 615 615 10305 4 616 616 10304 1 617 617 10205 206 618 618 10206 207 619 619 10306 6 620 620 10205 206 621 621 10306 6 622 622 10305 4 623 623 10206 207 624 624 10207 208 625 625 10306 6 626 626 10207 208 627 627 10307 8 628 628 10306 6 629 629 10207 208 630 630 10208 209 631 631 10307 8 632 632 10208 209 633 633 10308 10 634 634 10307 8 635 635 10208 209 636 636 10209 210 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694 10317 28 695 695 10218 219 696 696 10219 220 697 697 10318 30 698 698 10219 220 699 699 10319 32 700 700 10318 30 701 701 10219 220 702 702 10220 221 703 703 10319 32 704 704 10220 221 705 705 10320 34 706 706 10319 32 707 707 10220 221 708 708 10221 222 709 709 10320 34 710 710 10221 222 711 711 10321 36 712 712 10320 34 713 713 10221 222 714 714 10222 223 715 715 10321 36 716 716 10222 223 717 717 10322 38 718 718 10321 36 719 719 10222 223 720 720 10223 224 721 721 10322 38 722 722 10223 224 723 723 10323 40 724 724 10322 38 725 725 10223 224 726 726 10224 225 727 727 10323 40 728 728 10224 225 729 729 10324 42 730 730 10323 40 731 731 10224 225 732 732 10225 226 733 733 10325 44 734 734 10224 225 735 735 10325 44 736 736 10324 42 737 737 10225 226 738 738 10226 227 739 739 10326 46 740 740 10225 226 741 741 10326 46 742 742 10325 44 743 743 10226 227 744 744 10227 228 745 745 10327 48 746 746 10226 227 747 747 10327 48 748 748 10326 46 749 749 10227 228 750 750 10228 229 751 751 10328 50 752 752 10227 228 753 753 10328 50 754 754 10327 48 755 755 10228 229 756 756 10229 230 757 757 10329 52 758 758 10228 229 759 759 10329 52 760 760 10328 50 761 761 10229 230 762 762 10230 231 763 763 10330 54 764 764 10229 230 765 765 10330 54 766 766 10329 52 767 767 10230 231 768 768 10231 232 769 769 10331 56 770 770 10230 231 771 771 10331 56 772 772 10330 54 773 773 10231 232 774 774 10232 233 775 775 10332 58 776 776 10231 232 777 777 10332 58 778 778 10331 56 779 779 10232 233 780 780 10233 234 781 781 10333 60 782 782 10232 233 783 783 10333 60 784 784 10332 58 785 785 10233 234 786 786 10234 235 787 787 10334 62 788 788 10233 234 789 789 10334 62 790 790 10333 60 791 791 10234 235 792 792 10235 236 793 793 10335 64 794 794 10234 235 795 795 10335 64 796 796 10334 62 797 797 10235 236 798 798 10236 237 799 799 10336 66 800 800 10235 236 801 801 10336 66 802 802 10335 64 803 803 10236 237 804 804 10237 238 805 805 10337 68 806 806 10236 237 807 807 10337 68 808 808 10336 66 809 809 10237 238 810 810 10238 239 811 811 10338 70 812 812 10237 238 813 813 10338 70 814 814 10337 68 815 815 10238 239 816 816 10239 240 817 817 10339 72 818 818 10238 239 819 819 10339 72 820 820 10338 70 821 821 10239 240 822 822 10240 241 823 823 10340 74 824 824 10239 240 825 825 10340 74 826 826 10339 72 827 827 10240 241 828 828 10241 242 829 829 10341 76 830 830 10240 241 831 831 10341 76 832 832 10340 74 833 833 10241 242 834 834 10242 243 835 835 10342 78 836 836 10241 242 837 837 10342 78 838 838 10341 76 839 839 10242 243 840 840 10243 244 841 841 10343 80 842 842 10242 243 843 843 10343 80 844 844 10342 78 845 845 10243 244 846 846 10244 245 847 847 10344 82 848 848 10243 244 849 849 10344 82 850 850 10343 80 851 851 10244 245 852 852 10245 246 853 853 10345 84 854 854 10244 245 855 855 10345 84 856 856 10344 82 857 857 10245 246 858 858 10246 247 859 859 10346 86 860 860 10245 246 861 861 10346 86 862 862 10345 84 863 863 10246 247 864 864 10247 248 865 865 10347 88 866 866 10246 247 867 867 10347 88 868 868 10346 86 869 869 10247 248 870 870 10248 249 871 871 10348 90 872 872 10247 248 873 873 10348 90 874 874 10347 88 875 875 10248 249 876 876 10249 250 877 877 10349 92 878 878 10248 249 879 879 10349 92 880 880 10348 90 881 881 10249 250 882 882 10250 251 883 883 10350 94 884 884 10249 250 885 885 10350 94 886 886 10349 92 887 887 10250 251 888 888 10251 252 889 889 10351 96 890 890 10250 251 891 891 10351 96 892 892 10350 94 893 893 10251 252 894 894 10252 253 895 895 10351 96 896 896 10252 253 897 897 10352 98 898 898 10351 96 899 899 10252 253 900 900 10253 254 901 901 10352 98 902 902 10253 254 903 903 10353 100 904 904 10352 98 905 905 10253 254 906 906 10254 255 907 907 10353 100 908 908 10254 255 909 909 10354 102 910 910 10353 100 911 911 10254 255 912 912 10255 256 913 913 10354 102 914 914 10255 256 915 915 10355 104 916 916 10354 102 917 917 10255 256 918 918 10256 257 919 919 10355 104 920 920 10256 257 921 921 10356 106 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10265 266 978 978 10266 267 979 979 10365 124 980 980 10266 267 981 981 10366 126 982 982 10365 124 983 983 10266 267 984 984 10267 268 985 985 10366 126 986 986 10267 268 987 987 10367 128 988 988 10366 126 989 989 10267 268 990 990 10268 269 991 991 10367 128 992 992 10268 269 993 993 10368 130 994 994 10367 128 995 995 10268 269 996 996 10269 270 997 997 10368 130 998 998 10269 270 999 999 10369 132 1000 1000 10368 130 1001 1001 10269 270 1002 1002 10270 271 1003 1003 10369 132 1004 1004 10270 271 1005 1005 10370 134 1006 1006 10369 132 1007 1007 10270 271 1008 1008 10271 272 1009 1009 10370 134 1010 1010 10271 272 1011 1011 10371 136 1012 1012 10370 134 1013 1013 10271 272 1014 1014 10272 273 1015 1015 10371 136 1016 1016 10272 273 1017 1017 10372 138 1018 1018 10371 136 1019 1019 10272 273 1020 1020 10273 274 1021 1021 10372 138 1022 1022 10273 274 1023 1023 10373 140 1024 1024 10372 138 1025 1025 10273 274 1026 1026 10274 275 1027 1027 10373 140 1028 1028 10274 275 1029 1029 10374 142 1030 1030 10373 140 1031 1031 10274 275 1032 1032 10275 276 1033 1033 10374 142 1034 1034 10275 276 1035 1035 10375 144 1036 1036 10374 142 1037 1037 10275 276 1038 1038 10276 277 1039 1039 10375 144 1040 1040 10276 277 1041 1041 10376 146 1042 1042 10375 144 1043 1043 10276 277 1044 1044 10277 278 1045 1045 10376 146 1046 1046 10277 278 1047 1047 10377 148 1048 1048 10376 146 1049 1049 10277 278 1050 1050 10278 279 1051 1051 10377 148 1052 1052 10278 279 1053 1053 10378 150 1054 1054 10377 148 1055 1055 10278 279 1056 1056 10279 280 1057 1057 10378 150 1058 1058 10279 280 1059 1059 10379 152 1060 1060 10378 150 1061 1061 10279 280 1062 1062 10280 281 1063 1063 10379 152 1064 1064 10280 281 1065 1065 10380 154 1066 1066 10379 152 1067 1067 10280 281 1068 1068 10281 282 1069 1069 10380 154 1070 1070 10281 282 1071 1071 10381 156 1072 1072 10380 154 1073 1073 10281 282 1074 1074 10282 283 1075 1075 10382 158 1076 1076 10281 282 1077 1077 10382 158 1078 1078 10381 156 1079 1079 10282 283 1080 1080 10283 284 1081 1081 10383 160 1082 1082 10282 283 1083 1083 10383 160 1084 1084 10382 158 1085 1085 10283 284 1086 1086 10284 285 1087 1087 10384 162 1088 1088 10283 284 1089 1089 10384 162 1090 1090 10383 160 1091 1091 10284 285 1092 1092 10285 286 1093 1093 10385 164 1094 1094 10284 285 1095 1095 10385 164 1096 1096 10384 162 1097 1097 10285 286 1098 1098 10286 287 1099 1099 10385 164 1100 1100 10286 287 1101 1101 10386 166 1102 1102 10385 164 1103 1103 10286 287 1104 1104 10287 288 1105 1105 10387 168 1106 1106 10286 287 1107 1107 10387 168 1108 1108 10386 166 1109 1109 10287 288 1110 1110 10288 289 1111 1111 10388 170 1112 1112 10287 288 1113 1113 10388 170 1114 1114 10387 168 1115 1115 10288 289 1116 1116 10289 290 1117 1117 10389 172 1118 1118 10288 289 1119 1119 10389 172 1120 1120 10388 170 1121 1121 10289 290 1122 1122 10290 291 1123 1123 10390 174 1124 1124 10289 290 1125 1125 10390 174 1126 1126 10389 172 1127 1127 10290 291 1128 1128 10291 292 1129 1129 10390 174 1130 1130 10291 292 1131 1131 10391 176 1132 1132 10390 174 1133 1133 10291 292 1134 1134 10292 293 1135 1135 10392 178 1136 1136 10291 292 1137 1137 10392 178 1138 1138 10391 176 1139 1139 10292 293 1140 1140 10293 294 1141 1141 10393 180 1142 1142 10292 293 1143 1143 10393 180 1144 1144 10392 178 1145 1145 10293 294 1146 1146 10294 295 1147 1147 10394 182 1148 1148 10293 294 1149 1149 10394 182 1150 1150 10393 180 1151 1151 10294 295 1152 1152 10295 296 1153 1153 10395 184 1154 1154 10294 295 1155 1155 10395 184 1156 1156 10394 182 1157 1157 10295 296 1158 1158 10296 297 1159 1159 10396 186 1160 1160 10295 296 1161 1161 10396 186 1162 1162 10395 184 1163 1163 10296 297 1164 1164 10297 298 1165 1165 10396 186 1166 1166 10297 298 1167 1167 10397 188 1168 1168 10396 186 1169 1169 10297 298 1170 1170 10298 299 1171 1171 10398 190 1172 1172 10297 298 1173 1173 10398 190 1174 1174 10397 188 1175 1175 10298 299 1176 1176 10299 300 1177 1177 10399 192 1178 1178 10298 299 1179 1179 10399 192 1180 1180 10398 190 1181 1181 10299 300 1182 1182 10300 301 1183 1183 10400 194 1184 1184 10299 300 1185 1185 10400 194 1186 1186 10399 192 1187 1187 10300 301 1188 1188 10301 302 1189 1189 10401 196 1190 1190 10300 301 1191 1191 10401 196 1192 1192 10400 194 1193 1193 10301 302 1194 1194 10302 303 1195 1195 10402 198 1196 1196 10301 302 1197 1197 10402 198 1198 1198 10401 196 1199 1199 10302 303 1200 1200 10303 304 1201 1201 10403 200 1202 1202 10302 303 1203 1203 10403 200 1204 1204 10402 198 1205 1205 10303 304 1206 1206 305 305 1207 1207 304 202 1208 1208 10303 304 1209 1209 304 202 1210 1210 10403 200 1211 1211 201 306 1212 1212 10104 307 1213 1213 10204 205 1214 1214 201 306 1215 1215 10204 205 1216 1216 202 204 1217 1217 10104 307 1218 1218 10105 308 1219 1219 10205 206 1220 1220 10104 307 1221 1221 10205 206 1222 1222 10204 205 1223 1223 10105 308 1224 1224 10106 309 1225 1225 10205 206 1226 1226 10106 309 1227 1227 10206 207 1228 1228 10205 206 1229 1229 10106 309 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1580 1580 10165 368 1581 1581 10265 266 1582 1582 10264 265 1583 1583 10165 368 1584 1584 10166 369 1585 1585 10265 266 1586 1586 10166 369 1587 1587 10266 267 1588 1588 10265 266 1589 1589 10166 369 1590 1590 10167 370 1591 1591 10266 267 1592 1592 10167 370 1593 1593 10267 268 1594 1594 10266 267 1595 1595 10167 370 1596 1596 10168 371 1597 1597 10267 268 1598 1598 10168 371 1599 1599 10268 269 1600 1600 10267 268 1601 1601 10168 371 1602 1602 10169 372 1603 1603 10268 269 1604 1604 10169 372 1605 1605 10269 270 1606 1606 10268 269 1607 1607 10169 372 1608 1608 10170 373 1609 1609 10269 270 1610 1610 10170 373 1611 1611 10270 271 1612 1612 10269 270 1613 1613 10170 373 1614 1614 10171 374 1615 1615 10270 271 1616 1616 10171 374 1617 1617 10271 272 1618 1618 10270 271 1619 1619 10171 374 1620 1620 10172 375 1621 1621 10271 272 1622 1622 10172 375 1623 1623 10272 273 1624 1624 10271 272 1625 1625 10172 375 1626 1626 10173 376 1627 1627 10272 273 1628 1628 10173 376 1629 1629 10273 274 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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" type="NODE">
+        <translate sid="location">-27.59666 32.75588 22.37169</translate>
+        <rotate sid="rotationZ">0 0 1 242.2198</rotate>
+        <rotate sid="rotationY">0 1 0 21.69693</rotate>
+        <rotate sid="rotationX">1 0 0 59.01775</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Plane" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Plane-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material1" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.jpg b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.jpg
new file mode 100644
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new file mode 100644
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2012_20m.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2012_20m.dae
new file mode 100644
index 0000000..570bc24
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2012_20m.dae	
@@ -0,0 +1,152 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher, TU Darmstadt</author>
+      <authoring_tool>Blender 2.63.13 r48659</authoring_tool>
+    </contributor>
+    <created>2012-07-09T20:51:34</created>
+    <modified>2012-07-09T20:51:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Orange-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7036979 0.1107453 0.01411356 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Perch_Blue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
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284 157 284 153 284 154 285 153 285 158 285 155 286 154 286 159 286 152 287 155 287 159 287 211 291 208 291 210 291 213 292 212 292 214 292 212 293 213 293 209 293 210 294 209 294 214 294 211 295 210 295 215 295 208 296 211 296 215 296</p>
+        </polylist>
+        <polylist material="Perch_Blue-material" count="84">
+          <input semantic="VERTEX" source="#BoundaryBank_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#BoundaryBank_002-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>161 120 171 120 163 120 166 121 175 121 167 121 165 122 173 122 164 122 163 123 170 123 162 123 160 124 168 124 161 124 167 125 173 125 165 125 167 126 161 126 163 126 164 127 161 127 165 127 166 128 163 128 162 128 173 129 175 129 169 129 168 130 173 130 169 130 175 131 170 131 171 131 164 132 168 132 160 132 162 133 174 133 166 133 177 134 179 134 185 134 182 135 183 135 190 135 181 136 180 136 189 136 179 137 178 137 186 137 176 138 177 138 185 138 183 139 181 139 189 139 183 140 179 140 177 140 180 141 181 141 177 141 182 142 178 142 179 142 189 143 185 143 187 143 184 144 185 144 188 144 191 145 187 145 186 145 180 146 176 146 184 146 178 147 182 147 190 147 193 148 203 148 195 148 198 149 206 149 199 149 197 150 205 150 196 150 195 151 202 151 194 151 192 152 201 152 193 152 199 153 205 153 197 153 199 154 193 154 195 154 196 155 193 155 197 155 198 156 195 156 194 156 205 157 207 157 201 157 200 158 204 158 201 158 207 159 202 159 203 159 196 160 200 160 192 160 194 161 206 161 198 161 174 288 175 288 166 288 183 289 191 289 190 289 199 290 206 290 207 290 169 297 171 297 161 297 164 298 173 298 172 298 171 299 170 299 163 299 161 300 168 300 169 300 175 301 173 301 167 301 165 302 161 302 167 302 160 303 161 303 164 303 167 304 163 304 166 304 169 305 175 305 171 305 172 306 173 306 168 306 174 307 170 307 175 307 172 308 168 308 164 308 170 309 174 309 162 309 179 310 187 310 185 310 180 311 188 311 189 311 187 312 179 312 186 312 184 313 176 313 185 313 191 314 183 314 189 314 181 315 183 315 177 315 176 316 180 316 177 316 183 317 182 317 179 317 191 318 189 318 187 318 185 319 189 319 188 319 190 320 191 320 186 320 188 321 180 321 184 321 186 322 178 322 190 322 201 323 203 323 193 323 196 324 205 324 204 324 203 325 202 325 195 325 200 326 201 326 192 326 207 327 205 327 199 327 197 328 193 328 199 328 192 329 193 329 196 329 199 330 195 330 198 330 201 331 207 331 203 331 201 332 204 332 205 332 206 333 202 333 207 333 204 334 200 334 196 334 202 335 206 335 194 335</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="BoundaryBank_002" name="BoundaryBank_002" type="NODE">
+        <translate sid="location">-7.713961 2.166298 1.79751e-8</translate>
+        <rotate sid="rotationZ">0 0 1 -13.19732</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">0.00999999 1 1</scale>
+        <instance_geometry url="#BoundaryBank_002-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Orange-material" target="#Orange-material"/>
+              <instance_material symbol="Perch_Blue-material" target="#Perch_Blue-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014.dae
new file mode 100644
index 0000000..76e7606
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014.dae	
@@ -0,0 +1,229 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-09-05T19:53:56</created>
+    <modified>2014-09-05T19:53:56</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Orange-material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5629584 0.08859625 0.01129085 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Perch_Blue-material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0.03636133 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Orange-material-material" name="Orange-material">
+      <instance_effect url="#Orange-material-effect"/>
+    </material>
+    <material id="Perch_Blue-material-material" name="Perch_Blue-material">
+      <instance_effect url="#Perch_Blue-material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="BoundaryBank_002-mesh" name="BoundaryBank.002">
+      <mesh>
+        <source id="BoundaryBank_002-mesh-positions">
+          <float_array id="BoundaryBank_002-mesh-positions-array" count="504">176.9484 -5.118645 2.2978e-7 396.6898 -7.02242 2.2978e-7 395.3036 -7.036837 2.2978e-7 175.5622 -5.133061 2.2978e-7 176.9484 -5.118645 0.5000002 396.6898 -7.022421 0.5000002 395.3036 -7.036837 0.5000002 175.5622 -5.133061 0.5000002 54.7269 -3.253243 0 174.8439 -5.096391 0 173.1684 -5.10731 0 53.05129 -3.264163 0 54.72692 -3.253244 0.5000001 174.844 -5.096391 0.5000001 173.1683 -5.10731 0.5000001 53.0513 -3.264163 0.5000001 398.2452 -7.035241 -1.88164e-6 602.2938 -7.857692 -1.88164e-6 601.5461 -7.876242 -1.88164e-6 397.4975 -7.053791 -1.88164e-6 398.2452 -7.035242 0.4999981 602.2938 -7.857692 0.4999981 601.546 -7.876241 0.4999981 397.4975 -7.053791 0.4999981 604.1837 -7.868592 -1.36416e-6 824.1836 -7.865159 -1.36416e-6 824.1867 -7.885159 -1.36416e-6 604.1868 -7.888592 -1.36416e-6 604.1837 -7.868592 0.4999986 824.1837 -7.865159 0.4999986 824.1867 -7.885159 0.4999986 604.1868 -7.888592 0.4999986 827.216 -7.869092 -1.08988e-6 1042.024 -7.393939 -1.08988e-6 1042.456 -7.413467 -1.08988e-6 827.6479 -7.88862 -1.08988e-6 827.216 -7.869092 0.4999989 1042.024 -7.393939 0.4999989 1042.456 -7.413467 0.4999989 827.6479 -7.88862 0.4999989 1044.61 -7.384613 -8.11738e-7 1244.737 -6.470878 -8.11738e-7 1245.568 -6.489071 -8.11738e-7 1045.441 -7.402807 -8.11738e-7 1044.61 -7.384613 0.4999992 1244.737 -6.470878 0.4999992 1245.568 -6.489072 0.4999992 1045.441 -7.402807 0.4999992 1247.464 -6.447455 -4.97317e-7 1405.336 -4.915251 -4.97317e-7 1406.729 -4.929604 -4.97317e-7 1248.857 -6.461807 -4.97317e-7 1247.464 -6.447454 0.4999995 1405.336 -4.915251 0.4999995 1406.729 -4.929604 0.4999995 1248.857 -6.461807 0.4999995 1406.927 -4.88134 -2.01801e-7 1493.409 -2.858447 -2.01801e-7 1495.248 -2.866309 -2.01801e-7 1408.766 -4.889202 -2.01801e-7 1406.927 -4.88134 0.4999998 1493.409 -2.858446 0.4999998 1495.248 -2.866309 0.4999998 1408.766 -4.889202 0.4999998 1493.757 -2.826095 0 1540.837 -0.6770594 0 1542.79 -0.6813394 0 1495.711 -2.830375 0 1493.757 -2.826095 0.5 1540.837 -0.6770588 0.5 1542.79 -0.6813396 0.5 1495.711 -2.830375 0.5 1503.91 2.239852 0 1542.349 -0.6266489 0 1540.36 -0.6287356 0 1501.921 2.237766 0 1503.91 2.239852 0.5 1542.349 -0.6266495 0.5 1540.36 -0.6287353 0.5 1501.921 2.237766 0.5 1403.301 4.237014 0 1502.793 2.274837 0 1501.009 2.265793 0 1401.517 4.22797 0 1403.301 4.237014 0.5 1502.793 2.274837 0.5 1501.009 2.265793 0.5 1401.517 4.22797 0.5 1075.414 7.196655 0 857.8095 7.52041 0 858.1039 7.540193 0 1075.709 7.216437 0 1075.414 7.196655 0.5 857.8095 7.520411 0.5 858.1039 7.540193 0.5 1075.709 7.216437 0.5 1077.281 7.208261 0 1259.814 5.980195 0 1258.698 5.963602 0 1076.164 7.191667 0 1077.281 7.208261 0.5 1259.814 5.980195 0.5 1258.698 5.963602 0.5 1076.164 7.191667 0.5 634.2568 7.400154 0 423.964 6.753855 0 423.3765 6.772973 0 633.6693 7.419271 0 634.2568 7.400154 0.5 423.964 6.753855 0.5 423.3765 6.772973 0.5 633.6693 7.419271 0.5 423.441 6.742381 0 234.988 5.607235 0 233.9561 5.624367 0 422.4091 6.759513 0 423.441 6.74238 0.5 234.988 5.607235 0.5 233.9561 5.624368 0.5 422.4091 6.759512 0.5 855.4451 7.512158 0 635.677 7.411123 0 635.5852 7.431102 0 855.3533 7.532137 0 855.4451 7.512158 0.5 635.677 7.411123 0.5 635.5852 7.431102 0.5 855.3533 7.532137 0.5 233.8335 5.587586 0 62.39587 3.255918 0 60.74898 3.267266 0 232.1866 5.598933 0 233.8335 5.587585 0.5 62.39584 3.255917 0.5 60.74899 3.267266 0.5 232.1866 5.598933 0.5 60.43124 3.254721 0 0.634697 1.137544 0 -1.290005 1.14298 0 58.50654 3.260158 0 60.43123 3.254721 0.5 0.6346798 1.137544 0.5 -1.289999 1.142981 0.5 58.50654 3.260157 0.5 1 1.1 0 1 -1.1 0 -1 -1.1 0 -0.9999997 1.1 0 1 1.1 0.5 0.9999994 -1.100001 0.5 -1 -1.1 0.5 -1 1.1 0.5 3.124203 -1.092327 0 53.35142 -3.234224 0 51.40423 -3.23879 0 1.177017 -1.096893 0 3.124216 -1.092328 0.5 53.35143 -3.234225 0.5 51.40423 -3.23879 0.5 1.177023 -1.096893 0.5 1264.094 5.975332 0 1400.894 4.252369 0 1399.327 4.239933 0 1262.528 5.962896 0 1264.095 5.975331 0.5 1400.894 4.252368 0.5 1399.327 4.239933 0.5 1262.528 5.962896 0.5</float_array>
+          <technique_common>
+            <accessor source="#BoundaryBank_002-mesh-positions-array" count="168" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">1.114218 -0.3567156 0.9827452 16.73198 1.182047 0.3512065 -0.9164203 -11.37074 -0.01757195 1.006342 0.6681756 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
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+        <instance_light url="#Lamp-light"/>
+      </node>
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+        <matrix sid="transform">0.00782801 0.1835659 0 -6.060664 -0.001835657 0.7828018 0 1.640165 0 0 1 1.75916e-9 0 0 0 1</matrix>
+        <instance_geometry url="#BoundaryBank_002-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Orange-material-material" target="#Orange-material-material"/>
+              <instance_material symbol="Perch_Blue-material-material" target="#Perch_Blue-material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_inner_block.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_inner_block.dae
new file mode 100644
index 0000000..63358ee
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_inner_block.dae	
@@ -0,0 +1,229 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-09-05T19:46:50</created>
+    <modified>2014-09-05T19:46:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
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+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Orange-material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.11 0.11 0.11 1</color>
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+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
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+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Perch_Blue-material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+            <diffuse>
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+        </technique>
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+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Orange-material-material" name="Orange-material">
+      <instance_effect url="#Orange-material-effect"/>
+    </material>
+    <material id="Perch_Blue-material-material" name="Perch_Blue-material">
+      <instance_effect url="#Perch_Blue-material-effect"/>
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\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_ring.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_ring.dae
new file mode 100644
index 0000000..78b5059
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_ring.dae	
@@ -0,0 +1,199 @@
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+      </mesh>
+    </geometry>
+  </library_geometries>
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target.dae
new file mode 100644
index 0000000..b4a091c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target.dae	
@@ -0,0 +1,225 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-09-04T22:25:27</created>
+    <modified>2014-09-04T22:25:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
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+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
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+          <filtertype>0</filtertype>
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+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
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+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
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+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="sick_target_png" name="sick_target_png">
+      <init_from>sick_target.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
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+          <surface type="2D">
+            <init_from>sick_target_png</init_from>
+          </surface>
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+          <sampler2D>
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+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
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+            <diffuse>
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+            <specular>
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+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
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+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
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+        <vertices id="Cube-mesh-vertices">
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+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_0.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_0.dae
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_1.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_1.dae
new file mode 100644
index 0000000..ce1f0aa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_1.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_2.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_2.dae
new file mode 100644
index 0000000..1b405fc
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_2.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_3.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_3.dae
new file mode 100644
index 0000000..1b405fc
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_3.dae	
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_4.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_4.dae
new file mode 100644
index 0000000..3905a5d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_4.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_5.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_5.dae
new file mode 100644
index 0000000..3355d92
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_5.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_6.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_6.dae
new file mode 100644
index 0000000..d15dfeb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_6.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_7.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_7.dae
new file mode 100644
index 0000000..d43600d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_7.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_8.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_8.dae
new file mode 100644
index 0000000..818b9b7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_8.dae	
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_9.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_9.dae
new file mode 100644
index 0000000..4431ea1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_target_station_complete_9.dae	
@@ -0,0 +1,469 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_with_stations.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_with_stations.dae
new file mode 100644
index 0000000..187683a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_day_2014_with_stations.dae	
@@ -0,0 +1,3119 @@
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_1.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_1.dae
new file mode 100644
index 0000000..99b9482
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_1.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_1.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 0.9998998 9.998e-5 0.9999001 9.998e-5 1.00278e-4 0.9998996 0.9998997 9.998e-5 0.9998998 9.998e-5 9.998e-5 0 0 0 0 0 0 0 0 0.9999999 0 1 0.9999997 0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 9.998e-5 0.9998998 0.9998998 9.998e-5 1.00278e-4 0.9999001 1.0004e-4 0.9998996 0.9998997 9.998e-5 9.998e-5 0 0 0 0 0 0 0 1 0 0 1 0.9999997</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 4 5 15 0 5 16 3 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 7 11 33 4 11 34 3 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_1.png b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_1.png
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_2.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_2.dae
new file mode 100644
index 0000000..33a94bd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_2.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_2.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+              <param name="Y" type="float"/>
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+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
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+      </node>
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+  <scene>
+    <instance_visual_scene url="#Scene"/>
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+</COLLADA>
\ No newline at end of file
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_3.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_3.dae
new file mode 100644
index 0000000..bff71b1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_3.dae	
@@ -0,0 +1,126 @@
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+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_3.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
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+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
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+  </library_materials>
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+          <technique_common>
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+              <param name="Y" type="float"/>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
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+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_3.png b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_3.png
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_4.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_4.dae
new file mode 100644
index 0000000..fa3f6c2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_4.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_4.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 0.9998998 9.998e-5 0.9999001 9.998e-5 1.00278e-4 0.9998996 0.9998997 9.998e-5 0.9998998 9.998e-5 9.998e-5 0 0 0 0 0 0 0 0 0.9999999 0 1 0.9999997 0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 9.998e-5 0.9998998 0.9998998 9.998e-5 1.00278e-4 0.9999001 1.0004e-4 0.9998996 0.9998997 9.998e-5 9.998e-5 0 0 0 0 0 0 0 1 0 0 1 0.9999997</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 4 5 15 0 5 16 3 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 7 11 33 4 11 34 3 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_5.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_5.dae
new file mode 100644
index 0000000..ca5f1c9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_5.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_5.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+        <source id="Cube-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 0.9998998 9.998e-5 0.9999001 9.998e-5 1.00278e-4 0.9998996 0.9998997 9.998e-5 0.9998998 9.998e-5 9.998e-5 0 0 0 0 0 0 0 0 0.9999999 0 1 0.9999997 0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 9.998e-5 0.9998998 0.9998998 9.998e-5 1.00278e-4 0.9999001 1.0004e-4 0.9998996 0.9998997 9.998e-5 9.998e-5 0 0 0 0 0 0 0 1 0 0 1 0.9999997</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
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+        <vertices id="Cube-mesh-vertices">
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+        </vertices>
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+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 4 5 15 0 5 16 3 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 7 11 33 4 11 34 3 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_6.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_6.dae
new file mode 100644
index 0000000..b795feb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_6.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_6.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 2.38419e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 1.78814e-7</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 0.9998998 9.998e-5 0.9999001 9.998e-5 1.00278e-4 0.9998996 0.9998997 9.998e-5 0.9998998 9.998e-5 9.998e-5 0 0 0 0 0 0 0 0 0.9999999 0 1 0.9999997 0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 9.998e-5 0.9998998 0.9998998 9.998e-5 1.00278e-4 0.9999001 1.0004e-4 0.9998996 0.9998997 9.998e-5 9.998e-5 0 0 0 0 0 0 0 1 0 0 1 0.9999997</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 4 5 15 0 5 16 3 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 7 11 33 4 11 34 3 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_7.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_7.dae
new file mode 100644
index 0000000..97feb0d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_7.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_7.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_8.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_8.dae
new file mode 100644
index 0000000..7a964f6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_8.dae	
@@ -0,0 +1,126 @@
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+    </contributor>
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+    <modified>2014-08-30T23:18:41</modified>
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+            </diffuse>
+            <specular>
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\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_8.png b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_8.png
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_9.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_9.dae
new file mode 100644
index 0000000..ff0c5e5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_9.dae	
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-08-30T23:18:41</created>
+    <modified>2014-08-30T23:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="sick_robot_panel_0_png" name="sick_robot_panel_0_png">
+      <init_from>sick_robot_panel_9.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="sick_robot_panel_0_png-surface">
+          <surface type="2D">
+            <init_from>sick_robot_panel_0_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="sick_robot_panel_0_png-sampler">
+          <sampler2D>
+            <source>sick_robot_panel_0_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="sick_robot_panel_0_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 0.9998998 9.998e-5 0.9999001 9.998e-5 1.00278e-4 0.9998996 0.9998997 9.998e-5 0.9998998 9.998e-5 9.998e-5 0 0 0 0 0 0 0 0 0.9999999 0 1 0.9999997 0 0 0 0 0 0 0 0 0 0 0 0 0.9998998 9.998e-5 0.9998998 0.9998998 9.998e-5 1.00278e-4 0.9999001 1.0004e-4 0.9998996 0.9998997 9.998e-5 9.998e-5 0 0 0 0 0 0 0 1 0 0 1 0.9999997</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 4 5 15 0 5 16 3 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 7 11 33 4 11 34 3 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.01999998 0 0 0 0 0.65306 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_9.png b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/sick_robot_panel_9.png
new file mode 100644
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/small_indoor_scenario.dae b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/small_indoor_scenario.dae
new file mode 100644
index 0000000..493d363
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/Media/models/small_indoor_scenario.dae	
@@ -0,0 +1,65 @@
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-0.01254004 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="472" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist count="472">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <translate sid="location">0.005747795 -0.001375705 -1.181248</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">9.755003 4.615741 1.499442</scale>
+        <instance_geometry url="#Cube-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch
new file mode 100644
index 0000000..a9607d7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch	
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<launch>
+  
+  <arg name="args" default=""/>
+  
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+    <arg name="world" value="$(find hector_gazebo_worlds)/worlds/drc_final_qual_4_step_block.world"/>
+    <arg name="args" default="$(arg args)"/>
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch
new file mode 100644
index 0000000..9fb04db
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<launch>
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+   <arg name="world" value="$(find hector_gazebo_worlds)/worlds/rolling_landscape_120m.world"/> 
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch
new file mode 100644
index 0000000..ae9d7f6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<launch>
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+   <arg name="world" value="$(find hector_gazebo_worlds)/worlds/sick_robot_day_2012_20m.world"/> 
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch
new file mode 100644
index 0000000..374be0a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<launch>
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+   <arg name="world" value="$(find hector_gazebo_worlds)/worlds/sick_robot_day_2014.world"/> 
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch
new file mode 100644
index 0000000..c3fca46
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<launch>
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+   <arg name="world" value="$(find hector_gazebo_worlds)/worlds/small_indoor_scenario.world"/> 
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/start.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/start.launch
new file mode 100644
index 0000000..ac4c2d7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/start.launch	
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="world" default="worlds/empty.world"/>
+  <arg name="gui" default="true"/>
+  <arg name="args" default=""/>
+  
+  <param name="/use_sim_time" value="true" />
+
+  <node name="gazebo" pkg="gazebo_ros" type="gzserver" args="$(arg world) $(arg args)" respawn="false" output="screen"/>
+  
+    <!-- start gui -->
+  <group if="$(arg gui)">
+    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
+  </group>
+
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch
new file mode 100644
index 0000000..469ce8b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<launch>
+  <include file="$(find hector_gazebo_worlds)/launch/start.launch">
+   <arg name="world" value="$(find hector_gazebo_worlds)/worlds/willow_garage.world"/> 
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm
new file mode 100644
index 0000000..2a8f8d4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm	
@@ -0,0 +1,5 @@
+P5
+# CREATOR: GIMP PNM Filter Version 1.1
+768 768
+255
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ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml
new file mode 100644
index 0000000..52e94b4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml	
@@ -0,0 +1,7 @@
+image: small_indoor_scenario_edited_map_hector_mapping.pgm
+resolution: 0.050000
+origin: [-19.224998, -19.224998, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/package.xml
new file mode 100644
index 0000000..09c8e00
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/package.xml	
@@ -0,0 +1,31 @@
+<package>
+  <name>hector_gazebo_worlds</name>
+  <version>0.3.6</version>
+  <description>hector_gazebo_worlds provides gazebo scenarios used by Team Hector Darmstadt</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_gazebo_worlds</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+  <!-- <test_depend>gazebo_ros</test_depend> -->
+  <!-- <test_depend>hector_gazebo_plugins</test_depend> -->
+
+<export>
+    <gazebo_ros gazebo_media_path="${prefix}"/>
+</export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world
new file mode 100644
index 0000000..9bac467
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world	
@@ -0,0 +1,147 @@
+<sdf version='1.5'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <model name="drc_qual4_block">
+      <link name="drc_qual4_block_link">
+        <pose>0.3 0 0 0 0 0</pose>
+        <collision name="drc_qual4_block_collision">
+          <geometry>
+            <mesh>
+              <uri>file://drc_qual4_block.stl</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="drc_qual4_block">
+          <geometry>
+            <mesh>
+              <uri>file://drc_qual4_block.stl</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <simbody>
+        <accuracy>0.005</accuracy>
+        <max_transient_velocity>0.005</max_transient_velocity>
+        <contact>
+          <stiffness>1e8</stiffness>
+          <dissipation>20.0</dissipation>
+        </contact>
+      </simbody>
+      <ode>
+        <solver>
+          <use_dynamic_moi_rescaling>true</use_dynamic_moi_rescaling>
+          <type>quick</type>
+          <iters>200</iters>
+          <sor>1.0</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>5369 943000000</sim_time>
+      <real_time>5800 685587240</real_time>
+      <wall_time>1423245799 456557065</wall_time>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>-0.572734 7.93393 1.30199 -1.4159e-17 0.199643 -1.57102</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world
new file mode 100644
index 0000000..a476ec9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world	
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0.5 0.5 0.5 1</ambient>
+      <background>0.5 0.5 0.5 1</background>
+      <shadows>false</shadows>
+    </scene>
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>10</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <light type="directional" name="directional_light_1">
+      <pose>0 20 20 0.1 0.1 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>300</range>
+      </attenuation>
+      <direction>0.1 0.1 -1</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+    <model name="120m_landscape_smooth_tri">
+      <link name="120m_landscape_smooth_tri_link">
+        <pose>0 0 0 0 0 0</pose>
+        <collision name="120m_landscape_smooth_tri_collision">
+          <geometry>
+            <mesh>
+              <uri>file://120m_landscape_smooth_tri.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="120m_landscape_smooth_tri">
+          <geometry>
+            <mesh>
+              <uri>file://120m_landscape_smooth_tri.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world
new file mode 100644
index 0000000..cb1d0ff
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world	
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0.5 0.5 0.5 1</ambient>
+      <background>0.5 0.5 0.5 1</background>
+      <shadows>false</shadows>
+    </scene>
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>10</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <light type="directional" name="directional_light_1">
+      <pose>0 20 20 0.1 0.1 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>300</range>
+      </attenuation>
+      <direction>0.1 0.1 -1</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+    <model name="plane_model">
+      <link name="plane_model_link">
+        <collision name="plane_model_collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>10.0</mu>
+                <mu2>10.0</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1000000.0</threshold>
+            </bounce>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e10</kp>
+                <kd>1</kd>
+                <max_vel>100.0</max_vel>
+                <min_depth>0.0001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="plane_model_visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+          <material>
+            <script>Gazebo/Grey</script>
+          </material>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <model name="sick_robot_day_2012_20m">
+      <link name="sick_robot_day_2012_20m_link">
+        <pose>0 0 0 0 0 0</pose>
+        <collision name="sick_robot_day_2012_20m_collision">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2012_20m.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="sick_robot_day_2012_20m">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2012_20m.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world
new file mode 100644
index 0000000..09a13b9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world	
@@ -0,0 +1,231 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0.5 0.5 0.5 1</ambient>
+      <background>0.5 0.5 0.5 1</background>
+      <shadows>false</shadows>
+    </scene>
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>10</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- <light type="directional" name="directional_light_1">
+      <pose>0 20 20 0.1 0.1 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>300</range>
+      </attenuation>
+      <direction>0.1 0.1 -1</direction>
+      <cast_shadows>false</cast_shadows>
+    </light> -->
+    <light type="point" name="point_light_0">
+      <pose>3 0 1 0.1 0.1 0</pose>
+      <diffuse>0.7 0.7 0.7 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>30</range>
+        <constant>0.9</constant>
+        <linear>0.0</linear>
+      </attenuation>
+      <direction>0.1 0.1 0</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+        <light type="point" name="point_light_1">
+      <pose>0 3 1 0.1 0.1 0</pose>
+      <diffuse>0.7 0.7 0.7 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>30</range>
+        <constant>0.9</constant>
+        <linear>0.0</linear>
+      </attenuation>
+      <direction>0.1 0.1 0</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+        <light type="point" name="point_light_2">
+      <pose>-3 0 1 0.1 0.1 0</pose>
+      <diffuse>0.7 0.7 0.7 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>30</range>
+        <constant>0.9</constant>
+        <linear>0.0</linear>
+      </attenuation>
+      <direction>0.1 0.1 0</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+        <light type="point" name="point_light_3">
+      <pose>0 -3 1 0.1 0.1 0</pose>
+      <diffuse>0.7 0.7 0.7 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>30</range>
+        <constant>0.9</constant>
+        <linear>0.0</linear>
+      </attenuation>
+      <direction>0.1 0.1 0</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+    <model name="plane_model">
+      <link name="plane_model_link">
+        <collision name="plane_model_collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>10.0</mu>
+                <mu2>10.0</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1000000.0</threshold>
+            </bounce>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e10</kp>
+                <kd>1</kd>
+                <max_vel>100.0</max_vel>
+                <min_depth>0.0001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="plane_model_visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+          <material>
+            <script>Gazebo/Grey</script>
+          </material>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <model name="sick_robot_day_2012_20m">
+      <link name="sick_robot_day_2012_20m_link">
+        <pose>0 0 0 0 0 0</pose>
+        <collision name="sick_robot_day_2012_20m_collision">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_with_stations.dae</uri>
+              <!--Using below should be faster, as less geometry
+              <uri>file://sick_robot_day_2014.dae</uri>
+              -->
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="sick_robot_day_2012_20m">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_with_stations.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <model name="sick_robot_day_2014_center">
+      <link name="sick_robot_day_2014_center">
+        <pose>0 0 0 0 0 0</pose>
+        <collision name="sick_robot_day_2014_center_collision">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_inner_block_with_stations.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="ssick_robot_day_2014_center">
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_inner_block_with_stations.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <!--    
+    <model name="target_no_0">
+      <link name="target_no_0_link">
+        <pose>6.043906 0.001611 0.0 0 0 3.043185</pose>
+        <visual name="target_no_0_visual">https://www.facebook.com/
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_target_station_complete_0.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+         </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    <model name="target_no_5">
+      <link name="target_no_5_link">
+        <pose>5.525376 2.694268 0.0 0 0 -2.689556</pose>
+        <visual name="target_no_5_visual">https://www.facebook.com/
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_target_station_complete_5.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+         </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    -->
+    <!--
+    <model name="target_no_1">
+      <link name="target_no_1_link">
+        <pose>0 0 0.0 0 0 0</pose>
+        <visual name="target_no_1_visual">https://www.facebook.com/
+          <geometry>
+            <mesh>
+              <uri>file://sick_robot_day_2014_target_station_complete_2.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+         </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+    -->
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world
new file mode 100644
index 0000000..a8aa9d3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world	
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0.5 0.5 0.5 1</ambient>
+      <background>0.5 0.5 0.5 1</background>
+      <shadows>false</shadows>
+    </scene>
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>10</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <light type="directional" name="directional_light_1">
+      <pose>0 20 20 0.1 0.1 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <attenuation>
+        <range>300</range>
+      </attenuation>
+      <direction>0.1 0.1 -1</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+    <model name="small_indoor_scenario">
+      <link name="120m_landscape_smooth_tri_link">
+        <pose>0 0 0 0 0 0</pose>
+        <collision name="small_indoor_scenario_collision">
+          <geometry>
+            <mesh>
+              <uri>file://small_indoor_scenario.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name="small_indoor_scenario">
+          <geometry>
+            <mesh>
+              <uri>file://small_indoor_scenario.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>false</cast_shadows>
+        </visual>
+      </link>
+      <static>true</static>
+    </model>
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world
new file mode 100644
index 0000000..ae377a7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world	
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0.5 0.5 0.5 1</ambient>
+      <background>0.5 0.5 0.5 1</background>
+      <shadows>false</shadows>
+    </scene>
+    <physics type="ode">
+      <gravity>0 0 -9.8</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://willowgarage</uri>
+    </include>
+    <light type="directional" name="my_light">
+      <pose>0 0 30 0 0 0</pose>
+      <diffuse>.5 .5 .5 1</diffuse>
+      <specular>.1 .1 .1 1</specular>
+      <attenuation>
+        <range>200</range>
+      </attenuation>
+      <direction>0 0 -1</direction>
+      <cast_shadows>false</cast_shadows>
+    </light>
+  </world>
+</sdf>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst
new file mode 100644
index 0000000..bc6704b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst	
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_sensors_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.6 (2015-03-21)
+------------------
+
+0.3.5 (2015-02-23)
+------------------
+
+0.3.4 (2014-09-01)
+------------------
+
+0.3.3 (2014-05-27)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* removed metapackage tag from hector_sensors_gazebo to not break packages depending on it
+* hector_gazebo: Made hector_gazebo and hector_sensors_gazebo true metapackages
+* Moved package from hector_models to hector_gazebo
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-02)
+------------------
+* catkinized stack hector_models
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..b22d2b2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_sensors_gazebo)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/package.xml
new file mode 100644
index 0000000..5aef105
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_gazebo/hector_sensors_gazebo/package.xml	
@@ -0,0 +1,22 @@
+<package>
+  <name>hector_sensors_gazebo</name>
+  <version>0.3.6</version>
+  <description>hector_sensors_gazebo depends on the necessary plugins for using the sensors from the hector_models repository.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_sensors_gazebo</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_sensors_description</run_depend>
+  <run_depend>gazebo_plugins</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/README.md b/Source Files/hector_quadrotor_tutorial/src/hector_localization/README.md
new file mode 100644
index 0000000..a83af1f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/README.md	
@@ -0,0 +1,28 @@
+# hector_localization
+The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform.
+
+Team Hector Darmstadt uses the stack to estimate the full 6D pose of the robot within the real-time loop of the Hector quadrotor and even for estimating the position, velocity and attitude of a small airplane as part of our flight mechanics lab.
+
+The design goals have been similar to what Chad Rockey described in his answer. 
+
+The core package currently provides a system model for generic 6DOF rigid body pose estimation based on pure IMU inputs (rates and accelerations), which can be specialized depending on the robot and for additional input values. As measurement models the package currently provides direct and barometric height measurements, GPS postion and velocity, magnetic field sensors as heading reference and a generic pose and twist measurement to fuse nav_msgs/Odometry messages from arbitrary sources (e.g. wheel odometry or SLAM).
+
+The stack consists of a core library without dependencies to ROS beside message types and additional packages providing a node, nodelet or Orocos Real-Time Toolkit TaskContext interface. The system and measurement models could also be implemented and loaded as plugins with some minor modifications. In the background an Extended Kalman Filter based on the Bayesian Filter Library is responsible for fusing all information into a consistent state estimate and additionally keeps track which state variables are observable and which are not.
+
+
+# How to run the code
+    cd catkin_ws
+    git clone git@github.com:tu-darmstadt-ros-pkg/hector_localization.git
+    catkin_make --source hector_localization
+    roslaunch hector_pose_estimation hector_pose_estimation.launch 
+
+#rosbag for test
+1. download the rosbag
+
+    https://drive.google.com/folderview?id=0B4hFvojO5r3scWJRVWdhSmdLd0k&usp=sharing
+    
+2. replay the rosbag
+
+    rosbag play 2016-03-09-22-11-07.bag
+    
+![hector_pose_estimation](https://cloud.githubusercontent.com/assets/3192355/14065311/5b968b2c-f457-11e5-862a-2f42720035b8.png)
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CHANGELOG.rst
new file mode 100644
index 0000000..074b538
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CHANGELOG.rst	
@@ -0,0 +1,39 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_localization
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2016-06-27)
+------------------
+
+0.2.2 (2016-06-24)
+------------------
+
+0.2.1 (2015-11-08)
+------------------
+
+0.2.0 (2015-02-22)
+------------------
+
+0.1.5 (2014-10-02)
+------------------
+
+0.1.4 (2014-08-28)
+------------------
+* Removed package world_magnetic_model as it is currently not used by hector_pose_estimation
+  The package is still available in the world_magnetic_model branch.
+* Contributors: Johannes Meyer
+
+0.1.3 (2014-07-09)
+------------------
+
+0.1.2 (2014-06-02)
+------------------
+
+0.1.1 (2014-03-30)
+------------------
+* made hector_localization a true metapackage
+* Contributors: Johannes Meyer
+
+0.1.0 (2013-09-03)
+------------------
+* catkinized stack hector_localization
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CMakeLists.txt
new file mode 100644
index 0000000..1932ca3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_localization)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/package.xml
new file mode 100644
index 0000000..dd947e5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_localization/package.xml	
@@ -0,0 +1,35 @@
+<package>
+  <name>hector_localization</name>
+  <version>0.3.0</version>
+  <description>
+    The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform.
+    It uses various sensor sources, which are fused using an Extended Kalman filter.
+
+    Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements.
+    The usage of other sensors is application-dependent. The hector_localization stack currently supports
+    GPS, magnetometer, barometric pressure sensors and other external sources that provide a geometry_msgs/PoseWithCovariance
+    message via the poseupdate topic.
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_localization</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>message_to_tf</run_depend>
+  <!-- <run_depend>rtt_hector_pose_estimation</run_depend> -->
+  <run_depend>hector_pose_estimation</run_depend>
+  <run_depend>hector_pose_estimation_core</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CHANGELOG.rst
new file mode 100644
index 0000000..2e37475
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CHANGELOG.rst	
@@ -0,0 +1,78 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_pose_estimation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2016-06-27)
+------------------
+* hector_pose_estimation: removed trailing / in directory install rule
+* Contributors: Johannes Meyer
+
+0.2.2 (2016-06-24)
+------------------
+* hector_pose_estimation: cleaned up example launch file and add install rule for launch/ and rviz_cfg/
+* update rviz file
+* add .rviz config file for hector pose estimation
+* add launch file for hector_pose_estimation
+* Contributors: Johannes Meyer, libing64
+
+0.2.1 (2015-11-08)
+------------------
+
+0.2.0 (2015-02-22)
+------------------
+* added QUIET flag when finding optional hector_timing
+* immediately reset the gps measurement when fix is lost
+* disabled publish_world_nav_transform parameter by default and added deprecation warnings for publish_world_map_transform and map_frame
+* fixed sensor_pose correction if reference heading != 0
+* added new publisher /geopose with type geographic_msgs/GeoPose
+* instrumented code for timing measurements using hector_diagnostics
+  See https://github.com/tu-darmstadt-ros-pkg/hector_diagnostics/tree/master/hector_timing.
+* added raw, unfiltered sensor pose publisher
+  This is for debugging purposes only. The raw sensor pose combines the information from
+  IMU acceleration/gravity, magnetic, GPS and height/barometric pressure sensors.
+* added world to nav transform broadcaster and global/reference (geographic_msgs/GeoPose) publisher
+* Added missing orientation-orientation derivative in GenericQuaternionSystemModel
+* Readded dimension paramters to SystemModel templates
+* Readded class BaseState and State::base() accessors (currently unused)
+* Added typed getters PoseEstimation::getSystem_<T>(name) and PoseEstimation::getMeasurement_<T>(name)
+* IMU-based prediction is now in the GenericQuaternionSystemModel class again.
+  The accelerometer and gyro models are added automatically if GenericQuaternionSystemModel::init() found an IMU input.
+  GenericQuaternionSystemModel calls methods on the IMU model classes to get the errors, derivatives and noise.
+  The IMU models themselves do not add
+* Added class SkewSymmetricMatrix
+* Avoid calling SymmetricMatrix::symmetric() as, surprisingly, this method seems to be quite expensive. Symmetry is only
+  enforced if assigned from a matrix which is not a SymmetricMatrix.
+* Added Eigen optimizations (avoid copies and added alignment macros)
+* Moved system and measurement status management from class Filter to PoseEstimation
+* first functional version with multiplicative EKF
+* added support for dynamic states (full, orientation only, position/velocity only, ...)
+* Contributors: Johannes Meyer
+
+0.1.5 (2014-10-02)
+------------------
+* hector_pose_estimation: make private variables protected to allow access from specialized pose_estimation classes
+* hector_pose_estimation: fixed wrong indicies bug in GPS pose publisher
+* Contributors: Johannes Meyer
+
+0.1.4 (2014-08-28)
+------------------
+
+0.1.3 (2014-07-09)
+------------------
+
+0.1.2 (2014-06-02)
+------------------
+
+0.1.1 (2014-03-30)
+------------------
+* Fixed boost 1.53 issues
+  changed boost::shared_dynamic_cast to boost::dynamic_pointer_cast and
+  boost::shared_static_cast to boost::static_pointer_cast
+* readded tf_prefix support (was removed from tf::TransformBroadcaster in hydro)
+* hector_pose_estimation/rtt_hector_pose_estimation: removed optional usage of package hector_uav_msgs and created a separate package hector_quadrotor_pose_estimation instead
+* fixed unresolved symbols when loading the nodelet, renamed plugin description xml file
+* Contributors: Christopher Hrabia, Johannes Meyer
+
+0.1.0 (2013-09-03)
+------------------
+* catkinized stack hector_localization
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CMakeLists.txt
new file mode 100644
index 0000000..de0dd88
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/CMakeLists.txt	
@@ -0,0 +1,112 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_pose_estimation)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS hector_pose_estimation_core nodelet sensor_msgs geometry_msgs nav_msgs tf message_filters)
+
+# Find hector_timing and use it, if available
+find_package(hector_timing QUIET)
+if(hector_timing_FOUND)
+  list(APPEND catkin_INCLUDE_DIRS ${hector_timing_INCLUDE_DIRS})
+  list(APPEND catkin_LIBRARIES ${hector_timing_LIBRARIES})
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES hector_pose_estimation_nodelet hector_pose_estimation_node
+    CATKIN_DEPENDS hector_pose_estimation_core nodelet sensor_msgs geometry_msgs nav_msgs tf message_filters
+    DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_library(hector_pose_estimation_node
+  src/pose_estimation_node.cpp
+)
+target_link_libraries(hector_pose_estimation_node ${catkin_LIBRARIES})
+
+add_library(hector_pose_estimation_nodelet
+  src/pose_estimation_nodelet.cpp
+)
+target_link_libraries(hector_pose_estimation_nodelet hector_pose_estimation_node ${catkin_LIBRARIES})
+
+add_executable(pose_estimation
+  src/main.cpp
+)
+target_link_libraries(pose_estimation hector_pose_estimation_node ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_pose_estimation_nodelet hector_pose_estimation_node pose_estimation
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY
+  launch
+  rviz_cfg
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/hector_pose_estimation_nodelets.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/hector_pose_estimation_nodelets.xml
new file mode 100644
index 0000000..02d4a44
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/hector_pose_estimation_nodelets.xml	
@@ -0,0 +1,8 @@
+<library path="lib/libhector_pose_estimation_nodelet">
+  <class name="hector_pose_estimation/PoseEstimationNodelet" type="hector_pose_estimation::PoseEstimationNodelet" base_class_type="nodelet::Nodelet">
+  <description>
+    This nodelet initializes the pose estimation filter with a generic system model driven by IMU measurements only.
+  </description>
+  </class>
+</library>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h
new file mode 100644
index 0000000..1aaa25b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h	
@@ -0,0 +1,137 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_NODE_H
+#define HECTOR_POSE_ESTIMATION_NODE_H
+
+#include <hector_pose_estimation/pose_estimation.h>
+
+#include <ros/ros.h>
+
+#include <sensor_msgs/Imu.h>
+#if defined(USE_MAV_MSGS)
+  #include <mav_msgs/Height.h>
+#elif defined(USE_HECTOR_UAV_MSGS)
+  #include <hector_uav_msgs/Altimeter.h>
+#else
+  #include <geometry_msgs/PointStamped.h>
+#endif
+#include <sensor_msgs/NavSatFix.h>
+#include <geometry_msgs/QuaternionStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <geometry_msgs/TwistWithCovarianceStamped.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <nav_msgs/Odometry.h>
+#include <std_msgs/String.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+
+namespace hector_pose_estimation {
+
+class PoseEstimationNode {
+public:
+  PoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr());
+  virtual ~PoseEstimationNode();
+
+  virtual bool init();
+  virtual void reset();
+  virtual void cleanup();
+
+  virtual void publish();
+
+protected:
+  void imuCallback(const sensor_msgs::ImuConstPtr& imu);
+  void ahrsCallback(const sensor_msgs::ImuConstPtr& ahrs);
+  void rollpitchCallback(const sensor_msgs::ImuConstPtr& attitude);
+
+#if defined(USE_MAV_MSGS)
+  void heightCallback(const mav_msgs::HeightConstPtr& height);
+#elif defined(USE_HECTOR_UAV_MSGS)
+  void baroCallback(const hector_uav_msgs::AltimeterConstPtr& altimeter);
+#else
+  void heightCallback(const geometry_msgs::PointStampedConstPtr& height);
+#endif
+
+  void magneticCallback(const geometry_msgs::Vector3StampedConstPtr& magnetic);
+  void gpsCallback(const sensor_msgs::NavSatFixConstPtr& gps, const geometry_msgs::Vector3StampedConstPtr& gps_velocity);
+  void poseupdateCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose);
+  void twistupdateCallback(const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist);
+  void syscommandCallback(const std_msgs::StringConstPtr& syscommand);
+
+  void globalReferenceUpdated();
+
+  void publishWorldNavTransform(const ros::TimerEvent & = ros::TimerEvent());
+
+  virtual ros::NodeHandle& getNodeHandle() { return nh_; }
+  virtual ros::NodeHandle& getPrivateNodeHandle() { return private_nh_; }
+
+  tf::TransformBroadcaster *getTransformBroadcaster();
+  tf::TransformListener *getTransformListener();
+
+protected:
+  PoseEstimation *pose_estimation_;
+
+  ros::NodeHandle nh_;
+  ros::NodeHandle private_nh_;
+
+  ros::Subscriber imu_subscriber_, height_subscriber_, magnetic_subscriber_, ahrs_subscriber_, rollpitch_subscriber_;
+  message_filters::Subscriber<sensor_msgs::NavSatFix> gps_subscriber_;
+  message_filters::Subscriber<geometry_msgs::Vector3Stamped> gps_velocity_subscriber_;
+  message_filters::TimeSynchronizer<sensor_msgs::NavSatFix,geometry_msgs::Vector3Stamped> *gps_synchronizer_;
+  ros::Publisher state_publisher_, pose_publisher_, velocity_publisher_, imu_publisher_, geopose_publisher_, global_fix_publisher_, euler_publisher_;
+  ros::Publisher angular_velocity_bias_publisher_, linear_acceleration_bias_publisher_, gps_pose_publisher_, sensor_pose_publisher_;
+  ros::Subscriber poseupdate_subscriber_, twistupdate_subscriber_;
+  ros::Subscriber syscommand_subscriber_;
+  ros::Publisher global_reference_publisher_;
+  ros::Publisher timing_publisher_;
+
+  std::vector<tf::StampedTransform> transforms_;
+  tf::TransformBroadcaster transform_broadcaster_;
+  tf::TransformListener *transform_listener_;
+
+  std::string tf_prefix_;
+  bool publish_covariances_;
+  bool publish_world_other_transform_;
+  std::string other_frame_;
+
+  bool publish_world_nav_transform_;
+  geometry_msgs::TransformStamped world_nav_transform_;
+  ros::Timer publish_world_nav_transform_timer_;
+  ros::Duration publish_world_nav_transform_period_;
+  bool world_nav_transform_updated_, world_nav_transform_valid_;
+
+  geometry_msgs::PoseStamped sensor_pose_;
+  double sensor_pose_roll_, sensor_pose_pitch_, sensor_pose_yaw_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_NODE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/launch/hector_pose_estimation.launch b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/launch/hector_pose_estimation.launch
new file mode 100644
index 0000000..9f731ba
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/launch/hector_pose_estimation.launch	
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" />
+  <node pkg="rviz" type="rviz" name="hector_pose_estimation_rviz" args="-d $(find hector_pose_estimation)/rviz_cfg/hector_pose_estimation.rviz" />
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/package.xml
new file mode 100644
index 0000000..05e20ed
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/package.xml	
@@ -0,0 +1,43 @@
+<package>
+  <name>hector_pose_estimation</name>
+  <version>0.3.0</version>
+  <description>
+    hector_pose_estimation provides the hector_pose_estimation node and the hector_pose_estimation nodelet.
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_pose_estimation</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>hector_pose_estimation_core</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>message_filters</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_pose_estimation_core</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>message_filters</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+  <export>
+    <nodelet plugin="${prefix}/hector_pose_estimation_nodelets.xml"/>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/rviz_cfg/hector_pose_estimation.rviz b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/rviz_cfg/hector_pose_estimation.rviz
new file mode 100644
index 0000000..3002a7b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/rviz_cfg/hector_pose_estimation.rviz	
@@ -0,0 +1,147 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Pose1
+        - /Grid1
+        - /Pose2
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Axes
+      Topic: /sensor_pose
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.1
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 30
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Axes
+      Topic: /pose
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: nav
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 18.6516
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.871874
+        Y: -0.208173
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.125204
+      Target Frame: <Fixed Frame>
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 2.8104
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b300000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004710000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/main.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/main.cpp
new file mode 100644
index 0000000..c83e978
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/main.cpp	
@@ -0,0 +1,40 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/pose_estimation_node.h>
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv, "pose_estimation");
+  hector_pose_estimation::PoseEstimationNode node;
+  if (!node.init()) return 1;
+
+  ros::spin();
+
+  node.cleanup();
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_node.cpp
new file mode 100644
index 0000000..1abac58
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_node.cpp	
@@ -0,0 +1,424 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/pose_estimation_node.h>
+#include <hector_pose_estimation/ros/parameters.h>
+
+#include <hector_pose_estimation/system/generic_quaternion_system_model.h>
+#include <hector_pose_estimation/system/imu_input.h>
+#include <hector_pose_estimation/system/imu_model.h>
+#include <hector_pose_estimation/measurements/poseupdate.h>
+#include <hector_pose_estimation/measurements/baro.h>
+#include <hector_pose_estimation/measurements/height.h>
+#include <hector_pose_estimation/measurements/magnetic.h>
+#include <hector_pose_estimation/measurements/gps.h>
+
+#ifdef USE_HECTOR_TIMING
+  #include <hector_diagnostics/timing.h>
+#endif
+
+namespace hector_pose_estimation {
+
+PoseEstimationNode::PoseEstimationNode(const SystemPtr& system, const StatePtr& state)
+  : pose_estimation_(new PoseEstimation(system, state))
+  , private_nh_("~")
+  , transform_listener_(0)
+  , world_nav_transform_updated_(true)
+  , world_nav_transform_valid_(false)
+  , sensor_pose_roll_(0), sensor_pose_pitch_(0), sensor_pose_yaw_(0)
+{
+  if (!system) pose_estimation_->addSystem(new GenericQuaternionSystemModel);
+
+  pose_estimation_->addInput(new ImuInput, "imu");
+  pose_estimation_->addMeasurement(new PoseUpdate("poseupdate"));
+#if defined(USE_HECTOR_UAV_MSGS)
+  pose_estimation_->addMeasurement(new Baro("baro"));
+#endif
+  pose_estimation_->addMeasurement(new Height("height"));
+  pose_estimation_->addMeasurement(new Magnetic("magnetic"));
+  pose_estimation_->addMeasurement(new GPS("gps"));
+}
+
+PoseEstimationNode::~PoseEstimationNode()
+{
+  cleanup();
+  delete pose_estimation_;
+  delete transform_listener_;
+}
+
+bool PoseEstimationNode::init() {
+  // get parameters
+  pose_estimation_->parameters().initialize(ParameterRegistryROS(getPrivateNodeHandle()));
+  getPrivateNodeHandle().getParam("publish_covariances", publish_covariances_ = false);
+  if (getPrivateNodeHandle().getParam("publish_world_map_transform", publish_world_other_transform_ = false)) {
+    ROS_WARN("Parameter 'publish_world_map_transform' is deprecated. Use 'publish_world_other_transform' and 'other_frame' instead.");
+  }
+  getPrivateNodeHandle().getParam("publish_world_other_transform", publish_world_other_transform_);
+  if (getPrivateNodeHandle().getParam("map_frame", other_frame_ = std::string())) {
+    ROS_WARN("Parameter 'map_frame' is deprecated. Use 'other_frame' instead.");
+  }
+  getPrivateNodeHandle().getParam("other_frame", other_frame_);
+  getPrivateNodeHandle().getParam("publish_world_nav_transform", publish_world_nav_transform_ = false);
+
+  // search tf_prefix parameter
+  tf_prefix_ = tf::getPrefixParam(getPrivateNodeHandle());
+  if (!tf_prefix_.empty()) ROS_INFO("Using tf_prefix '%s'", tf_prefix_.c_str());
+
+  // initialize pose estimation
+  if (!pose_estimation_->init()) {
+    ROS_ERROR("Intitialization of pose estimation failed!");
+    return false;
+  }
+
+  imu_subscriber_        = getNodeHandle().subscribe("raw_imu", 10, &PoseEstimationNode::imuCallback, this);
+  ahrs_subscriber_       = getNodeHandle().subscribe("ahrs", 10, &PoseEstimationNode::ahrsCallback, this);
+  rollpitch_subscriber_  = getNodeHandle().subscribe("rollpitch", 10, &PoseEstimationNode::rollpitchCallback, this);
+#if defined(USE_HECTOR_UAV_MSGS)
+  baro_subscriber_       = getNodeHandle().subscribe("altimeter", 10, &PoseEstimationNode::baroCallback, this);
+#else
+  height_subscriber_     = getNodeHandle().subscribe("pressure_height", 10, &PoseEstimationNode::heightCallback, this);
+#endif
+  magnetic_subscriber_   = getNodeHandle().subscribe("magnetic", 10, &PoseEstimationNode::magneticCallback, this);
+
+  gps_subscriber_.subscribe(getNodeHandle(), "fix", 10);
+  gps_velocity_subscriber_.subscribe(getNodeHandle(), "fix_velocity", 10);
+  gps_synchronizer_ = new message_filters::TimeSynchronizer<sensor_msgs::NavSatFix,geometry_msgs::Vector3Stamped>(gps_subscriber_, gps_velocity_subscriber_, 10);
+  gps_synchronizer_->registerCallback(&PoseEstimationNode::gpsCallback, this);
+
+  state_publisher_       = getNodeHandle().advertise<nav_msgs::Odometry>("state", 10, false);
+  pose_publisher_        = getNodeHandle().advertise<geometry_msgs::PoseStamped>("pose", 10, false);
+  velocity_publisher_    = getNodeHandle().advertise<geometry_msgs::Vector3Stamped>("velocity", 10, false);
+  imu_publisher_         = getNodeHandle().advertise<sensor_msgs::Imu>("imu", 10, false);
+  geopose_publisher_     = getNodeHandle().advertise<geographic_msgs::GeoPose>("geopose", 10, false);
+  global_fix_publisher_  = getNodeHandle().advertise<sensor_msgs::NavSatFix>("global", 10, false);
+  euler_publisher_       = getNodeHandle().advertise<geometry_msgs::Vector3Stamped>("euler", 10, false);
+
+  angular_velocity_bias_publisher_    = getNodeHandle().advertise<geometry_msgs::Vector3Stamped>("angular_velocity_bias", 10, false);
+  linear_acceleration_bias_publisher_ = getNodeHandle().advertise<geometry_msgs::Vector3Stamped>("linear_acceleration_bias", 10, false);
+  gps_pose_publisher_                 = getNodeHandle().advertise<geometry_msgs::PoseStamped>("fix/pose", 10, false);
+  sensor_pose_publisher_              = getNodeHandle().advertise<geometry_msgs::PoseStamped>("sensor_pose", 10, false);
+
+  poseupdate_subscriber_  = getNodeHandle().subscribe("poseupdate", 10, &PoseEstimationNode::poseupdateCallback, this);
+  twistupdate_subscriber_ = getNodeHandle().subscribe("twistupdate", 10, &PoseEstimationNode::twistupdateCallback, this);
+  syscommand_subscriber_  = getNodeHandle().subscribe("syscommand", 10, &PoseEstimationNode::syscommandCallback, this);
+
+#ifdef USE_HECTOR_TIMING
+  timing_publisher_ = getPrivateNodeHandle().advertise<hector_diagnostics::TimingAggregator>("timing", 10, false);
+#endif
+
+  global_reference_publisher_  = getNodeHandle().advertise<geographic_msgs::GeoPose>("global/reference", 1, true);
+  pose_estimation_->globalReference()->addUpdateCallback(boost::bind(&PoseEstimationNode::globalReferenceUpdated, this));
+
+  // setup publish_world_nav_transform timer
+  if (publish_world_nav_transform_) {
+    double period = 0.1;
+    getPrivateNodeHandle().getParam("publish_world_nav_transform_period", period);
+    publish_world_nav_transform_period_ = ros::Duration(period);
+    publish_world_nav_transform_timer_ = getNodeHandle().createTimer(publish_world_nav_transform_period_, &PoseEstimationNode::publishWorldNavTransform, this,
+                                                                     /* oneshot = */ false, /* autostart = */ true);
+  }
+
+  // publish initial state
+  publish();
+
+  return true;
+}
+
+void PoseEstimationNode::reset() {
+  pose_estimation_->reset();
+
+  sensor_pose_ = geometry_msgs::PoseStamped();
+  sensor_pose_roll_  = 0.0;
+  sensor_pose_pitch_ = 0.0;
+  sensor_pose_yaw_   = 0.0;
+}
+
+void PoseEstimationNode::cleanup() {
+  if (gps_synchronizer_) {
+    delete gps_synchronizer_;
+    gps_synchronizer_ = 0;
+  }
+  publish_world_nav_transform_timer_.stop();
+
+  pose_estimation_->cleanup();
+}
+
+void PoseEstimationNode::imuCallback(const sensor_msgs::ImuConstPtr& imu) {
+  pose_estimation_->setInput(ImuInput(*imu));
+  pose_estimation_->update(imu->header.stamp);
+
+  // calculate roll and pitch purely from acceleration
+  if (sensor_pose_publisher_) {
+    tf::Vector3 linear_acceleration_body(imu->linear_acceleration.x, imu->linear_acceleration.y, imu->linear_acceleration.z);
+    linear_acceleration_body.normalize();
+    sensor_pose_roll_  =  atan2(linear_acceleration_body.y(), linear_acceleration_body.z());
+    sensor_pose_pitch_ = -asin(linear_acceleration_body.x());
+  }
+
+  publish();
+}
+
+void PoseEstimationNode::ahrsCallback(const sensor_msgs::ImuConstPtr& ahrs) {
+  pose_estimation_->state().setOrientation(Quaternion(ahrs->orientation.w, ahrs->orientation.x, ahrs->orientation.y, ahrs->orientation.z));
+  pose_estimation_->setInput(ImuInput(*ahrs));
+  pose_estimation_->update(ahrs->header.stamp);
+  publish();
+}
+
+void PoseEstimationNode::rollpitchCallback(const sensor_msgs::ImuConstPtr& attitude) {
+  pose_estimation_->state().setRollPitch(Quaternion(attitude->orientation.w, attitude->orientation.x, attitude->orientation.y, attitude->orientation.z));
+  pose_estimation_->setInput(ImuInput(*attitude));
+  pose_estimation_->update(attitude->header.stamp);
+  publish();
+}
+
+#if defined(USE_HECTOR_UAV_MSGS)
+void PoseEstimationNode::baroCallback(const hector_uav_msgs::AltimeterConstPtr& altimeter) {
+  boost::shared_ptr<Baro> m = boost::static_pointer_cast<Baro>(pose_estimation_->getMeasurement("baro"));
+  m->add(Baro::Update(altimeter->pressure, altimeter->qnh));
+}
+
+#else
+void PoseEstimationNode::heightCallback(const geometry_msgs::PointStampedConstPtr& height) {
+  boost::shared_ptr<Height> m = boost::static_pointer_cast<Height>(pose_estimation_->getMeasurement("height"));
+
+  Height::MeasurementVector update;
+  update(0) = height->point.z;
+  m->add(Height::Update(update));
+
+  if (sensor_pose_publisher_) {
+    sensor_pose_.pose.position.z = height->point.z - m->getElevation();
+  }
+}
+#endif
+
+void PoseEstimationNode::magneticCallback(const geometry_msgs::Vector3StampedConstPtr& magnetic) {
+  boost::shared_ptr<Magnetic> m = boost::static_pointer_cast<Magnetic>(pose_estimation_->getMeasurement("magnetic"));
+
+  Magnetic::MeasurementVector update;
+  update.x() = magnetic->vector.x;
+  update.y() = magnetic->vector.y;
+  update.z() = magnetic->vector.z;
+  m->add(Magnetic::Update(update));
+
+  if (sensor_pose_publisher_) {
+    sensor_pose_yaw_ = -(m->getModel()->getTrueHeading(pose_estimation_->state(), update) - pose_estimation_->globalReference()->heading());
+  }
+}
+
+void PoseEstimationNode::gpsCallback(const sensor_msgs::NavSatFixConstPtr& gps, const geometry_msgs::Vector3StampedConstPtr& gps_velocity) {
+  boost::shared_ptr<GPS> m = boost::static_pointer_cast<GPS>(pose_estimation_->getMeasurement("gps"));
+
+  if (gps->status.status == sensor_msgs::NavSatStatus::STATUS_NO_FIX) {
+    if (m->getStatusFlags() > 0) m->reset(pose_estimation_->state());
+    return;
+  }
+
+  GPS::Update update;
+  update.latitude = gps->latitude * M_PI/180.0;
+  update.longitude = gps->longitude * M_PI/180.0;
+  update.velocity_north =  gps_velocity->vector.x;
+  update.velocity_east  = -gps_velocity->vector.y;
+  m->add(update);
+
+  if (gps_pose_publisher_ || sensor_pose_publisher_) {
+    geometry_msgs::PoseStamped gps_pose;
+    pose_estimation_->getHeader(gps_pose.header);
+    gps_pose.header.stamp = gps->header.stamp;
+    GPSModel::MeasurementVector y = m->getVector(update, pose_estimation_->state());
+
+    if (gps_pose_publisher_) {
+      gps_pose.pose.position.x = y(0);
+      gps_pose.pose.position.y = y(1);
+      gps_pose.pose.position.z = gps->altitude - pose_estimation_->globalReference()->position().altitude;
+      double track = atan2(gps_velocity->vector.y, gps_velocity->vector.x);
+      gps_pose.pose.orientation.w = cos(track/2);
+      gps_pose.pose.orientation.z = sin(track/2);
+      gps_pose_publisher_.publish(gps_pose);
+    }
+
+    sensor_pose_.pose.position.x = y(0);
+    sensor_pose_.pose.position.y = y(1);
+  }
+}
+
+void PoseEstimationNode::poseupdateCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose) {
+  pose_estimation_->getMeasurement("poseupdate")->add(PoseUpdate::Update(pose));
+
+  if (sensor_pose_publisher_) {
+    if (pose->pose.covariance[0] > 0)  sensor_pose_.pose.position.x = pose->pose.pose.position.x;
+    if (pose->pose.covariance[7] > 0)  sensor_pose_.pose.position.y = pose->pose.pose.position.y;
+    if (pose->pose.covariance[14] > 0) sensor_pose_.pose.position.z = pose->pose.pose.position.z;
+    tf::Quaternion q;
+    double yaw, pitch, roll;
+    tf::quaternionMsgToTF(pose->pose.pose.orientation, q);
+    tf::Matrix3x3(q).getEulerYPR(yaw, pitch, roll);
+    if (pose->pose.covariance[21] > 0) sensor_pose_roll_  = roll;
+    if (pose->pose.covariance[28] > 0) sensor_pose_pitch_ = pitch;
+    if (pose->pose.covariance[35] > 0) sensor_pose_yaw_   = yaw;
+  }
+}
+
+void PoseEstimationNode::twistupdateCallback(const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist) {
+  pose_estimation_->getMeasurement("poseupdate")->add(PoseUpdate::Update(twist));
+}
+
+void PoseEstimationNode::syscommandCallback(const std_msgs::StringConstPtr& syscommand) {
+  if (syscommand->data == "reset") {
+    ROS_INFO("Resetting pose_estimation");
+    pose_estimation_->reset();
+    publish();
+  }
+}
+
+void PoseEstimationNode::globalReferenceUpdated() {
+  geographic_msgs::GeoPose geopose;
+  pose_estimation_->globalReference()->getGeoPose(geopose);
+  global_reference_publisher_.publish(geopose);
+
+  // update world nav transform
+  world_nav_transform_updated_ = true;
+}
+
+void PoseEstimationNode::publishWorldNavTransform(const ros::TimerEvent &) {
+  if (world_nav_transform_updated_) {
+    world_nav_transform_valid_ = pose_estimation_->getWorldToNavTransform(world_nav_transform_);
+    world_nav_transform_updated_ = false;
+  }
+
+  if (world_nav_transform_valid_) {
+    world_nav_transform_.header.stamp = ros::Time::now() + publish_world_nav_transform_period_;
+    getTransformBroadcaster()->sendTransform(world_nav_transform_);
+  }
+}
+
+void PoseEstimationNode::publish() {
+  if (state_publisher_ && state_publisher_.getNumSubscribers() > 0) {
+    nav_msgs::Odometry state;
+    pose_estimation_->getState(state, publish_covariances_);
+    state_publisher_.publish(state);
+  }
+
+  if (pose_publisher_ && pose_publisher_.getNumSubscribers() > 0) {
+    geometry_msgs::PoseStamped pose_msg;
+    pose_estimation_->getPose(pose_msg);
+    pose_publisher_.publish(pose_msg);
+  }
+
+  if (imu_publisher_ && imu_publisher_.getNumSubscribers() > 0) {
+    sensor_msgs::Imu imu_msg;
+    pose_estimation_->getHeader(imu_msg.header);
+    pose_estimation_->getOrientation(imu_msg.orientation);
+    pose_estimation_->getImuWithBiases(imu_msg.linear_acceleration, imu_msg.angular_velocity);
+    imu_publisher_.publish(imu_msg);
+  }
+
+  if (velocity_publisher_ && velocity_publisher_.getNumSubscribers() > 0) {
+    geometry_msgs::Vector3Stamped velocity_msg;
+    pose_estimation_->getVelocity(velocity_msg);
+    velocity_publisher_.publish(velocity_msg);
+  }
+
+  if (geopose_publisher_ && geopose_publisher_.getNumSubscribers() > 0) {
+    geographic_msgs::GeoPose geopose_msg;
+    pose_estimation_->getGlobal(geopose_msg);
+    geopose_publisher_.publish(geopose_msg);
+  }
+
+  if (global_fix_publisher_ && global_fix_publisher_.getNumSubscribers() > 0) {
+    sensor_msgs::NavSatFix global_msg;
+    pose_estimation_->getGlobal(global_msg);
+    global_fix_publisher_.publish(global_msg);
+  }
+
+  if (euler_publisher_ && euler_publisher_.getNumSubscribers() > 0) {
+    geometry_msgs::Vector3Stamped euler_msg;
+    pose_estimation_->getHeader(euler_msg.header);
+    pose_estimation_->getOrientation(euler_msg.vector.z, euler_msg.vector.y, euler_msg.vector.x);
+    euler_publisher_.publish(euler_msg);
+  }
+
+  if ((angular_velocity_bias_publisher_ && angular_velocity_bias_publisher_.getNumSubscribers() > 0) ||
+      (linear_acceleration_bias_publisher_ && linear_acceleration_bias_publisher_.getNumSubscribers() > 0)) {
+    geometry_msgs::Vector3Stamped angular_velocity_msg, linear_acceleration_msg;
+    pose_estimation_->getBias(angular_velocity_msg, linear_acceleration_msg);
+    if (angular_velocity_bias_publisher_) angular_velocity_bias_publisher_.publish(angular_velocity_msg);
+    if (linear_acceleration_bias_publisher_) linear_acceleration_bias_publisher_.publish(linear_acceleration_msg);
+  }
+
+  if (sensor_pose_publisher_ && sensor_pose_publisher_.getNumSubscribers() > 0) {
+    pose_estimation_->getHeader(sensor_pose_.header);
+    tf::Quaternion orientation;
+    orientation.setRPY(sensor_pose_roll_, sensor_pose_pitch_, sensor_pose_yaw_);
+    tf::quaternionTFToMsg(orientation, sensor_pose_.pose.orientation);
+    sensor_pose_publisher_.publish(sensor_pose_);
+  }
+
+  if (getTransformBroadcaster())
+  {
+    transforms_.clear();
+
+    pose_estimation_->getTransforms(transforms_);
+
+    if (publish_world_other_transform_) {
+      tf::StampedTransform world_to_other_transform;
+      std::string nav_frame = pose_estimation_->parameters().getAs<std::string>("nav_frame");
+      try {
+        getTransformListener()->lookupTransform(nav_frame, other_frame_, ros::Time(), world_to_other_transform);
+        pose_estimation_->updateWorldToOtherTransform(world_to_other_transform);
+        transforms_.push_back(world_to_other_transform);
+
+      } catch (tf::TransformException& e) {
+        ROS_WARN("Could not find a transformation from %s to %s to publish the world transformation", nav_frame.c_str(), other_frame_.c_str());
+      }
+    }
+
+    // resolve tf frames
+    for(std::vector<tf::StampedTransform>::iterator t = transforms_.begin(); t != transforms_.end(); t++) {
+      t->frame_id_       = tf::resolve(tf_prefix_, t->frame_id_);
+      t->child_frame_id_ = tf::resolve(tf_prefix_, t->child_frame_id_);
+    }
+
+    getTransformBroadcaster()->sendTransform(transforms_);
+  }
+
+#ifdef USE_HECTOR_TIMING
+  timing_publisher_.publish(*hector_diagnostics::TimingAggregator::Instance());
+#endif
+}
+
+tf::TransformBroadcaster *PoseEstimationNode::getTransformBroadcaster() {
+  return &transform_broadcaster_;
+}
+
+tf::TransformListener *PoseEstimationNode::getTransformListener() {
+  if (!transform_listener_) transform_listener_ = new tf::TransformListener();
+  return transform_listener_;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_nodelet.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_nodelet.cpp
new file mode 100644
index 0000000..7da3ca6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/src/pose_estimation_nodelet.cpp	
@@ -0,0 +1,58 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/pose_estimation_node.h>
+#include <nodelet/nodelet.h>
+
+namespace hector_pose_estimation {
+
+class PoseEstimationNodelet : public PoseEstimationNode, public nodelet::Nodelet
+{
+public:
+  PoseEstimationNodelet(const SystemPtr& system = SystemPtr())
+    : PoseEstimationNode(system)
+  {}
+
+private:
+  void onInit() {
+    PoseEstimationNode::init();
+  }
+
+  void onReset() {
+    PoseEstimationNode::reset();
+  }
+
+  void onCleanup() {
+    PoseEstimationNode::cleanup();
+  }
+};
+
+} // namespace hector_pose_estimation
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_DECLARE_CLASS(hector_pose_estimation, PoseEstimation, hector_pose_estimation::PoseEstimationNodelet, nodelet::Nodelet)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CHANGELOG.rst
new file mode 100644
index 0000000..9606183
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CHANGELOG.rst	
@@ -0,0 +1,164 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_pose_estimation_core
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2016-06-27)
+------------------
+* hector_pose_estimation_core: cleanup of Eigen MatrixBase and QuaternionBase plugins
+* hector_pose_estimation_core: refactored vector and matrix classes
+  Instead of inheriting from Eigen::Matrix<> types, hector_pose_estimation now simply defines
+  typedefs for all kind of use cases. The former SymmetricMatrix\_<> and SkewSymmetricMatrix classes
+  have been replaced by Eigen::MatrixBase extension (https://eigen.tuxfamily.org/dox-devel/TopicCustomizingEigen.html)
+  and by a free function that returns a skew-symmetric matrix.
+  The refactoring was required for the release in Ubuntu Xenial and Eigen 3.3. The previous code was
+  too fragile in case of Eigen upgrades and did not compile in Xenial due to changes in the Eigen::internal::traits<T>
+  interface.
+* Contributors: Johannes Meyer
+
+0.2.2 (2016-06-24)
+------------------
+
+0.2.1 (2015-11-08)
+------------------
+* hector_pose_estimation_core: use FindEigen3.cmake provided by Eigen
+* hector_pose_estimation_core: removed REQUIRED option for Eigen3 to enable fallback to Eigen
+* Contributors: Johannes Meyer
+
+0.2.0 (2015-02-24)
+------------------
+* removed test_depend on hector_timing in package.xml
+  It causes rosdep errors if hector_timing is not installed.
+* use Quaterniond::fromRotationVector() to predict orientation in poseupdate and added predict_pose parameter to enable/disable pose prediction
+* added fromRotationVector() and toRotationVector() member functions as a plugin to Eigen::QuaternionBase
+* added QUIET flag when finding optional hector_timing
+* removed inputs parameter from Filter and SystemModel member functions
+  This was introduced in 4efd5fb98337650c7989944a9c611d6c2e86540e.
+  System models with inputs have to get/register them in init(). There is no need to pass the Inputs collection through
+  the whole call pipeline. Additionally, most overloads of SystemModel::get* methods have been removed. Implementations
+  have to overwrite exactly one set of methods. Default implementations which return zero matrices have been moved to
+  system_model.inl. All init parameters have now true as a default argument.
+* added instrumentation for EIGEN_RUNTIME_NO_MALLOC checks
+  The cached measurement noise matrix in class Measurement_<Model> does not have to be dynamically allocated.
+  A test with EIGEN_RUNTIME_NO_MALLOC showed that hector_pose_estimation does not allocate heap memory after
+  initialization and first update. Only smaller fixed-size vectors and matrices are constructed on the stack.
+  See http://eigen.tuxfamily.org/index.php?title=FAQ#Where_in_my_program_are_temporary_objects_created.3F.
+* some minor optimizations and cleanup
+* added new publisher /geopose with type geographic_msgs/GeoPose
+* instrumented code for timing measurements using hector_diagnostics
+  See https://github.com/tu-darmstadt-ros-pkg/hector_diagnostics/tree/master/hector_timing.
+* copy quaternion to the stack in State::updateOrientation()
+  We observed segfaults due to wrong alignment of Eigen::Map<Eigen::Quaterniond>
+  with Eigen 3.0.5 in precise.
+* add ${CATKIN_DEVEL_PREFIX}/include as include directory explicitly
+* fixed compile errors in precise and removed Index and Scalar using directives in matrix classes
+* set initial yaw uncertainty to zero as we know this by definition
+* fixed inversed bias correction in rate and acceleration output on topic /imu
+* removed aligned new operators in matrix classes and replaced some typedefs by using directives
+* added cmake cache variable for maximum number of state variables
+  hector_pose_estimation only uses a maximum of 18 state variables. You should set this to a higher number to support bigger state variables,
+  e.g. for plugins and/or application-specific extensions.
+  The maximum state vector size is maximum state variables + 1 as the orientation is stored as a quaternion internally (four dimensions for three degrees of freedom).
+* conditionally added some template specializations added in Eigen 3.1 to matrix.h to be compatible with earlier versions
+* added world to nav transform broadcaster and global/reference (geographic_msgs/GeoPose) publisher
+* switched sign of bias estimates and increase default accelerometer drift
+  The inverted sign is consistent with the simulation environment.
+  A positive bias means that the measured value is considered greater than the real value.
+* reverted unfiltered state updates introduced in dynamic_state branch and properly reset system status
+* do not integrate z rate during alignment or without yaw measurement
+  This is consistent with the velocity and position updates.
+* fixed magnetic heading calculation
+* decreased default stddev of pseudo gravity update and enabled bias update for this measurement
+* disabled velocity and position updates during alignment and fixed jacobian if velocity updates are disabled
+* use OrientationPositionVelocityState as default state type
+* prepend updated states in system status output
+* properly reset internal predictor and corrector data
+* fixed orientation noise calculation
+* added state type OrientationPositionVelocityState (without rate)
+* use preallocated Eigen types
+  The maximum number of state variables in 24.
+* Added missing orientation-orientation derivative in GenericQuaternionSystemModel
+* Readded dimension paramters to SystemModel templates
+* Readded class BaseState and State::base() accessors (currently unused)
+* Added typed getters PoseEstimation::getSystem_<T>(name) and PoseEstimation::getMeasurement_<T>(name)
+* IMU-based prediction is now in the GenericQuaternionSystemModel class again.
+  The accelerometer and gyro models are added automatically if GenericQuaternionSystemModel::init() found an IMU input.
+  GenericQuaternionSystemModel calls methods on the IMU model classes to get the errors, derivatives and noise.
+  The IMU models themselves do not add
+* Added class SkewSymmetricMatrix
+* Avoid calling SymmetricMatrix::symmetric() as, surprisingly, this method seems to be quite expensive. Symmetry is only
+  enforced if assigned from a matrix which is not a SymmetricMatrix.
+* Added Eigen optimizations (avoid copies and added alignment macros)
+* Moved system and measurement status management from class Filter to PoseEstimation
+* added parameter 'use_bias' to measurement models that can incorporate biases
+  * Only the AccelerometerModel and GyroModel add new substates named `name + "_bias"`. There could be multiple accelerometer and gyro models.
+  * The default name for these two models is "accelerometer" and "gyro" and the default bias substates are called "accelerometer_bias" and "gyro_bias".
+  * Measurement models Gravity, Zerorate and Rate have a new string parameter 'use_bias' which defaults to "accelerometer_bias" or "gyro_bias", respectively.
+  * Only if this substate is found the biases are considered in the measurement models. Otherwise the models will not use a bias.
+  The gravity model uses the bias only to calculate the expected measurement vector but does not populate the respective entries in the measurement matrix.
+  * The initialization order of systems and measurements in PoseEstimation::init() has been swapped. First systems to register new states, then measurements.
+  * The 'imu' input is not added automatically anymore by the GenericQuaternionSystemModel, but is only used if it was already registered before initialization.
+  The whole patch aims at incresing the flexibility, e.g. to use the GenericQuaternionSystemModel without an IMU and/or with other force and torque inputs.
+* moved check if a pseudo update is required from Model::active() to PoseEstimation::update()
+* do not scale variance of magneto measurement in normalized mode
+  With this patch the magnetic/stddev parameter is considered as the standard deviation of the
+  normalized measurement vector and not of the raw measurement if the magnitude of the field
+  is not modeled (the magnetic/magnitude parameter is 0). If the magnitude is set, the normalization
+  is inactive and the stddev relates to the original measurement vector.
+* fixed missing return value in EKF::predict()
+* fixed calculation of reference magnetic field vector pointing to magnetic north and inversed transformation to body frame
+* reintroduced traits for SystemModel and MeasurementModel implementations
+* properly cleanup the cached noise variance in Measurement_<Model>::reset() default implementation
+* removed the SymmetricMatrix(dim,value) constructor
+* added a method to get the residual of the last measurement update to Filter::Corrector_<Model>
+* do not return reference to (potential) temporary in Collection::add()
+  Collection::add() returned a const reference to its argument, which could be a temporary depending on how it is called.
+* fixed rotation in z velocity update in GroundVehicleModel
+* use pointers in boost::bind() to avoid copies of models
+* first functional version with multiplicative EKF
+* differentiate between vector and covariance dimension in State, SubState, SystemModel and MeasurementModel (work in progress)
+* use average values to symmetrize matrices and disabled symmetry assertion
+* fixed DenseBase compiler errors with Eigen 3.2.1 and clang (fix #4)
+* added support for dynamic states (full, orientation only, position/velocity only, ...)
+* fixed compilation error in Ubuntu Quantual with libeigen3-dev version 3.1.0~beta1-1ubuntu1
+* Contributors: Johannes Meyer
+
+0.1.5 (2014-10-02)
+------------------
+* fixed rate conversion to nav frame for the state message
+* initialize reference values to NaN instead of 0.0 and added measurement/auto_* parameters consitently
+  Added parameters:
+  - gps/auto_reference
+  - height/auto_elevation
+  - baro/auto_elevation
+  Already existed before:
+  - magnetic/auto_heading
+  All auto_* parameters are true by default.
+* Contributors: Johannes Meyer
+
+0.1.4 (2014-08-28)
+------------------
+* calculate euler angles directly in pose update without Eigen
+  Eigen's eulerAngles() returns wrong yaw angles in Trusty for some reason.
+* Contributors: Johannes Meyer
+
+0.1.3 (2014-07-09)
+------------------
+
+0.1.2 (2014-06-02)
+------------------
+* added cmake_modules dependency for the Eigen cmake config
+* Contributors: Johannes Meyer
+
+0.1.1 (2014-03-30)
+------------------
+* Fixed boost 1.53 issues
+  changed boost::shared_dynamic_cast to boost::dynamic_pointer_cast and
+  boost::shared_static_cast to boost::static_pointer_cast
+* hector_pose_estimation_core: rotate rate vector to nav frame in PoseEstimation::getState()
+  All vectors in state messages (e.g. on topic /state) are given in nav frame. The rate vector
+  has not been converted from body until now.
+* Contributors: Christopher Hrabia, Johannes Meyer
+
+0.1.0 (2013-09-03)
+------------------
+* catkinized stack hector_localization
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CMakeLists.txt
new file mode 100644
index 0000000..a5295a9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/CMakeLists.txt	
@@ -0,0 +1,164 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_pose_estimation_core)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS rostime rosconsole roscpp sensor_msgs geometry_msgs nav_msgs geographic_msgs tf)
+
+# Find Eigen3 headers
+# see http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
+# and https://github.com/ros/cmake_modules/issues/35
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_FOUND ${EIGEN_FOUND})
+  set(EIGEN3_INCLUDE_DIR ${EIGEN_INCLUDE_DIRS})
+  # set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+  # Possibly map additional variables to the EIGEN3_ prefix.
+endif()
+
+# Find hector_timing and use it, if available
+find_package(hector_timing QUIET)
+if(hector_timing_FOUND)
+  list(APPEND catkin_INCLUDE_DIRS ${hector_timing_INCLUDE_DIRS})
+  list(APPEND catkin_LIBRARIES ${hector_timing_LIBRARIES})
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+###########################
+## Package configuration ##
+###########################
+set(HECTOR_POSE_ESTIMATION_MAXIMUM_STATE_VARIABLES 18 CACHE STRING "Maximum number of state variables supported by hector_pose_estimation. Used to preallocate memory for matrices and vectors. hector_pose_estimation_core itself uses a maximum of 18 variables.")
+configure_file(include/hector_pose_estimation/matrix_config.h.in ${CATKIN_DEVEL_PREFIX}/include/hector_pose_estimation/matrix_config.h @ONLY)
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include ${CATKIN_DEVEL_PREFIX}/include ${EIGEN3_INCLUDE_DIR}
+  LIBRARIES hector_pose_estimation
+  CATKIN_DEPENDS rostime rosconsole roscpp sensor_msgs geometry_msgs nav_msgs geographic_msgs tf
+)
+
+###########
+## Build ##
+###########
+
+## Explicitly set CMAKE_BUILD_TYPE and overwrite some compiler flags
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+endif()
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DNDEBUG")
+message(STATUS "CMAKE_BUILD_TYPE:               ${CMAKE_BUILD_TYPE}")
+message(STATUS "CMAKE_CXX_FLAGS_RELEASE:        ${CMAKE_CXX_FLAGS_RELEASE}")
+message(STATUS "CMAKE_CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+message(STATUS "CMAKE_CXX_FLAGS_MINSIZEREL:     ${CMAKE_CXX_FLAGS_MINSIZEREL}")
+message(STATUS "CMAKE_CXX_FLAGS_DEBUG:          ${CMAKE_CXX_FLAGS_DEBUG}")
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${CATKIN_DEVEL_PREFIX}/include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+add_library(hector_pose_estimation
+  src/global_reference.cpp
+  src/pose_estimation.cpp
+  src/parameters.cpp
+  src/types.cpp
+  src/state.cpp
+
+  src/filter.cpp
+  src/filter/ekf.cpp
+
+  src/system.cpp
+  src/system/generic_quaternion_system_model.cpp
+  src/system/ground_vehicle_model.cpp
+  src/system/imu_model.cpp
+
+  src/measurement.cpp
+  src/measurements/gravity.cpp
+  src/measurements/zerorate.cpp
+  src/measurements/heading.cpp
+  src/measurements/magnetic.cpp
+  src/measurements/height.cpp
+  src/measurements/baro.cpp
+  src/measurements/gps.cpp
+  src/measurements/poseupdate.cpp
+  src/measurements/rate.cpp
+)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_pose_estimation hector_worldmodel_msgs_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hector_pose_estimation
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_pose_estimation
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/hector_pose_estimation ${CATKIN_DEVEL_PREFIX}/include/hector_pose_estimation
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.inl"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+# install(DIRECTORY launch/
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+# )
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/MatrixBaseAddons.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/MatrixBaseAddons.h
new file mode 100644
index 0000000..b600b3f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/MatrixBaseAddons.h	
@@ -0,0 +1,70 @@
+//=================================================================================================
+// Copyright (c) 2014, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_EIGEN_MATRIXBASE_PLUGIN
+#define HECTOR_POSE_ESTIMATION_EIGEN_MATRIXBASE_PLUGIN
+
+#ifndef EIGEN_MATRIXBASE_PLUGIN
+  #define EIGEN_MATRIXBASE_PLUGIN <hector_pose_estimation/Eigen/MatrixBaseAddons.h>
+#endif
+
+#else  // HECTOR_POSE_ESTIMATION_EIGEN_MATRIXBASE_PLUGIN
+
+Derived& setSymmetric() {
+  EIGEN_STATIC_ASSERT((RowsAtCompileTime == ColsAtCompileTime) ||
+                      (RowsAtCompileTime == Dynamic) ||
+                      (ColsAtCompileTime == Dynamic),
+                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+  *this = (*this + this->transpose()) / Scalar(2);
+  return derived();
+}
+
+Derived& assertSymmetric() {
+  EIGEN_STATIC_ASSERT((RowsAtCompileTime == ColsAtCompileTime) ||
+                      (RowsAtCompileTime == Dynamic) ||
+                      (ColsAtCompileTime == Dynamic),
+                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+#if defined(ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC)
+  eigen_assert(this->isApprox(this->transpose(), ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC_PRECISION));
+#endif
+#if defined(FORCE_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC)
+  return setSymmetric();
+#else
+  return derived();
+#endif
+}
+
+Derived symmetric() const {
+  EIGEN_STATIC_ASSERT((RowsAtCompileTime == ColsAtCompileTime) ||
+                      (RowsAtCompileTime == Dynamic) ||
+                      (ColsAtCompileTime == Dynamic),
+                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+  return (*this + this->transpose()) / Scalar(2);
+}
+
+#endif // HECTOR_POSE_ESTIMATION_EIGEN_MATRIXBASE_PLUGIN
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/QuaternionBaseAddons.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/QuaternionBaseAddons.h
new file mode 100644
index 0000000..284975b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/Eigen/QuaternionBaseAddons.h	
@@ -0,0 +1,65 @@
+//=================================================================================================
+// Copyright (c) 2014, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN
+#define HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN
+
+#ifndef EIGEN_QUATERNIONBASE_PLUGIN
+  #define EIGEN_QUATERNIONBASE_PLUGIN <hector_pose_estimation/Eigen/QuaternionBaseAddons.h>
+#endif
+
+#else  // HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN
+
+template <typename OtherDerived>
+Derived &fromRotationVector(const MatrixBase<OtherDerived> &rotation_vector)
+{
+  eigen_assert(rotation_vector.size() == 3);
+
+  const double angle = rotation_vector.norm();
+  double sin_angle_2, cos_angle_2;
+  ::sincos(angle / 2., &sin_angle_2, &cos_angle_2);
+  double sin_angle_norm_2 = 0.5;
+  if (angle > NumTraits<double>::dummy_precision()) sin_angle_norm_2 = sin_angle_2 / angle;
+
+  w() = cos_angle_2;
+  vec() = rotation_vector * sin_angle_norm_2;
+
+  return derived();
+}
+
+Vector3 toRotationVector() const
+{
+  eigen_assert(squaredNorm() == 1.0);
+  Scalar vector_norm = vec().norm();
+  if (vector_norm <= NumTraits<Scalar>::dummy_precision())
+    return vec() * Scalar(2.);
+  else
+    return vec() / vector_norm * ::acos(w()) * Scalar(2.);
+}
+
+#endif // HECTOR_POSE_ESTIMATION_EIGEN_QUATERNIONBASE_PLUGIN
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/collection.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/collection.h
new file mode 100644
index 0000000..f6a7dde
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/collection.h	
@@ -0,0 +1,107 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_COLLECTION_H
+#define HECTOR_POSE_ESTIMATION_COLLECTION_H
+
+#include <list>
+#include <map>
+
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/make_shared.hpp>
+
+namespace hector_pose_estimation {
+
+template <typename T, typename key_type = std::string>
+class Collection {
+public:
+  typedef boost::shared_ptr<T> Ptr;
+  typedef boost::weak_ptr<T> WPtr;
+  typedef std::list<Ptr> ListType; // lists do no invalidate iterators on insert operations
+  typedef std::map<key_type, WPtr> MapType;
+  typedef typename ListType::const_iterator iterator;
+  typedef typename ListType::const_iterator const_iterator;
+
+  const Ptr& add(const Ptr& p, const key_type& key) {
+    list_.push_back(p);
+    map_[key] = p;
+    return list_.back();
+  }
+
+  template <typename Derived> boost::shared_ptr<Derived> add(Derived *p) { return boost::static_pointer_cast<Derived>(add(Ptr(p), p->getName())); }
+  template <typename Derived> boost::shared_ptr<Derived> add(Derived *p, const key_type& key) { return boost::static_pointer_cast<Derived>(add(Ptr(p), key)); }
+
+  template <typename Derived> const Ptr& create() {
+    Derived *p = new Derived();
+    return add(p);
+  }
+
+  template <typename Derived> const Ptr& create(const key_type& key) {
+    Derived *p = new Derived();
+    return add(p, key);
+  }
+
+//  Ptr get(std::size_t index) const {
+//    if (index >= size()) return Ptr();
+//    return list_[index];
+//  }
+
+  Ptr get(const key_type& key) const {
+    if (!map_.count(key)) return Ptr();
+    return map_.at(key).lock();
+  }
+
+//  template <typename Derived>
+//  boost::shared_ptr<Derived> getType(std::size_t index) const {
+//    return boost::dynamic_pointer_cast<Derived>(get(index));
+//  }
+
+  template <typename Derived>
+  boost::shared_ptr<Derived> getType(const key_type& key) const {
+    return boost::dynamic_pointer_cast<Derived>(get(key));
+  }
+
+  bool empty()           const { return list_.empty(); }
+  std::size_t size()     const { return list_.size(); }
+  const_iterator begin() const { return list_.begin(); }
+  const_iterator end()   const { return list_.end(); }
+
+  void clear() {
+    map_.clear();
+    list_.clear();
+  }
+
+private:
+  ListType list_;
+  MapType map_;
+};
+
+}
+
+#endif // HECTOR_POSE_ESTIMATION_COLLECTION_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter.h
new file mode 100644
index 0000000..9e5150b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter.h	
@@ -0,0 +1,150 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_FILTER_H
+#define HECTOR_POSE_ESTIMATION_FILTER_H
+
+#include <hector_pose_estimation/state.h>
+#include <hector_pose_estimation/types.h>
+
+#include <map>
+
+namespace hector_pose_estimation {
+
+class Filter {
+public:
+  Filter(State &state);
+  virtual ~Filter();
+
+  virtual std::string getType() const = 0;
+
+  virtual bool init(PoseEstimation& estimator);
+  virtual void cleanup();
+  virtual void reset();
+
+  virtual const State& state() const { return state_; }
+  virtual State& state() { return state_; }
+
+  virtual bool preparePredict(double dt);
+  virtual bool predict(const Systems& systems, double dt);
+  virtual bool predict(const SystemPtr& system, double dt);
+  virtual bool doPredict(double dt);
+
+  virtual bool prepareCorrect();
+  virtual bool correct(const Measurements& measurements);
+  virtual bool correct(const MeasurementPtr& measurement);
+  virtual bool doCorrect();
+
+  class Predictor
+  {
+  public:
+    Predictor(Filter *filter) : filter_(filter) {}
+    virtual ~Predictor() {}
+
+    virtual void reset() { init_ = true; }
+
+    Filter *base() { return filter_; }
+    const Filter *base() const { return filter_; }
+
+    State& state() { return filter_->state(); }
+    const State& state() const { return filter_->state(); }
+
+  protected:
+    Filter *filter_;
+    bool init_;
+  };
+
+  template <class ConcreteModel> struct Predictor_  : public Predictor {
+    Predictor_(Filter *filter, ConcreteModel *model) : Predictor(filter), model_(model) { reset(); }
+    virtual ~Predictor_() {}
+
+    virtual bool predict(double dt) = 0;
+
+    template <typename Derived> typename Derived::template Predictor_<ConcreteModel> *derived() { return dynamic_cast<typename Derived::template Predictor_<ConcreteModel> *>(this); }
+    template <typename Derived> const typename Derived::template Predictor_<ConcreteModel> *derived() const { return dynamic_cast<const typename Derived::template Predictor_<ConcreteModel> *>(this); }
+
+  protected:
+    ConcreteModel *model_;
+  };
+
+  class Corrector
+  {
+  public:
+    Corrector(Filter *filter) : filter_(filter) {}
+    virtual ~Corrector() {}
+
+    virtual void reset() { init_ = true; }
+
+    Filter *base() { return filter_; }
+    const Filter *base() const { return filter_; }
+
+    State& state() { return filter_->state(); }
+    const State& state() const { return filter_->state(); }
+
+  protected:
+    Filter *filter_;
+    bool init_;
+  };
+
+  template <class ConcreteModel> struct Corrector_ : public Corrector {
+    Corrector_(Filter *filter, ConcreteModel *model) : Corrector(filter), model_(model) { reset(); }
+    virtual ~Corrector_() {}
+
+    virtual bool correct(const typename ConcreteModel::MeasurementVector& y, const typename ConcreteModel::NoiseVariance& R) = 0;
+
+    virtual typename ConcreteModel::MeasurementVector getResidual() const { return typename ConcreteModel::MeasurementVector(); }
+
+    template <typename Derived> typename Derived::template Corrector_<ConcreteModel> *derived() { return dynamic_cast<typename Derived::template Corrector_<ConcreteModel> *>(this); }
+    template <typename Derived> const typename Derived::template Corrector_<ConcreteModel> *derived() const { return dynamic_cast<const typename Derived::template Corrector_<ConcreteModel> *>(this); }
+
+  protected:
+    ConcreteModel *model_;
+  };
+
+  template <typename Derived> Derived *derived() { return dynamic_cast<Derived *>(this); }
+  template <typename Derived> const Derived *derived() const { return dynamic_cast<const Derived *>(this); }
+
+  template <typename Derived>
+  struct Factory {
+    Factory(Derived *filter) : filter_(filter) {}
+    template <class ConcreteModel> boost::shared_ptr<Predictor_<ConcreteModel> > addPredictor(ConcreteModel *model) { return boost::static_pointer_cast<Predictor_<ConcreteModel> >(boost::make_shared<typename Derived::template Predictor_<ConcreteModel> >(filter_, model)); }
+    template <class ConcreteModel> boost::shared_ptr<Corrector_<ConcreteModel> > addCorrector(ConcreteModel *model) { return boost::static_pointer_cast<Corrector_<ConcreteModel> >(boost::make_shared<typename Derived::template Corrector_<ConcreteModel> >(filter_, model)); }
+
+  private:
+    Derived *filter_;
+  };
+  template <typename Derived> static Factory<Derived> factory(Derived *filter) { return Factory<Derived>(filter); }
+
+protected:
+  State& state_;
+  Inputs inputs_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_FILTER_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.h
new file mode 100644
index 0000000..dfcddfc
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.h	
@@ -0,0 +1,161 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_FILTER_EKF_H
+#define HECTOR_POSE_ESTIMATION_FILTER_EKF_H
+
+#include <hector_pose_estimation/filter.h>
+
+namespace hector_pose_estimation {
+namespace filter {
+
+class EKF : public Filter
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  EKF(State &state);
+  virtual ~EKF();
+
+  virtual std::string getType() const { return "EKF"; }
+
+  virtual bool init(PoseEstimation &estimator);
+  virtual bool preparePredict(double dt);
+  virtual bool predict(const SystemPtr& system, double dt);
+  virtual bool doPredict(double dt);
+
+  class Predictor
+  {
+  public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+    Predictor(EKF *filter)
+      : filter_(filter)
+      , x_diff(filter->state().getVectorDimension())
+      , A(filter->state().getCovarianceDimension(), filter->state().getCovarianceDimension())
+      , Q(filter->state().getCovarianceDimension(), filter->state().getCovarianceDimension())
+    {
+      x_diff.setZero();
+      A.setZero();
+      Q.setZero();
+    }
+    virtual ~Predictor() {}
+    virtual bool predict(double dt) = 0;
+
+  protected:
+    EKF *filter_;
+
+  public:
+    State::Vector x_diff;
+    State::SystemMatrix A;
+    State::Covariance Q;
+  };
+
+  template <class ConcreteModel, typename Enabled = void>
+  class Predictor_ : public Filter::template Predictor_<ConcreteModel>, public Predictor
+  {
+  public:
+    typedef ConcreteModel Model;
+    typedef typename Filter::template Predictor_<ConcreteModel> Base;
+    using Filter::template Predictor_<ConcreteModel>::state;
+
+    Predictor_(EKF *filter, Model *model)
+      : Base(filter, model)
+      , Predictor(filter)
+    {}
+    virtual ~Predictor_() {}
+
+    virtual bool predict(double dt);
+  };
+
+  class Corrector
+  {
+  public:
+    Corrector(EKF *filter) : filter_(filter) {}
+    virtual ~Corrector() {}
+
+  protected:
+    EKF *filter_;
+  };
+
+  template <class ConcreteModel, typename Enabled = void>
+  class Corrector_ : public Filter::template Corrector_<ConcreteModel>, public Corrector
+  {
+  public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+    typedef ConcreteModel Model;
+    typedef typename Filter::template Corrector_<ConcreteModel> Base;
+    using Filter::template Corrector_<ConcreteModel>::state;
+
+    Corrector_(EKF *filter, Model *model)
+      : Base(filter, model)
+      , Corrector(filter)
+      , y_pred(model->getDimension())
+      , error(model->getDimension())
+      , C(model->getDimension(), filter->state().getCovarianceDimension())
+      , CP(model->getDimension(), filter->state().getCovarianceDimension())
+      , S(model->getDimension(), model->getDimension())
+      , K(filter->state().getCovarianceDimension(), model->getDimension())
+      , update(filter->state().getCovarianceDimension())
+    {
+      y_pred.setZero();
+      error.setZero();
+      C.setZero();
+      CP.setZero();
+      S.setZero();
+      K.setZero();
+      update.setZero();
+    }
+    virtual ~Corrector_() {}
+
+    virtual bool correct(const typename ConcreteModel::MeasurementVector& y, const typename ConcreteModel::NoiseVariance& R);
+    virtual typename ConcreteModel::MeasurementVector getResidual() const { return error; }
+
+  public:
+    typename Model::MeasurementVector y_pred;
+    typename Model::MeasurementVector error;
+    typename Model::MeasurementMatrix C;
+    typename Matrix_<ConcreteModel::MeasurementDimension, Dynamic>::type CP;
+    typename Model::NoiseVariance S;
+    typename Model::GainMatrix K;
+    typename Model::UpdateVector update;
+  };
+
+public:
+  State::Vector x_diff;
+  State::SystemMatrix A;
+  State::Covariance Q;
+};
+
+} // namespace filter
+} // namespace hector_pose_estimation
+
+#include "ekf.inl"
+
+#endif // HECTOR_POSE_ESTIMATION_FILTER_EKF_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.inl b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.inl
new file mode 100644
index 0000000..447a8c3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.inl	
@@ -0,0 +1,97 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_FILTER_EKF_INL
+#define HECTOR_POSE_ESTIMATION_FILTER_EKF_INL
+
+#include <hector_pose_estimation/filter/ekf.h>
+#include <boost/utility/enable_if.hpp>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+namespace filter {
+
+template <class ConcreteModel, typename Enabled>
+bool EKF::Predictor_<ConcreteModel, Enabled>::predict(double dt) {
+  this->model_->getExpectedDiff(x_diff, state(), dt);
+  this->model_->getStateJacobian(A, state(), dt, this->init_);
+  this->model_->getSystemNoise(Q, state(), dt, this->init_);
+
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "dt * f(x) = [" << x_diff.transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "dt * Q    = [" << std::endl << Q  << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "dt * A    = [" << std::endl << A << "]");
+
+//  state().P0() = A * state().P() * A.transpose() + Q;
+//  state().P0().assertSymmetric();
+//  state().x0() = x_pred;
+
+  this->init_ = false;
+  return true;
+}
+
+template <class ConcreteModel, typename Enabled>
+bool EKF::Corrector_<ConcreteModel, Enabled>::correct(const typename ConcreteModel::MeasurementVector &y, const typename ConcreteModel::NoiseVariance &R) {
+  this->model_->getExpectedValue(y_pred, state());
+  this->model_->getStateJacobian(C, state(), this->init_);
+
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "x_prior  = [" << state().getVector().transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "P_prior  = [" << std::endl << state().getCovariance() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "y        = [" << y.transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "R        = [" << std::endl << R << "]");
+
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "h(x)     = [" << y_pred.transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "C        = [" << std::endl << C << "]");
+
+  CP.noalias() = C * state().P();
+  S.noalias()  = CP * C.transpose() + R;
+  K.noalias() = CP.transpose() * S.inverse();
+  state().P().noalias() -= K * CP;
+  state().P().assertSymmetric();
+
+  error.noalias() = y - y_pred;
+  this->model_->limitError(error);
+  update.noalias() = K * error;
+
+  state().update(update);
+
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "S        = [" << std::endl << S << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "K        = [" << std::endl << K << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "error    = [" << error.transpose() << "]");
+
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "x_post   = [" << state().getVector().transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.correction", "P_post   = [" << std::endl << state().getCovariance() << "]");
+
+  this->init_ = false;
+  return true;
+}
+
+} // namespace filter
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_FILTER_EKF_INL
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/set_filter.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/set_filter.h
new file mode 100644
index 0000000..23a7595
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/filter/set_filter.h	
@@ -0,0 +1,61 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H
+#define HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H
+
+#include <hector_pose_estimation/system.h>
+#include <hector_pose_estimation/measurement.h>
+
+#include <hector_pose_estimation/filter/ekf.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel>
+void System_<ConcreteModel>::setFilter(Filter *filter) {
+  if (filter->derived<filter::EKF>()) {
+    predictor_ = Filter::factory(filter->derived<filter::EKF>()).addPredictor<ConcreteModel>(this->getModel());
+  } else {
+    ROS_ERROR_NAMED(getName(), "Unknown filter type: %s", filter->getType().c_str());
+  }
+}
+
+template <class ConcreteModel>
+void Measurement_<ConcreteModel>::setFilter(Filter *filter) {
+  if (filter->derived<filter::EKF>()) {
+    corrector_ = Filter::factory(filter->derived<filter::EKF>()).addCorrector<ConcreteModel>(this->getModel());
+  } else {
+    ROS_ERROR_NAMED(getName(), "Unknown filter type: %s", filter->getType().c_str());
+  }
+}
+
+}
+
+#endif // HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h
new file mode 100644
index 0000000..a654fd2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h	
@@ -0,0 +1,125 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H
+#define HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H
+
+#include <hector_pose_estimation/types.h>
+#include <hector_pose_estimation/parameters.h>
+
+#include <geographic_msgs/GeoPose.h>
+#include <geometry_msgs/TransformStamped.h>
+
+#include <limits>
+#include <boost/function.hpp>
+
+namespace hector_pose_estimation {
+
+  class PoseEstimation;
+
+  class GlobalReference {
+  public:
+    struct Position {
+      Position() : latitude(std::numeric_limits<double>::quiet_NaN()), longitude(std::numeric_limits<double>::quiet_NaN()), altitude(std::numeric_limits<double>::quiet_NaN()) {}
+      double latitude;
+      double longitude;
+      double altitude;
+    };
+
+    struct Heading {
+      Heading() : value(std::numeric_limits<double>::quiet_NaN()), cos(1.0), sin(0.0) {}
+      Heading(double heading);
+      double value;
+      double cos;
+      double sin;
+      operator double() const { return value; }
+      Quaternion quaternion() const;
+    };
+
+    struct Radius {
+      Radius() : north(std::numeric_limits<double>::quiet_NaN()), east(std::numeric_limits<double>::quiet_NaN()) {}
+      Radius(double latitude);
+      double north;
+      double east;
+    };
+
+    const Position& position() const { return position_; }
+    const Heading& heading() const { return heading_; }
+    const Radius& radius() const { return radius_; }
+
+    void getGeoPose(geographic_msgs::GeoPose& geopose) const;
+    bool getWorldToNavTransform(geometry_msgs::TransformStamped& transform, const std::string &world_frame, const std::string &nav_frame, const ros::Time& stamp = ros::Time()) const;
+
+    GlobalReference& setPosition(double latitude, double longitude, bool intermediate = false);
+    GlobalReference& setHeading(double heading, bool intermediate = false);
+    GlobalReference& setAltitude(double altitude, bool intermediate = false);
+
+    GlobalReference& setCurrentPosition(const State& state, double latitude, double longitude);
+    GlobalReference& setCurrentHeading(const State& state, double heading);
+    GlobalReference& setCurrentAltitude(const State& state, double altitude);
+
+    bool hasPosition() const { return !std::isnan(position_.latitude) && !std::isnan(position_.longitude); }
+    bool hasHeading() const  { return !std::isnan(heading_.value); }
+    bool hasAltitude() const { return !std::isnan(position_.altitude); }
+
+    void fromWGS84(double latitude, double longitude, double &x, double &y);
+    void toWGS84(double x, double y, double &latitude, double &longitude);
+    void fromNorthEast(double north, double east, double &x, double &y);
+    void toNorthEast(double x, double y, double &north, double &east);
+    void fromAltitude(double altitude, double &z);
+    void toAltitude(double z, double &altitude);
+
+    ParameterList& parameters();
+
+    static const GlobalReferencePtr &Instance();
+
+    void reset();
+    void updated(bool intermediate = false);
+
+    typedef boost::function<void()> UpdateCallback;
+    void addUpdateCallback(const UpdateCallback &);
+
+  private:
+    GlobalReference();
+
+    Position position_;
+    Heading heading_;
+    Radius radius_;
+
+    ParameterList parameters_;
+    double reference_latitude_;
+    double reference_longitude_;
+    double reference_altitude_;
+    double reference_heading_;
+
+    std::list<UpdateCallback> update_callbacks_;
+  };
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/input.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/input.h
new file mode 100644
index 0000000..2766164
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/input.h	
@@ -0,0 +1,121 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_INPUT_H
+#define HECTOR_POSE_ESTIMATION_INPUT_H
+
+#include <hector_pose_estimation/types.h>
+
+namespace hector_pose_estimation {
+
+class Input
+{
+public:
+  Input() {}
+  virtual ~Input() {}
+
+  virtual int getDimension() const = 0;
+
+  virtual const std::string& getName() const { return name_; }
+  virtual void setName(const std::string& name) { name_ = name; }
+
+  virtual Input& operator=(const Input& other) = 0;
+
+private:
+  std::string name_;
+};
+
+template <int _Dimension>
+class Input_ : public Input {
+public:
+  enum { Dimension = _Dimension };
+  typedef Input_<Dimension> Type;
+  typedef typename ColumnVector_<Dimension>::type Vector;
+  typedef typename SymmetricMatrix_<Dimension>::type Variance;
+
+  typedef boost::shared_ptr< Input_<_Dimension> > Ptr;
+
+  Input_() { u_.setZero(); }
+  template <typename Derived> Input_(const Eigen::MatrixBase<Derived>& u) : u_(u) {}
+  template <typename Derived> Input_(const Eigen::MatrixBase<Derived>& u, const Variance& Q) : u_(u), variance_(new Variance(Q)) {}
+  Input_(double u) { *this = u; }
+  Input_(double u, const Variance& Q) : variance_(new Variance(Q)) { *this = u; }
+  Input_(const Input& other) { *this = other; }
+  virtual ~Input_() {}
+
+  virtual int getDimension() const { return Dimension; }
+
+  virtual Vector const &getVector() const { return u_; }
+  virtual Vector& u() { return u_; }
+
+  virtual Variance &setVariance(const Variance &other) {
+    if (!variance_) variance_.reset(new Variance);
+    *variance_ = other;
+    return *variance_;
+  }
+
+  virtual bool hasVariance() const { return variance_; }
+  virtual Variance const &getVariance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+  virtual Variance const &getVariance() const { return *variance_; }
+  virtual Variance& variance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+
+  virtual Input_<Dimension>& operator=(const Input& other) {
+    *this = static_cast<const Input_<Dimension>&>(other);
+    return *this;
+  }
+
+  virtual Input_<Dimension>& operator=(const Input_<Dimension>& other) {
+    u_ = other.getVector();
+    if (other.variance_) setVariance(*other.variance_);
+    return *this;
+  }
+
+  template <typename Derived> Vector &operator=(const Eigen::MatrixBase<Derived>& other) {
+    u_ = other;
+    return u_;
+  }
+
+  virtual Vector &operator=(double u) { u_.setConstant(u); return u_; }
+
+protected:
+  Vector u_;
+  boost::shared_ptr<Variance> variance_;
+};
+
+namespace traits {
+  template <class Model> struct Input {
+    enum { Dimension = 0 };
+    typedef Input_<Dimension> Type;
+    typedef ColumnVector_<0> Vector;
+    typedef SymmetricMatrix_<0> Variance;
+  };
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_INPUT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h
new file mode 100644
index 0000000..591b279
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h	
@@ -0,0 +1,135 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MATRIX_H
+#define HECTOR_POSE_ESTIMATION_MATRIX_H
+
+#include <hector_pose_estimation/matrix_config.h>
+#include <hector_pose_estimation/Eigen/MatrixBaseAddons.h>
+#include <hector_pose_estimation/Eigen/QuaternionBaseAddons.h>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <stdexcept>
+
+namespace hector_pose_estimation {
+  using Eigen::Dynamic;
+  using Eigen::Lower;
+  using Eigen::Upper;
+  using Eigen::DenseBase;
+
+  typedef double ScalarType;
+  typedef Eigen::DenseIndex IndexType;
+
+  typedef Eigen::Quaternion<ScalarType> Quaternion;
+
+  template <int Rows>
+  struct ColumnVector_ {
+    typedef Eigen::Matrix<ScalarType, Rows, 1,
+                          Eigen::ColMajor,
+                          (Rows != Dynamic ? Rows : MaxVectorSize), 1
+                         > type;
+  };
+  typedef typename ColumnVector_<Dynamic>::type ColumnVector;
+  typedef typename ColumnVector_<3>::type ColumnVector3;
+
+  template <int Cols>
+  struct RowVector_ {
+      typedef Eigen::Matrix<ScalarType, 1, Cols,
+                            Eigen::RowMajor,
+                            1, (Cols != Dynamic ? Cols : MaxVectorSize)
+                           > type;
+  };
+  typedef typename RowVector_<Dynamic>::type RowVector;
+  typedef typename RowVector_<3>::type RowVector3;
+
+  template <int Rows, int Cols>
+  struct Matrix_ {
+      typedef Eigen::Matrix<ScalarType, Rows, Cols,
+                            (Rows == 1 && Cols != 1 ? Eigen::RowMajor : Eigen::ColMajor),
+                            (Rows != Dynamic ? Rows : MaxMatrixRowsCols),
+                            (Cols != Dynamic ? Cols : MaxMatrixRowsCols)
+                           > type;
+  };
+  typedef typename Matrix_<Dynamic,Dynamic>::type Matrix;
+  typedef typename Matrix_<3,3>::type Matrix3;
+
+  template <int RowsCols>
+  struct SymmetricMatrix_ {
+      typedef typename Matrix_<RowsCols,RowsCols>::type type;
+  };
+  typedef typename SymmetricMatrix_<3>::type SymmetricMatrix3;
+  typedef typename SymmetricMatrix_<6>::type SymmetricMatrix6;
+  typedef typename SymmetricMatrix_<Dynamic>::type SymmetricMatrix;
+
+  template <typename OtherDerived>
+  static inline Matrix3 SkewSymmetricMatrix(const Eigen::MatrixBase<OtherDerived>& other) {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Eigen::MatrixBase<OtherDerived>, 3);
+    Matrix3 result;
+    result <<  0.0,       -other.z(),  other.y(),
+               other.z(),  0.0,       -other.x(),
+              -other.y(),  other.x(),  0.0;
+    return result;
+  }
+
+} // namespace hector_pose_estimation
+
+namespace Eigen {
+
+// Add template specializations of DenseStorage for null matrices for older Eigen versions.
+// Those have been added to Eigen 3.1.0.
+// See https://bitbucket.org/eigen/eigen/commits/e03061319d0297c34e3128dcc5a780824b4fdb78.
+// Copied from https://bitbucket.org/eigen/eigen/src/167ce78594dc4e7a4b9ca27fc745e674300e85ff/Eigen/src/Core/DenseStorage.h.
+#if !EIGEN_VERSION_AT_LEAST(3,0,91)
+  // more specializations for null matrices; these are necessary to resolve ambiguities
+  template<typename T, int _Options> class DenseStorage<T, 0, Dynamic, Dynamic, _Options>
+  : public DenseStorage<T, 0, 0, 0, _Options> { };
+
+  template<typename T, int _Rows, int _Options> class DenseStorage<T, 0, _Rows, Dynamic, _Options>
+  : public DenseStorage<T, 0, 0, 0, _Options> { };
+
+  template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic, _Cols, _Options>
+  : public DenseStorage<T, 0, 0, 0, _Options> { };
+#endif
+
+} // namespace Eigen
+
+namespace hector_pose_estimation {
+
+  using Eigen::VectorBlock;
+  typedef VectorBlock<ColumnVector,3>       VectorBlock3;
+  typedef VectorBlock<ColumnVector,4>       VectorBlock4;
+  typedef VectorBlock<const ColumnVector,3> ConstVectorBlock3;
+  typedef VectorBlock<const ColumnVector,4> ConstVectorBlock4;
+
+  using Eigen::Block;
+  typedef Eigen::Block<Matrix,Dynamic,Dynamic> MatrixBlock;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MATRIX_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix_config.h.in b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix_config.h.in
new file mode 100644
index 0000000..0fe8df0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix_config.h.in	
@@ -0,0 +1,47 @@
+//=================================================================================================
+// Copyright (c) 2014, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MATRIX_CONFIG_H
+#define HECTOR_POSE_ESTIMATION_MATRIX_CONFIG_H
+
+namespace hector_pose_estimation {
+
+// #define ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC
+#define ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC_PRECISION 1e-5
+#define FORCE_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC
+
+// Define this symbol to enable runtime tests for allocations
+// #define EIGEN_RUNTIME_NO_MALLOC
+
+// We need this to preallocate memory for vectors and matrices:
+enum { MaxMatrixRowsCols = @HECTOR_POSE_ESTIMATION_MAXIMUM_STATE_VARIABLES@ };
+enum { MaxVectorSize = @HECTOR_POSE_ESTIMATION_MAXIMUM_STATE_VARIABLES@ + 1 };
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MATRIX_CONFIG_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.h
new file mode 100644
index 0000000..a65f414
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.h	
@@ -0,0 +1,196 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_H
+#define HECTOR_POSE_ESTIMATION_MEASUREMENT_H
+
+#include <hector_pose_estimation/measurement_model.h>
+#include <hector_pose_estimation/measurement_update.h>
+#include <hector_pose_estimation/types.h>
+#include <hector_pose_estimation/queue.h>
+#include <hector_pose_estimation/filter.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel> class Measurement_;
+
+class Measurement
+{
+public:
+  Measurement(const std::string& name);
+  virtual ~Measurement();
+
+  template <class ConcreteModel> static boost::shared_ptr<Measurement_<ConcreteModel> > create(ConcreteModel *model, const std::string& name);
+
+  virtual const std::string& getName() const { return name_; }
+  void setName(const std::string& name) { name_ = name; }
+
+  virtual MeasurementModel* getModel() const { return 0; }
+  virtual int getDimension() const { return 0; }
+
+  virtual Filter *filter() const { return filter_; }
+  virtual void setFilter(Filter *filter) { filter_ = filter; }
+
+  virtual bool init(PoseEstimation& estimator, State& state);
+  virtual void cleanup();
+  virtual void reset(State& state);
+
+  virtual ParameterList& parameters() { return parameters_; }
+  virtual const ParameterList& parameters() const { return parameters_; }
+
+  virtual void add(const MeasurementUpdate &update);
+  virtual bool process();
+  virtual bool update(const MeasurementUpdate &update);
+
+  bool enabled() const { return enabled_; }
+  void enable() { enabled_ = true; }
+  void disable() { enabled_ = false; status_flags_ = 0; }
+
+  virtual bool active(const State& state);
+  virtual SystemStatus getStatusFlags() const { return status_flags_; }
+
+  void setTimeout(double timeout) { timeout_ = timeout; }
+  double getTimeout() const { return timeout_; }
+
+  void setMinInterval(double min_interval) { min_interval_ = min_interval; }
+  double getMinInterval() const { return min_interval_; }
+
+  void increase_timer(double dt);
+  bool timedout() const;
+
+protected:
+  virtual Queue& queue() = 0;
+  virtual bool updateImpl(const MeasurementUpdate &update) { return false; }
+
+  virtual bool onInit(PoseEstimation& estimator) { return true; } // currently unsed...
+  virtual void onReset() { }
+  virtual void onCleanup() { } // currently unsed...
+
+protected:
+  std::string name_;
+  ParameterList parameters_;
+  SystemStatus status_flags_;
+
+  bool enabled_;
+  double min_interval_;
+
+  double timeout_;
+  double timer_;
+
+  Filter *filter_;
+};
+
+template <class ConcreteModel>
+class Measurement_ : public Measurement {
+public:
+  typedef ConcreteModel Model;
+  typedef typename traits::Update<ConcreteModel>::type Update;
+
+  enum { MeasurementDimension = Model::MeasurementDimension };
+  typedef typename Model::MeasurementVector MeasurementVector;
+  typedef typename Model::NoiseVariance NoiseVariance;
+
+  Measurement_(const std::string& name)
+    : Measurement(name)
+    , model_(new Model)
+  {
+    parameters_.add(model_->parameters());
+  }
+
+  Measurement_(Model *model, const std::string& name)
+    : Measurement(name)
+    , model_(model)
+  {
+    parameters_.add(model_->parameters());
+  }
+
+  virtual ~Measurement_() {
+  }
+
+  virtual Model* getModel() const { return model_.get(); }
+  virtual int getDimension() const { return MeasurementDimension; }
+
+  virtual Filter *filter() const { return corrector_ ? corrector_->base() : 0; }
+  virtual const boost::shared_ptr< Filter::Corrector_<Model> >& corrector() const { return corrector_; }
+  virtual void setFilter(Filter *filter = 0); // implemented in filter/set_filter.h
+
+  virtual bool init(PoseEstimation& estimator, State& state) {
+    if (!Measurement::init(estimator, state)) return false;
+    model_->getMeasurementNoise(R_, state, true);
+    return true;
+  }
+
+  virtual void reset(State& state) {
+    model_->getMeasurementNoise(R_, state, true);
+    Measurement::reset(state);
+    if (corrector()) corrector()->reset();
+  }
+
+  virtual MeasurementVector const& getVector(const Update &update, const State &state) {
+    const MeasurementVector *fixed = getModel()->getFixedMeasurementVector();
+    if (fixed) return *fixed;
+    return traits::UpdateInspector<ConcreteModel>(update).getVector(state);
+  }
+
+  virtual NoiseVariance const& getVariance(const Update &update, const State &state) {
+    if (update.hasVariance()) return traits::UpdateInspector<ConcreteModel>(update).getVariance(state);
+    model_->getMeasurementNoise(R_, state, false);
+    return R_;
+  }
+
+  virtual void setNoiseVariance(NoiseVariance const& R) {
+//    if (!R_) R_.reset(new NoiseVariance);
+    R_ = R;
+  }
+
+protected:
+  virtual bool updateImpl(const MeasurementUpdate &update);
+  virtual bool prepareUpdate(State &state, const Update &update) { return getModel()->prepareUpdate(state, update); }
+  virtual void afterUpdate(State &state) { getModel()->afterUpdate(state); }
+
+protected:
+  boost::shared_ptr<Model> model_;
+  NoiseVariance R_;
+
+  Queue_<Update> queue_;
+  virtual Queue& queue() { return queue_; }
+
+  boost::shared_ptr< Filter::Corrector_<Model> > corrector_;
+};
+
+template <class ConcreteModel>
+boost::shared_ptr<Measurement_<ConcreteModel> > Measurement::create(ConcreteModel *model, const std::string& name)
+{
+  return boost::make_shared<Measurement_<ConcreteModel> >(model, name);
+}
+
+} // namespace hector_pose_estimation
+
+#include "measurement.inl"
+
+#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.inl b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.inl
new file mode 100644
index 0000000..044bd9c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement.inl	
@@ -0,0 +1,56 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_INL
+#define HECTOR_POSE_ESTIMATION_MEASUREMENT_INL
+
+#include <hector_pose_estimation/measurement.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel>
+bool Measurement_<ConcreteModel>::updateImpl(const MeasurementUpdate &update_)
+{
+  Update const &update = dynamic_cast<Update const &>(update_);
+  if (!prepareUpdate(filter()->state(), update)) return false;
+
+  ROS_DEBUG("Updating with measurement %s", getName().c_str());
+  const MeasurementVector &y = getVector(update, filter()->state());
+  const NoiseVariance &R = getVariance(update, filter()->state());
+
+  this->corrector()->correct(y, R);
+
+  afterUpdate(filter()->state());
+  return true;
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_INL
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_model.h
new file mode 100644
index 0000000..488d03b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_model.h	
@@ -0,0 +1,135 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H
+#define HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H
+
+#include <hector_pose_estimation/model.h>
+#include <hector_pose_estimation/substate.h>
+#include <hector_pose_estimation/input.h>
+
+namespace hector_pose_estimation {
+
+class MeasurementModel : public Model {
+public:
+  virtual ~MeasurementModel() {}
+
+  virtual bool init(PoseEstimation& estimator, Measurement &measurement, State& state) { return true; }
+  virtual int getDimension() const = 0;
+
+  virtual SystemStatus getStatusFlags() { return SystemStatus(0); }
+  virtual bool active(const State& state) { return !(state.getSystemStatus() & STATUS_ALIGNMENT); }
+
+  virtual bool prepareUpdate(State& state, const MeasurementUpdate& update) { return true; }
+  virtual void afterUpdate(State& state) {}
+};
+
+template <class Derived, int _Dimension> class MeasurementModel_;
+
+namespace traits {
+
+  template <class Derived, int _Dimension = Derived::MeasurementDimension>
+  struct MeasurementModel {
+    enum { MeasurementDimension = _Dimension };
+    typedef typename ColumnVector_<MeasurementDimension>::type MeasurementVector;
+    typedef typename SymmetricMatrix_<MeasurementDimension>::type NoiseVariance;
+    typedef typename Matrix_<MeasurementDimension,Dynamic>::type MeasurementMatrix;
+    typedef typename Matrix_<State::Covariance::RowsAtCompileTime,MeasurementDimension>::type GainMatrix;
+    typedef typename ColumnVector_<State::Covariance::RowsAtCompileTime>::type UpdateVector;
+
+    enum { InputDimension = traits::Input<Derived>::Dimension };
+    typedef typename traits::Input<Derived>::Type InputType;
+    typedef typename traits::Input<Derived>::Vector InputVector;
+    typedef typename Matrix_<MeasurementDimension,InputDimension>::type InputMatrix;
+  };
+
+  #define MEASUREMENT_MODEL_TRAIT(Derived, _Dimension) \
+    typedef typename traits::MeasurementModel<Derived, _Dimension> trait; \
+    \
+    enum { MeasurementDimension = _Dimension }; \
+    typedef typename trait::MeasurementVector MeasurementVector; \
+    typedef typename trait::NoiseVariance NoiseVariance; \
+    typedef typename trait::MeasurementMatrix MeasurementMatrix; \
+    typedef typename trait::GainMatrix GainMatrix; \
+    typedef typename trait::UpdateVector UpdateVector; \
+    \
+    enum { InputDimension = trait::InputDimension }; \
+    typedef typename trait::InputType InputType; \
+    typedef typename trait::InputVector InputVector; \
+    typedef typename trait::InputMatrix InputMatrix; \
+
+} // namespace traits
+
+template <class Derived, int _Dimension>
+class MeasurementModel_ : public MeasurementModel {
+public:
+  MEASUREMENT_MODEL_TRAIT(Derived, _Dimension)
+  virtual ~MeasurementModel_() {}
+
+  virtual int getDimension() const { return trait::MeasurementDimension; }
+
+  Derived *derived() { return static_cast<Derived *>(this); }
+  const Derived *derived() const { return static_cast<const Derived *>(this); }
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init = true);
+  virtual void getInputJacobian(InputMatrix& D, const State& state, bool init = true);
+  virtual void getMeasurementNoise(NoiseVariance& R, const State& state, bool init = true);
+
+  virtual void limitError(MeasurementVector& error) {}
+
+  virtual const MeasurementVector* getFixedMeasurementVector() const { return 0; }
+};
+
+template <class Derived, int _Dimension>
+void MeasurementModel_<Derived, _Dimension>::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred.setZero();
+}
+
+template <class Derived, int _Dimension>
+void MeasurementModel_<Derived, _Dimension>::getStateJacobian(MeasurementMatrix& C, const State& state, bool init)
+{
+  if (init) C.setZero();
+}
+
+template <class Derived, int _Dimension>
+void MeasurementModel_<Derived, _Dimension>::getInputJacobian(InputMatrix& D, const State& state, bool init)
+{
+  if (init) D.setZero();
+}
+
+template <class Derived, int _Dimension>
+void MeasurementModel_<Derived, _Dimension>::getMeasurementNoise(NoiseVariance& R, const State& state, bool init)
+{
+  if (init) R.setZero();
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_update.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_update.h
new file mode 100644
index 0000000..5fd674a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurement_update.h	
@@ -0,0 +1,123 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H
+#define HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H
+
+#include <boost/type_traits/is_base_of.hpp>
+
+namespace hector_pose_estimation {
+
+class MeasurementUpdate
+{
+public:
+  MeasurementUpdate() {}
+  virtual ~MeasurementUpdate() {}
+
+  virtual bool hasVariance() const { return false; }
+};
+
+template <class MeasurementModel>
+class Update_ : public MeasurementUpdate {
+public:
+  enum { MeasurementDimension = MeasurementModel::MeasurementDimension };
+  typedef Update_<MeasurementModel> Type;
+  typedef typename MeasurementModel::MeasurementVector Vector;
+  typedef typename MeasurementModel::NoiseVariance Variance;
+
+  Update_()
+    : has_variance_(false)
+  {
+    y_.setZero();
+  }
+  Update_(Vector const& y)
+    : has_variance_(false)
+  {
+    *this = y;
+  }
+  Update_(double y)
+    : has_variance_(false)
+  {
+    *this = y;
+  }
+  Update_(double x, double y, double z)
+    : has_variance_(false)
+  {
+    y_ = Vector(x, y, z);
+  }
+  template <typename OtherDerived> Update_(const Eigen::MatrixBase<OtherDerived>& other)
+    : y_(other)
+    , has_variance_(false)
+  {}
+  virtual ~Update_() {}
+
+  virtual Vector &operator=(Vector const& y) {  y_ = y; return y_; }
+  virtual Vector &operator=(double y) { y_(0) = y; return y_; }
+
+  virtual Vector const &getVector() const { return y_; }
+
+  virtual bool hasVariance() const { return has_variance_; }
+  virtual Variance const &getVariance() const { return R_; }
+  virtual void setVariance(Variance const& R) { R_ = R; has_variance_ = true; }
+
+protected:
+  Vector y_;
+  Variance R_;
+  bool has_variance_;
+};
+
+namespace traits {
+
+  template <class ConcreteModel> struct Update { typedef Update_<ConcreteModel> type; };
+
+  template <class ConcreteModel, class Enable = void>
+  class UpdateInspector {
+  public:
+    UpdateInspector(const typename Update<ConcreteModel>::type& update) : update_(update) {}
+    typename ConcreteModel::MeasurementVector const& getVector(const State&) { return *static_cast<typename ConcreteModel::MeasurementVector *>(0); }
+    typename ConcreteModel::NoiseVariance const& getVariance(const State&) { return *static_cast<typename ConcreteModel::NoiseVariance *>(0); }
+  private:
+    const typename Update<ConcreteModel>::type& update_;
+  };
+
+  template <class ConcreteModel>
+  class UpdateInspector<ConcreteModel, typename boost::enable_if<boost::is_base_of<Update_<ConcreteModel>, typename Update<ConcreteModel>::type> >::type >
+  {
+  public:
+    UpdateInspector(const typename Update<ConcreteModel>::type& update) : update_(update) {}
+    typename ConcreteModel::MeasurementVector const& getVector(const State&) { return update_.getVector(); }
+    typename ConcreteModel::NoiseVariance const& getVariance(const State&) { return update_.getVariance(); }
+  private:
+    const typename Update<ConcreteModel>::type& update_;
+  };
+
+} // namespace traits
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/baro.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/baro.h
new file mode 100644
index 0000000..6532e95
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/baro.h	
@@ -0,0 +1,106 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_BARO_H
+#define HECTOR_POSE_ESTIMATION_BARO_H
+
+#include <hector_pose_estimation/measurement.h>
+#include <hector_pose_estimation/measurements/height.h>
+
+#ifdef USE_HECTOR_UAV_MSGS
+  #include <hector_uav_msgs/Altimeter.h>
+#endif
+
+namespace hector_pose_estimation {
+
+class BaroUpdate;
+
+class BaroModel : public HeightModel
+{
+public:
+  BaroModel();
+  virtual ~BaroModel();
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  void setQnh(double qnh) { qnh_ = qnh; }
+  double getQnh() const { return qnh_; }
+
+  double getAltitude(const BaroUpdate& update);
+
+protected:
+  double qnh_;
+};
+
+class BaroUpdate : public Update_<BaroModel> {
+public:
+  BaroUpdate();
+  BaroUpdate(double pressure);
+  BaroUpdate(double pressure, double qnh);
+  double qnh() const { return qnh_; }
+  BaroUpdate& qnh(double qnh) { qnh_ = qnh; return *this; }
+
+  using Update_<BaroModel>::operator =;
+
+private:
+  double qnh_;
+};
+
+namespace traits {
+  template <> struct Update<BaroModel> { typedef BaroUpdate type; };
+}
+
+extern template class Measurement_<BaroModel>;
+
+class Baro : public Measurement_<BaroModel>, HeightBaroCommon
+{
+public:
+  using Measurement_<BaroModel>::Model;
+  using Measurement_<BaroModel>::Update;
+
+  enum { MeasurementDimension = Measurement_<BaroModel>::MeasurementDimension };
+  using Measurement_<BaroModel>::MeasurementVector;
+  using Measurement_<BaroModel>::NoiseVariance;
+
+  Baro(const std::string& name = "baro");
+  virtual ~Baro() {}
+
+  void setElevation(double elevation) { getModel()->setElevation(elevation); }
+  double getElevation() const { return getModel()->getElevation(); }
+
+  void setQnh(double qnh) { getModel()->setQnh(qnh); }
+  double getQnh() const { return getModel()->getQnh(); }
+
+  virtual void onReset();
+  virtual bool prepareUpdate(State &state, const Update &update);
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_BARO_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gps.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gps.h
new file mode 100644
index 0000000..641ea42
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gps.h	
@@ -0,0 +1,90 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_GPS_H
+#define HECTOR_POSE_ESTIMATION_GPS_H
+
+#include <hector_pose_estimation/measurement.h>
+#include <hector_pose_estimation/global_reference.h>
+
+namespace hector_pose_estimation {
+
+class GPSModel : public MeasurementModel_<GPSModel,4> {
+public:
+  GPSModel();
+  virtual ~GPSModel();
+
+  virtual SystemStatus getStatusFlags() { return STATE_POSITION_XY | STATE_VELOCITY_XY; }
+
+  virtual bool prepareUpdate(State &state, const MeasurementUpdate &update);
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+protected:
+  double position_stddev_;
+  double velocity_stddev_;
+  State::RotationMatrix R;
+};
+
+struct GPSUpdate : public MeasurementUpdate {
+  double latitude;
+  double longitude;
+  double velocity_north;
+  double velocity_east;
+};
+
+namespace traits {
+  template <> struct Update<GPSModel> { typedef GPSUpdate type; };
+}
+
+extern template class Measurement_<GPSModel>;
+
+class GPS : public Measurement_<GPSModel>
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  GPS(const std::string& name = "gps");
+  virtual ~GPS();
+
+  virtual void onReset();
+
+  virtual GPSModel::MeasurementVector const& getVector(const GPSUpdate &update, const State&);
+  virtual bool prepareUpdate(State &state, const GPSUpdate &update);
+
+private:
+  bool auto_reference_;
+  GlobalReferencePtr reference_;
+  GPSModel::MeasurementVector y_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_GPS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gravity.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gravity.h
new file mode 100644
index 0000000..f72fdaf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/gravity.h	
@@ -0,0 +1,70 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_GRAVITY_H
+#define HECTOR_POSE_ESTIMATION_GRAVITY_H
+
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class GravityModel : public MeasurementModel_<GravityModel,3> {
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  using MeasurementModel_<GravityModel,3>::MeasurementVector;
+  using MeasurementModel_<GravityModel,3>::NoiseVariance;
+
+  GravityModel();
+  virtual ~GravityModel();
+
+  virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state);
+
+  virtual void setGravity(double gravity) { gravity_.z() = gravity; }
+  virtual double getGravity() const { return gravity_.z(); }
+
+  virtual bool active(const State &state) { return true; } // always update, even during alignment
+  virtual SystemStatus getStatusFlags() { return STATE_PSEUDO_ROLLPITCH; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+protected:
+  double stddev_;
+  std::string use_bias_;
+  MeasurementVector gravity_;
+  SubState_<3>::Ptr bias_;
+};
+
+typedef Measurement_<GravityModel> Gravity;
+extern template class Measurement_<GravityModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_GRAVITY_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/heading.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/heading.h
new file mode 100644
index 0000000..1153faa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/heading.h	
@@ -0,0 +1,58 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_HEADING_H
+#define HECTOR_POSE_ESTIMATION_HEADING_H
+
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class HeadingModel : public MeasurementModel_<HeadingModel,1> {
+public:
+  HeadingModel();
+  virtual ~HeadingModel();
+
+  virtual SystemStatus getStatusFlags() { return STATE_YAW; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  virtual void limitError(MeasurementVector &error);
+
+protected:
+  double stddev_;
+};
+
+typedef Measurement_<HeadingModel> Heading;
+extern template class Measurement_<HeadingModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_HEADING_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/height.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/height.h
new file mode 100644
index 0000000..b2d4f91
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/height.h	
@@ -0,0 +1,86 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_HEIGHT_H
+#define HECTOR_POSE_ESTIMATION_HEIGHT_H
+
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class HeightModel : public MeasurementModel_<HeightModel,1> {
+public:
+  HeightModel();
+  virtual ~HeightModel();
+
+  virtual SystemStatus getStatusFlags() { return STATE_POSITION_Z; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  void setElevation(double elevation) { elevation_ = elevation; }
+  double getElevation() const { return elevation_; }
+
+protected:
+  double stddev_;
+  double elevation_;
+};
+
+extern template class Measurement_<HeightModel>;
+
+class HeightBaroCommon
+{
+public:
+  HeightBaroCommon(Measurement *measurement);
+  virtual ~HeightBaroCommon();
+
+  virtual void onReset();
+  double resetElevation(const State &state, boost::function<double()> altitude_func);
+
+protected:
+  bool auto_elevation_;
+  bool elevation_initialized_;
+};
+
+class Height : public Measurement_<HeightModel>, HeightBaroCommon
+{
+public:
+  Height(const std::string& name = "height");
+  virtual ~Height() {}
+
+  void setElevation(double elevation) { getModel()->setElevation(elevation); }
+  double getElevation() const { return getModel()->getElevation(); }
+
+  virtual void onReset();
+  virtual bool prepareUpdate(State &state, const Update &update);
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_HEIGHT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/magnetic.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/magnetic.h
new file mode 100644
index 0000000..a317ea5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/magnetic.h	
@@ -0,0 +1,102 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MAGNETIC_H
+#define HECTOR_POSE_ESTIMATION_MAGNETIC_H
+
+#include <hector_pose_estimation/measurement.h>
+#include <hector_pose_estimation/global_reference.h>
+
+namespace hector_pose_estimation {
+
+class MagneticModel : public MeasurementModel_<MagneticModel,3> {
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  MagneticModel();
+  virtual ~MagneticModel();
+
+  virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state);
+
+  virtual SystemStatus getStatusFlags() { return STATE_YAW; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  double getMagneticHeading(const State& state, const MeasurementVector& y) const;
+  double getTrueHeading(const State& state, const MeasurementVector& y) const;
+
+  void setReference(const GlobalReference::Heading &reference_heading);
+  bool hasMagnitude() const { return magnitude_ != 0.0; }
+
+protected:
+  double stddev_;
+  double declination_, inclination_, magnitude_;
+  void updateMagneticField();
+
+  MeasurementVector magnetic_field_north_;
+  MeasurementVector magnetic_field_reference_;
+};
+
+extern template class Measurement_<MagneticModel>;
+
+class Magnetic : public Measurement_<MagneticModel>
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  using Measurement_<MagneticModel>::Model;
+  using Measurement_<MagneticModel>::Update;
+
+  enum { MeasurementDimension = Measurement_<MagneticModel>::MeasurementDimension };
+  using Measurement_<MagneticModel>::MeasurementVector;
+  using Measurement_<MagneticModel>::NoiseVariance;
+
+  Magnetic(const std::string& name = "height");
+  virtual ~Magnetic() {}
+
+  virtual void onReset();
+
+  virtual MeasurementVector const& getVector(const Update &update, const State&);
+//  virtual NoiseVariance const& getVariance(const Update &update, const State&);
+
+  virtual bool prepareUpdate(State &state, const Update &update);
+
+private:
+  bool auto_heading_;
+  GlobalReferencePtr reference_;
+  ColumnVector deviation_;
+
+  MeasurementVector y_;
+  NoiseVariance R_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MAGNETIC_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/poseupdate.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/poseupdate.h
new file mode 100644
index 0000000..183086b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/poseupdate.h	
@@ -0,0 +1,146 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_POSEUPDATE_H
+#define HECTOR_POSE_ESTIMATION_POSEUPDATE_H
+
+#include <hector_pose_estimation/measurement.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <geometry_msgs/TwistWithCovarianceStamped.h>
+
+#include <boost/function.hpp>
+
+namespace hector_pose_estimation {
+
+class PositionXYModel : public MeasurementModel_<PositionXYModel,2> {
+public:
+  PositionXYModel() {}
+  virtual ~PositionXYModel() {}
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  void updateState(State& state, const ColumnVector &diff) const;
+};
+
+class PositionZModel : public MeasurementModel_<PositionZModel,1> {
+public:
+  PositionZModel() {}
+  virtual ~PositionZModel() {}
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  void updateState(State& state, const ColumnVector &diff) const;
+};
+
+class YawModel : public MeasurementModel_<YawModel,1> {
+public:
+  YawModel() {}
+  virtual ~YawModel() {}
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  void updateState(State& state, const ColumnVector &diff) const;
+};
+
+class TwistModel : public MeasurementModel_<TwistModel,6> {
+public:
+  TwistModel() {}
+  virtual ~TwistModel() {}
+
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+};
+
+class PoseUpdate : public Measurement
+{
+public:
+  PoseUpdate(const std::string& name = "poseupdate");
+  virtual ~PoseUpdate();
+
+  class Update : public MeasurementUpdate {
+  public:
+    Update() {}
+    Update(const geometry_msgs::PoseWithCovarianceStamped& pose) : pose(new geometry_msgs::PoseWithCovarianceStamped(pose)) {}
+    Update(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose) : pose(pose) {}
+    Update(const geometry_msgs::TwistWithCovarianceStamped& twist) : twist(new geometry_msgs::TwistWithCovarianceStamped(twist)) {}
+    Update(const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist) : twist(twist) {}
+    Update(const geometry_msgs::PoseWithCovarianceStamped& pose, const geometry_msgs::TwistWithCovarianceStamped& twist) : pose(new geometry_msgs::PoseWithCovarianceStamped(pose)), twist(new geometry_msgs::TwistWithCovarianceStamped(twist)) {}
+    Update(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose, const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist) : pose(pose), twist(twist) {}
+    geometry_msgs::PoseWithCovarianceStampedConstPtr pose;
+    geometry_msgs::TwistWithCovarianceStampedConstPtr twist;
+  };
+
+  virtual bool updateImpl(const MeasurementUpdate &update);
+
+private:
+  PositionXYModel position_xy_model_;
+  PositionZModel position_z_model_;
+  YawModel yaw_model_;
+  TwistModel twist_model_;
+
+  double fixed_alpha_, fixed_beta_;
+  bool interpret_covariance_as_information_matrix_;
+  double max_time_difference_;
+  bool predict_pose_;
+  bool jump_on_max_error_;
+
+  double fixed_position_xy_stddev_;
+  double fixed_position_z_stddev_;
+  double fixed_yaw_stddev_;
+
+  double fixed_velocity_xy_stddev_;
+  double fixed_velocity_z_stddev_;
+  double fixed_angular_rate_xy_stddev_;
+  double fixed_angular_rate_z_stddev_;
+
+  double max_position_xy_error_;
+  double max_position_z_error_;
+  double max_yaw_error_;
+
+  double max_velocity_xy_error_;
+  double max_velocity_z_error_;
+  double max_angular_rate_xy_error_;
+  double max_angular_rate_z_error_;
+
+  typedef boost::function<void(State &state, const ColumnVector &diff)> JumpFunction;
+  double calculateOmega(const SymmetricMatrix &Ix, const SymmetricMatrix &Iy);
+
+  template <typename MeasurementVector, typename MeasurementMatrix, typename NoiseVariance>
+  double updateInternal(State &state, const NoiseVariance &Iy, const MeasurementVector &error, const MeasurementMatrix &H, const std::string& text, const double max_error = 0.0, JumpFunction jump_function = JumpFunction());
+
+protected:
+  Queue_<Update> queue_;
+  virtual Queue& queue() { return queue_; }
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_POSEUPDATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/rate.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/rate.h
new file mode 100644
index 0000000..7cc6708
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/rate.h	
@@ -0,0 +1,60 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_RATE_H
+#define HECTOR_POSE_ESTIMATION_RATE_H
+
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class RateModel : public MeasurementModel_<RateModel,3> {
+public:
+  RateModel();
+  virtual ~RateModel();
+
+  virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state);
+
+  virtual SystemStatus getStatusFlags() { return STATE_RATE_XY | STATE_RATE_Z; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+protected:
+  double stddev_;
+  std::string use_bias_;
+  SubState_<3>::Ptr bias_;
+};
+
+typedef Measurement_<RateModel> Rate;
+extern template class Measurement_<RateModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_RATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/zerorate.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/zerorate.h
new file mode 100644
index 0000000..5439e07
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/measurements/zerorate.h	
@@ -0,0 +1,65 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_ZERORATE_H
+#define HECTOR_POSE_ESTIMATION_ZERORATE_H
+
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class GyroModel;
+
+class ZeroRateModel : public MeasurementModel_<ZeroRateModel,1> {
+public:
+  ZeroRateModel();
+  virtual ~ZeroRateModel();
+
+  virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state);
+
+  virtual bool active(const State &state) { return true; } // always update, even during alignment
+  virtual SystemStatus getStatusFlags() { return STATE_PSEUDO_RATE_Z; }
+
+  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
+  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
+  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
+
+  const MeasurementVector* getFixedMeasurementVector() const;
+
+protected:
+  double stddev_;
+  std::string use_bias_;
+  SubState_<3>::Ptr bias_;
+};
+
+typedef Measurement_<ZeroRateModel> ZeroRate;
+extern template class Measurement_<ZeroRateModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_ZERORATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/model.h
new file mode 100644
index 0000000..57a8bba
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/model.h	
@@ -0,0 +1,56 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_MODEL_H
+#define HECTOR_POSE_ESTIMATION_MODEL_H
+
+#include <hector_pose_estimation/parameters.h>
+#include <hector_pose_estimation/types.h>
+#include <hector_pose_estimation/state.h>
+
+namespace hector_pose_estimation {
+
+class Model {
+public:
+  template <class Model> struct traits;
+
+  virtual ~Model() {}
+
+  virtual void cleanup() { }
+  virtual void reset(State& state) { }
+
+  ParameterList& parameters() { return parameters_; }
+  const ParameterList& parameters() const { return parameters_; }
+
+protected:
+  ParameterList parameters_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/parameters.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/parameters.h
new file mode 100644
index 0000000..31c5d8d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/parameters.h	
@@ -0,0 +1,194 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_PARAMETERS_H
+#define HECTOR_POSE_ESTIMATION_PARAMETERS_H
+
+#include <list>
+#include <string>
+#include <boost/shared_ptr.hpp>
+#include <boost/function.hpp>
+#include <boost/type_traits.hpp>
+
+namespace hector_pose_estimation {
+
+  class Parameter;
+  template <typename T> class ParameterT;
+  typedef boost::shared_ptr<Parameter> ParameterPtr;
+  typedef boost::shared_ptr<const Parameter> ParameterConstPtr;
+  typedef boost::function<void(ParameterPtr)> ParameterRegisterFunc;
+
+  class Parameter {
+  public:
+    std::string key;
+    Parameter(const std::string& key) : key(key), parameter_(this) {}
+    Parameter(Parameter& other) : key(other.key), parameter_(&other) {}
+    virtual ~Parameter() {}
+
+    virtual ParameterPtr clone() { return parameter_ ? parameter_->clone() : ParameterPtr(); }
+    virtual const char *type() const { return parameter_ ? parameter_->type() : 0; }
+
+    virtual bool empty() const { return !parameter_; }
+    virtual bool isAlias() const { return false; }
+
+    template <typename T> bool hasType() const {
+      return dynamic_cast<const ParameterT<T> *>(parameter_) != 0;
+    }
+
+    template <typename T> const T& as() const {
+      const ParameterT<T>& p = dynamic_cast<const ParameterT<T> &>(*parameter_);
+      return p.value();
+    }
+
+    template <typename T> T& as() {
+      ParameterT<T>& p = dynamic_cast<ParameterT<T> &>(*parameter_);
+      return p.value();
+    }
+
+    operator void*() const { return reinterpret_cast<void *>(!empty()); }
+
+    template <typename T> Parameter& operator =(const T& value) {
+      ParameterT<T>& p = dynamic_cast<ParameterT<T>&>(*parameter_);
+      p.set(value);
+      return *this;
+    }
+
+  protected:
+    Parameter *parameter_;
+  };
+
+  template <typename T>
+  class ParameterT : public Parameter {
+  public:
+    typedef typename boost::remove_reference<typename boost::remove_const<T>::type>::type param_type;
+
+    ParameterT(const std::string& key, param_type &value) : Parameter(key), value_(value) {}
+    ParameterT(Parameter& other) : Parameter(other), value_(other.as<T>()) {}
+    virtual ~ParameterT() {}
+
+    ParameterPtr clone() { return ParameterPtr(new ParameterT<T>(*this)); }
+    const char *type() const { return typeid(param_type).name(); }
+
+    operator param_type&() const { return value_; }
+    param_type& value() { return value_; }
+    const param_type& value() const { return value_; }
+    void set(const param_type& value) { value_ = value; }
+
+  protected:
+    param_type& value_;
+  };
+
+  class Alias : public Parameter {
+  public:
+    Alias() : Parameter(std::string()) { parameter_ = 0; }
+    Alias(const ParameterPtr& other) : Parameter(other->key) { *this = parameter_; }
+    Alias(const ParameterPtr& other, const std::string& key) : Parameter(key) { *this = parameter_; }
+    virtual ~Alias() {}
+
+    virtual bool isAlias() const { return true; }
+
+    using Parameter::operator =;
+    Alias& operator =(const ParameterPtr& other) {
+      parameter_ = other.get();
+      if (key.empty()) key = other->key;
+      return *this;
+    }
+  };
+
+  template <typename T>
+  class AliasT : public Alias {
+  public:
+    typedef typename boost::remove_reference<typename boost::remove_const<T>::type>::type param_type;
+
+    AliasT() {}
+    AliasT(const ParameterPtr& other) : Alias(other) {}
+    AliasT(const ParameterPtr& other, const std::string& key) : Alias(other, key) {}
+    virtual ~AliasT() {}
+
+    operator param_type&() const { return dynamic_cast<ParameterT<T> &>(*parameter_).value(); }
+    param_type& value() { return dynamic_cast<ParameterT<T> &>(*parameter_).value(); }
+    const param_type& value() const { return dynamic_cast<const ParameterT<T> &>(*parameter_).value(); }
+    void set(const param_type& value) { dynamic_cast<ParameterT<T> &>(*parameter_).set(value); }
+
+    using Alias::operator =;
+  };
+
+  class ParameterList : public std::list<ParameterPtr> {
+  public:
+    using std::list<ParameterPtr>::iterator;
+    using std::list<ParameterPtr>::const_iterator;
+
+    ~ParameterList() {}
+
+    template <typename T> ParameterList& add(const std::string& key, T& value, const T& default_value) {
+      value = default_value;
+      return add(key, value);
+    }
+
+    template <typename T> ParameterList& add(const std::string& key, T* value) {
+      return add(key, *value);
+    }
+
+    template <typename T> ParameterList& add(const std::string& key, T& value);
+
+    ParameterList& add(ParameterPtr const& parameter);
+    ParameterList& add(ParameterList const& other);
+    ParameterList& add(Parameter& alias, const std::string& key = std::string());
+    ParameterList& addAlias(const std::string& key, Alias& alias) { return add(alias, key); }
+
+    ParameterList& copy(const std::string& prefix, ParameterList const& parameters);
+    ParameterList& copy(ParameterList const& parameters);
+
+    ParameterPtr const& get(const std::string& key) const;
+    template <typename T> T& getAs(const std::string& key) const {
+      return get(key)->as<T>();
+    }
+
+    using std::list<ParameterPtr>::erase;
+    iterator erase(const std::string& key);
+
+    void initialize(ParameterRegisterFunc func) const;
+  };
+
+  template <typename T> inline ParameterList& ParameterList::add(const std::string& key, T& value) {
+    return add(ParameterPtr(new ParameterT<T>(key, value)));
+  }
+
+  static inline ParameterList operator+(ParameterList const& list1, ParameterList const& list2)
+  {
+    ParameterList result;
+    return result.add(list1).add(list2);
+  }
+
+  struct ParameterRegistry {
+    virtual void operator()(ParameterPtr) {}
+  };
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_PARAMETERS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/pose_estimation.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/pose_estimation.h
new file mode 100644
index 0000000..b4925a8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/pose_estimation.h	
@@ -0,0 +1,234 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_H
+#define HECTOR_POSE_ESTIMATION_H
+
+#include <hector_pose_estimation/types.h>
+#include <hector_pose_estimation/state.h>
+#include <hector_pose_estimation/system.h>
+#include <hector_pose_estimation/measurement.h>
+#include <hector_pose_estimation/parameters.h>
+
+#include <boost/shared_ptr.hpp>
+#include <vector>
+
+#include <hector_pose_estimation/measurements/rate.h>
+#include <hector_pose_estimation/measurements/gravity.h>
+#include <hector_pose_estimation/measurements/zerorate.h>
+
+#include <tf/transform_datatypes.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PointStamped.h>
+#include <geometry_msgs/QuaternionStamped.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/NavSatFix.h>
+#include <geographic_msgs/GeoPoint.h>
+#include <geographic_msgs/GeoPose.h>
+
+namespace hector_pose_estimation {
+
+class Filter;
+class GlobalReference;
+
+class PoseEstimation
+{
+public:
+  PoseEstimation(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr());
+  template <typename ConcreteSystemModel> PoseEstimation(ConcreteSystemModel *system_model, State *state = 0);
+  virtual ~PoseEstimation();
+
+  static PoseEstimation *Instance();
+
+  bool init();
+  void cleanup();
+  void reset();
+
+  void update(ros::Time timestamp);
+  void update(double dt);
+
+  const SystemPtr& addSystem(const SystemPtr& system, const std::string& name = "system");
+  const SystemPtr& addSystem(System *system) { return addSystem(SystemPtr(system)); }
+  template <typename ConcreteSystemModel> const SystemPtr& addSystem(ConcreteSystemModel *model, const std::string& name = "system");
+//  SystemPtr getSystem(std::size_t index = 0) const { return systems_.get(index); }
+  SystemPtr getSystem(const std::string& name) const { return systems_.get(name); }
+  template <typename SystemType> boost::shared_ptr<SystemType> getSystem_(const std::string& name) const;
+
+  const MeasurementPtr& addMeasurement(const MeasurementPtr& measurement, const std::string& name = std::string());
+  const MeasurementPtr& addMeasurement(Measurement *measurement) { return addMeasurement(MeasurementPtr(measurement)); }
+  template <class ConcreteMeasurementModel> const MeasurementPtr& addMeasurement(ConcreteMeasurementModel *model, const std::string& name);
+//  MeasurementPtr getMeasurement(std::size_t index) const { return measurements_.get(index); }
+  MeasurementPtr getMeasurement(const std::string &name) const { return measurements_.get(name); }
+  template <typename MeasurementType> boost::shared_ptr<MeasurementType> getMeasurement_(const std::string& name) const;
+
+  template <class InputType> boost::shared_ptr<InputType> getInputType(const std::string& name) const { return inputs_.getType<InputType>(name); }
+
+  template <class InputType> boost::shared_ptr<InputType> addInput(const std::string& name = std::string());
+  InputPtr addInput(const InputPtr& input, const std::string& name = std::string());
+  InputPtr addInput(Input *input, const std::string& name = std::string()) { return addInput(InputPtr(input), name); }
+  InputPtr setInput(const Input& input, std::string name = std::string());
+//  InputPtr getInput(std::size_t index) const { return inputs_.get(index); }
+  InputPtr getInput(const std::string& name) const { return inputs_.get(name); }
+
+  virtual const State& state() const { return *state_; }
+  virtual State& state() { return *state_; }
+
+  virtual const State::Vector& getStateVector();
+  virtual const State::Covariance& getCovariance();
+
+  virtual SystemStatus getSystemStatus() const;
+  virtual SystemStatus getMeasurementStatus() const;
+  virtual bool inSystemStatus(SystemStatus test_status) const;
+  virtual bool setSystemStatus(SystemStatus new_status);
+  virtual bool setMeasurementStatus(SystemStatus new_status);
+  virtual bool updateSystemStatus(SystemStatus set, SystemStatus clear);
+  virtual bool updateMeasurementStatus(SystemStatus set, SystemStatus clear);
+
+  virtual const GlobalReferencePtr &globalReference();
+
+  virtual const ros::Time& getTimestamp() const;
+  virtual void setTimestamp(const ros::Time& timestamp);
+
+  virtual void getHeader(std_msgs::Header& header);
+  virtual void getState(nav_msgs::Odometry& state, bool with_covariances = true);
+  virtual void getPose(tf::Pose& pose);
+  virtual void getPose(tf::Stamped<tf::Pose>& pose);
+  virtual void getPose(geometry_msgs::Pose& pose);
+  virtual void getPose(geometry_msgs::PoseStamped& pose);
+  virtual void getPosition(tf::Point& point);
+  virtual void getPosition(tf::Stamped<tf::Point>& point);
+  virtual void getPosition(geometry_msgs::Point& pose);
+  virtual void getPosition(geometry_msgs::PointStamped& pose);
+  virtual void getGlobal(double& latitude, double& longitude, double& altitude);
+  virtual void getGlobalPosition(double& latitude, double& longitude, double& altitude); // deprecated
+  virtual void getGlobal(geographic_msgs::GeoPoint& global);
+  virtual void getGlobal(sensor_msgs::NavSatFix& global);
+  virtual void getGlobalPosition(sensor_msgs::NavSatFix& global);
+  virtual void getGlobal(geographic_msgs::GeoPoint& position, geometry_msgs::Quaternion& quaternion); // deprecated
+  virtual void getGlobal(geographic_msgs::GeoPose& global);
+  virtual void getOrientation(tf::Quaternion& quaternion);
+  virtual void getOrientation(tf::Stamped<tf::Quaternion>& quaternion);
+  virtual void getOrientation(geometry_msgs::Quaternion& pose);
+  virtual void getOrientation(geometry_msgs::QuaternionStamped& pose);
+  virtual void getOrientation(double &yaw, double &pitch, double &roll);
+  virtual void getImuWithBiases(geometry_msgs::Vector3& linear_acceleration, geometry_msgs::Vector3& angular_velocity);
+  virtual void getVelocity(tf::Vector3& vector);
+  virtual void getVelocity(tf::Stamped<tf::Vector3>& vector);
+  virtual void getVelocity(geometry_msgs::Vector3& vector);
+  virtual void getVelocity(geometry_msgs::Vector3Stamped& vector);
+  virtual void getRate(tf::Vector3& vector);
+  virtual void getRate(tf::Stamped<tf::Vector3>& vector);
+  virtual void getRate(geometry_msgs::Vector3& vector);
+  virtual void getRate(geometry_msgs::Vector3Stamped& vector);
+  // virtual void getBias(tf::Vector3& angular_velocity, tf::Vector3& linear_acceleration);
+  // virtual void getBias(tf::Stamped<tf::Vector3>& angular_velocity, tf::Stamped<tf::Vector3>& linear_acceleration);
+  virtual void getBias(geometry_msgs::Vector3& angular_velocity, geometry_msgs::Vector3& linear_acceleration);
+  virtual void getBias(geometry_msgs::Vector3Stamped& angular_velocity, geometry_msgs::Vector3Stamped& linear_acceleration);
+  virtual void getTransforms(std::vector<tf::StampedTransform>& transforms);
+  virtual void updateWorldToOtherTransform(tf::StampedTransform& world_to_other_transform);
+  virtual bool getWorldToNavTransform(geometry_msgs::TransformStamped& transform);
+
+  virtual ParameterList& parameters() { return parameters_; }
+  virtual const ParameterList& parameters() const { return parameters_; }
+
+  virtual boost::shared_ptr<Filter> filter() { return filter_; }
+  virtual boost::shared_ptr<const Filter> filter() const { return filter_; }
+
+  virtual void updated();
+
+protected:
+  Systems systems_;
+  Measurements measurements_;
+  Inputs inputs_;
+
+private:
+  StatePtr state_;
+  FilterPtr filter_;
+
+  ParameterList parameters_;
+
+  ros::Time timestamp_;
+  std::string world_frame_;
+  std::string nav_frame_;
+  std::string base_frame_;
+  std::string stabilized_frame_;
+  std::string footprint_frame_;
+  std::string position_frame_;
+
+  ros::Time alignment_start_;
+  double alignment_time_;
+
+  double gravity_;
+
+  boost::shared_ptr<Rate> rate_update_;
+  boost::shared_ptr<Gravity> gravity_update_;
+  boost::shared_ptr<ZeroRate> zerorate_update_;
+};
+
+template <typename ConcreteSystemModel>
+PoseEstimation::PoseEstimation(ConcreteSystemModel *system_model, State *state) {
+  *this = PoseEstimation(System::create(system_model), StatePtr(state));
+}
+
+template <typename ConcreteSystemModel>
+const SystemPtr& PoseEstimation::addSystem(ConcreteSystemModel *model, const std::string& name)
+{
+  return addSystem(System::create(model, name));
+}
+
+template <typename SystemType>
+boost::shared_ptr<SystemType> PoseEstimation::getSystem_(const std::string& name) const
+{
+  return boost::static_pointer_cast<SystemType>(getSystem(name));
+}
+
+template <class ConcreteMeasurementModel>
+const MeasurementPtr& PoseEstimation::addMeasurement(ConcreteMeasurementModel *model, const std::string& name) {
+  return addMeasurement(Measurement::create(model, name));
+}
+
+template <typename MeasurementType>
+boost::shared_ptr<MeasurementType> PoseEstimation::getMeasurement_(const std::string& name) const
+{
+  return boost::static_pointer_cast<MeasurementType>(getMeasurement(name));
+}
+
+template <class InputType>
+boost::shared_ptr<InputType> PoseEstimation::addInput(const std::string& name) {
+  boost::shared_ptr<InputType> input = getInputType<InputType>(name);
+  if (input) return input;
+
+  input.reset(new InputType());
+  if (!addInput(boost::static_pointer_cast<Input>(input), name)) input.reset();
+  return input;
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/queue.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/queue.h
new file mode 100644
index 0000000..76295cb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/queue.h	
@@ -0,0 +1,87 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_QUEUE_H
+#define HECTOR_POSE_ESTIMATION_QUEUE_H
+
+#include <boost/array.hpp>
+#include <hector_pose_estimation/measurement_update.h>
+
+namespace hector_pose_estimation {
+
+class Queue {
+public:
+  static const size_t capacity_ = 10;
+
+  virtual ~Queue() {}
+  virtual bool empty() const = 0;
+  virtual bool full() const = 0;
+  virtual size_t size() const = 0;
+  virtual size_t capacity() const = 0;
+
+  virtual void push(const MeasurementUpdate& update) = 0;
+  virtual const MeasurementUpdate& pop() = 0;
+  virtual void clear() = 0;
+};
+
+template <class Update>
+class Queue_ : public Queue
+{
+public:
+  Queue_() : in_(0), out_(0), size_(0) {}
+  virtual ~Queue_() {}
+
+  virtual bool empty() const { return size_ == 0; }
+  virtual bool full() const { return size_ == capacity_; }
+  virtual size_t size() const { return size_; }
+  virtual size_t capacity() const { return capacity_; }
+
+  virtual void push(const MeasurementUpdate& update) {
+    if (full()) return;
+    data_[inc(in_)] = static_cast<Update const &>(update);
+    size_++;
+  }
+
+  virtual const Update& pop() {
+    if (empty()) throw std::runtime_error("queue is empty");
+    size_--;
+    return data_[inc(out_)];
+  }
+
+  virtual void clear() { out_ = in_ = size_ = 0; }
+
+private:
+  static size_t inc(size_t& index) { size_t temp = index++; index %= Queue::capacity_; return temp; }
+
+  boost::array<Update, Queue::capacity_> data_;
+  size_t in_, out_, size_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_QUEUE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/ros/parameters.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/ros/parameters.h
new file mode 100644
index 0000000..f9e0064
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/ros/parameters.h	
@@ -0,0 +1,49 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_ROS_PARAMETERS_H
+#define HECTOR_POSE_ESTIMATION_ROS_PARAMETERS_H
+
+#include <hector_pose_estimation/parameters.h>
+#include <ros/node_handle.h>
+
+namespace hector_pose_estimation {
+
+  struct ParameterRegistryROS : public ParameterRegistry {
+    ParameterRegistryROS(ros::NodeHandle nh);
+    virtual void operator()(ParameterPtr);
+
+  private:
+    template <typename T> struct Handler;
+    ros::NodeHandle nh_;
+    bool set_all_;
+  };
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_ROS_PARAMETERS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.h
new file mode 100644
index 0000000..6028972
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.h	
@@ -0,0 +1,233 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_STATE_H
+#define HECTOR_POSE_ESTIMATION_STATE_H
+
+#include <hector_pose_estimation/types.h>
+
+#include <boost/function.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+
+#include <ros/time.h>
+
+namespace hector_pose_estimation {
+
+class State {
+public:
+  typedef ColumnVector Vector;
+  typedef SymmetricMatrix Covariance;
+  typedef Matrix SystemMatrix;
+
+  typedef VectorBlock<Vector> VectorSegment;
+  typedef Block<Covariance::Base> CovarianceBlock;
+  typedef VectorBlock<const Vector> ConstVectorSegment;
+  typedef Block<const Covariance::Base> ConstCovarianceBlock;
+
+  typedef SubState_<4,3> OrientationStateType;
+  typedef VectorBlock<Vector,4> OrientationType;
+  typedef VectorBlock<const Vector,4> ConstOrientationType;
+  typedef SubState_<3,3> RateStateType;
+  typedef VectorBlock<Vector,3> RateType;
+  typedef VectorBlock<const Vector,3> ConstRateType;
+  typedef SubState_<3,3> PositionStateType;
+  typedef VectorBlock<Vector,3> PositionType;
+  typedef VectorBlock<const Vector,3> ConstPositionType;
+  typedef SubState_<3,3> VelocityStateType;
+  typedef VectorBlock<Vector,3> VelocityType;
+  typedef VectorBlock<const Vector,3> ConstVelocityType;
+  typedef SubState_<3,3> AccelerationStateType;
+  typedef VectorBlock<Vector,3> AccelerationType;
+  typedef VectorBlock<const Vector,3> ConstAccelerationType;
+
+  typedef std::vector<SubStatePtr> SubStates;
+
+  typedef typename Matrix_<3,3>::type RotationMatrix;
+
+public:
+  virtual ~State();
+
+  virtual IndexType getVectorDimension() const { return vector_.rows(); }
+  virtual IndexType getCovarianceDimension() const { return covariance_.rows(); }
+
+  virtual void reset();
+  virtual void updated();
+  virtual void normalize();
+
+  virtual bool valid() const;
+
+  virtual BaseState& base() { return *base_; }
+  virtual const BaseState& base() const { return *base_; }
+
+  virtual const Vector& getVector() const { return vector_; }
+  virtual const Covariance& getCovariance() const { return covariance_; }
+  template <int Size> VectorBlock<const Vector, Size> getSegment(IndexType start) const { return vector_.segment<Size>(start); }
+
+  virtual Vector& x() { return vector_; }
+  virtual Covariance& P() { return covariance_; }
+//  virtual VectorSegment x0() { return vector_.segment<VectorDimension>(0); }
+//  virtual CovarianceBlock P0() { return covariance_.block<CovarianceDimension,CovarianceDimension>(0, 0); }
+
+  virtual void update(const Vector &vector_update);
+  virtual void updateOrientation(const ColumnVector3 &rotation_vector);
+
+  virtual SystemStatus getSystemStatus() const { return system_status_; }
+  virtual SystemStatus getMeasurementStatus() const { return measurement_status_; }
+
+  virtual bool inSystemStatus(SystemStatus test_status) const;
+  virtual bool setSystemStatus(SystemStatus new_status);
+  virtual bool setMeasurementStatus(SystemStatus new_status);
+  virtual bool updateSystemStatus(SystemStatus set, SystemStatus clear);
+  virtual bool updateMeasurementStatus(SystemStatus set, SystemStatus clear);
+
+  typedef boost::function<bool(SystemStatus&)> SystemStatusCallback;
+  virtual void addSystemStatusCallback(const SystemStatusCallback& callback);
+
+  virtual const boost::shared_ptr<OrientationStateType> &orientation() const   { return orientation_; }
+  virtual const boost::shared_ptr<RateStateType> &rate() const                 { return rate_; }
+  virtual const boost::shared_ptr<PositionStateType> &position() const         { return position_; }
+  virtual const boost::shared_ptr<VelocityStateType> &velocity() const         { return velocity_; }
+  virtual const boost::shared_ptr<AccelerationStateType> &acceleration() const { return acceleration_; }
+
+  virtual ConstOrientationType getOrientation() const;
+  virtual ConstRateType getRate() const;
+  virtual ConstPositionType getPosition() const;
+  virtual ConstVelocityType getVelocity() const;
+  virtual ConstAccelerationType getAcceleration() const;
+
+  void setOrientation(const Quaternion& orientation);
+  template <typename Derived> void setOrientation(const Eigen::MatrixBase<Derived>& orientation);
+  void setRollPitch(const Quaternion& orientation);
+  void setRollPitch(ScalarType roll, ScalarType pitch);
+  void setYaw(const Quaternion& orientation);
+  void setYaw(ScalarType yaw);
+  template <typename Derived> void setRate(const Eigen::MatrixBase<Derived>& rate);
+  template <typename Derived> void setPosition(const Eigen::MatrixBase<Derived>& position);
+  template <typename Derived> void setVelocity(const Eigen::MatrixBase<Derived>& velocity);
+  template <typename Derived> void setAcceleration(const Eigen::MatrixBase<Derived>& acceleration);
+
+  void getRotationMatrix(RotationMatrix &R) const;
+  const State::RotationMatrix &R() const;
+  double getYaw() const;
+  void getEuler(double &roll, double &pitch, double &yaw) const;
+  ColumnVector3 getEuler() const;
+
+  const SubStates& getSubStates() const { return substates_; }
+  template <int SubVectorDimension, int SubCovarianceDimension> boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > getSubState(const Model *model) const;
+  template <int SubVectorDimension, int SubCovarianceDimension> boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > getSubState(const std::string& name) const;
+  template <int SubVectorDimension, int SubCovarianceDimension> boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > addSubState(const std::string& name = std::string());
+  template <int SubVectorDimension, int SubCovarianceDimension> boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > addSubState(const Model *model, const std::string& name = std::string());
+
+  const ros::Time& getTimestamp() const { return timestamp_; }
+  void setTimestamp(const ros::Time& timestamp) { timestamp_ = timestamp; }
+
+protected:
+  State();
+  void construct();
+
+  OrientationType orientationPart();
+  RateType ratePart();
+  PositionType positionPart();
+  VelocityType velocityPart();
+  AccelerationType accelerationPart();
+
+  void orientationSet();
+  void rollpitchSet();
+  void yawSet();
+  void rateSet();
+  void positionSet();
+  void velocitySet();
+  void accelerationSet();
+
+protected:
+  Vector vector_;
+  Covariance covariance_;
+
+  SystemStatus system_status_;
+  SystemStatus measurement_status_;
+
+  std::vector<SystemStatusCallback> status_callbacks_;
+
+  SubStates substates_;
+  std::map<const Model *, SubStateWPtr> substates_by_model_;
+  std::map<std::string, SubStateWPtr> substates_by_name_;
+
+  boost::shared_ptr<BaseState> base_;
+  boost::shared_ptr<OrientationStateType> orientation_;
+  boost::shared_ptr<RateStateType> rate_;
+  boost::shared_ptr<PositionStateType> position_;
+  boost::shared_ptr<VelocityStateType> velocity_;
+  boost::shared_ptr<AccelerationStateType> acceleration_;
+
+  Vector fake_orientation_;
+  Vector fake_rate_;
+  Vector fake_position_;
+  Vector fake_velocity_;
+  Vector fake_acceleration_;
+
+  ros::Time timestamp_;
+
+  // cached rotation matrix
+  mutable RotationMatrix R_;
+  mutable bool R_valid_;
+};
+
+class FullState : public State
+{
+public:
+  FullState();
+  virtual ~FullState();
+};
+
+class OrientationPositionVelocityState : public State
+{
+public:
+  OrientationPositionVelocityState();
+  virtual ~OrientationPositionVelocityState();
+};
+
+class OrientationOnlyState : public State
+{
+public:
+  OrientationOnlyState();
+  virtual ~OrientationOnlyState();
+};
+
+class PositionVelocityState : public State
+{
+public:
+  PositionVelocityState();
+  virtual ~PositionVelocityState();
+};
+
+} // namespace hector_pose_estimation
+
+#include <hector_pose_estimation/state.inl>
+
+#endif // HECTOR_POSE_ESTIMATION_STATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.inl b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.inl
new file mode 100644
index 0000000..5cde182
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/state.inl	
@@ -0,0 +1,68 @@
+//=================================================================================================
+// Copyright (c) 2014, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_STATE_INL
+#define HECTOR_POSE_ESTIMATION_STATE_INL
+
+#include <hector_pose_estimation/state.h>
+
+namespace hector_pose_estimation {
+
+template <typename Derived>
+void State::setOrientation(const Eigen::MatrixBase<Derived>& orientation) {
+  eigen_assert(orientation.rows() == 4 && orientation.cols() == 1);
+  fake_orientation_ = orientation;
+}
+
+template <typename Derived>
+void State::setRate(const Eigen::MatrixBase<Derived>& rate) {
+  eigen_assert(rate.rows() == 3 && rate.cols() == 1);
+  fake_rate_ = rate;
+}
+
+template <typename Derived>
+void State::setPosition(const Eigen::MatrixBase<Derived>& position) {
+  eigen_assert(position.rows() == 3 && position.cols() == 1);
+  fake_position_ = position;
+}
+
+template <typename Derived>
+void State::setVelocity(const Eigen::MatrixBase<Derived>& velocity) {
+  eigen_assert(velocity.rows() == 3 && velocity.cols() == 1);
+  fake_velocity_ = velocity;
+}
+
+template <typename Derived>
+void State::setAcceleration(const Eigen::MatrixBase<Derived>& acceleration) {
+  eigen_assert(acceleration.rows() == 3 && acceleration.cols() == 1);
+  fake_acceleration_ = acceleration;
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_STATE_INL
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/substate.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/substate.h
new file mode 100644
index 0000000..a1dd0da
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/substate.h	
@@ -0,0 +1,189 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_SUBSTATE_H
+#define HECTOR_POSE_ESTIMATION_SUBSTATE_H
+
+#include <hector_pose_estimation/state.h>
+
+namespace hector_pose_estimation {
+
+class SubState
+{
+public:
+  SubState(State& state) : state_(state) {}
+  virtual ~SubState() {}
+
+  virtual int getVectorDimension() const = 0;
+  virtual int getCovarianceDimension() const = 0;
+  virtual int getVectorIndex() const = 0;
+  virtual int getCovarianceIndex() const = 0;
+
+  virtual void reset() {}
+  virtual void updated() {}
+  virtual void normalize() {}
+
+protected:
+  State& state_;
+  template <int _VectorDimension, int _CovarianceDimension> class initializer;
+};
+
+template <int _VectorDimension, int _CovarianceDimension> class SubState::initializer {
+public:
+  enum { VectorDimension = _VectorDimension };
+  enum { CovarianceDimension = _CovarianceDimension };
+  initializer(State& state) : index_(state.getVector().rows()), covariance_index_(state.getCovariance().rows()) {
+    assert(index_ + VectorDimension <= MaxVectorSize);
+    state.x().conservativeResize(index_ + VectorDimension);
+    assert(covariance_index_ + CovarianceDimension <= MaxMatrixRowsCols);
+    state.P().conservativeResize(covariance_index_ + CovarianceDimension, covariance_index_ + CovarianceDimension);
+  }
+protected:
+  const IndexType index_;
+  const IndexType covariance_index_;
+};
+
+template <> class SubState::initializer<Dynamic,Dynamic> {
+public:
+  enum { VectorDimension = Dynamic };
+  enum { CovarianceDimension = Dynamic };
+  initializer(State& state) : index_(0), covariance_index_(0)
+  {}
+protected:
+  const IndexType index_;
+  const IndexType covariance_index_;
+};
+extern template class SubState::initializer<Dynamic,Dynamic>;
+
+template <int _VectorDimension, int _CovarianceDimension = _VectorDimension>
+class SubState_ : public SubState, public SubState::initializer<_VectorDimension, _CovarianceDimension>
+{
+public:
+  enum { VectorDimension = SubState::initializer<_VectorDimension, _CovarianceDimension>::VectorDimension };
+  enum { CovarianceDimension = SubState::initializer<_VectorDimension, _CovarianceDimension>::CovarianceDimension };
+  typedef ColumnVector_<VectorDimension> Vector;
+
+  typedef VectorBlock<State::Vector,VectorDimension> VectorSegment;
+  typedef Block<State::Covariance,CovarianceDimension,CovarianceDimension> CovarianceBlock;
+  typedef Block<State::Covariance,Dynamic,CovarianceDimension> CrossVarianceBlock;
+
+  typedef VectorBlock<const State::Vector,VectorDimension> ConstVectorSegment;
+  typedef Block<const State::Covariance,CovarianceDimension,CovarianceDimension> ConstCovarianceBlock;
+  typedef Block<const State::Covariance,Dynamic,CovarianceDimension> ConstCrossVarianceBlock;
+
+  typedef boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > Ptr;
+
+  using SubState::initializer<_VectorDimension, _CovarianceDimension>::index_;
+  using SubState::initializer<_VectorDimension, _CovarianceDimension>::covariance_index_;
+
+public:
+  SubState_(State& state)
+    : SubState(state)
+    , SubState::initializer<_VectorDimension, _CovarianceDimension>(state)
+  {}
+  virtual ~SubState_() {}
+
+  int getVectorDimension() const { return VectorDimension; }
+  int getCovarianceDimension() const { return CovarianceDimension; }
+  int getVectorIndex() const { return index_; }
+  int getCovarianceIndex() const { return covariance_index_; }
+
+  ConstVectorSegment getVector() const { return ConstVectorSegment(state_.getVector(), index_, getVectorDimension()); }
+  ConstCovarianceBlock getCovariance() const { return ConstCovarianceBlock(state_.getCovariance(), covariance_index_, covariance_index_, getCovarianceDimension(), getCovarianceDimension()); }
+  template <typename OtherSubState> Block<const State::Covariance,CovarianceDimension,OtherSubState::CovarianceDimension> getCrossVariance(const OtherSubState &other) const { return Block<const State::Covariance,CovarianceDimension,OtherSubState::CovarianceDimension>(state_.getCovariance(), covariance_index_, covariance_index_, getCovarianceDimension(), other.getCovarianceDimension()); }
+  template <int Size> VectorBlock<const Vector, Size> getSegment(IndexType start) const { return VectorBlock<const Vector, Size>(state_.getVector(), index_ + start); }
+
+  VectorSegment vector() { return VectorSegment(state_.x(), index_, getVectorDimension()); }
+  CovarianceBlock P() { return CovarianceBlock(state_.P(), covariance_index_, covariance_index_, getCovarianceDimension(), getCovarianceDimension()); }
+  CrossVarianceBlock P01() { return CrossVarianceBlock(state_.P(), 0, covariance_index_, state_.getCovarianceDimension(), getCovarianceDimension()); }
+
+  template <typename VectorType> VectorBlock<VectorType,VectorDimension> segment(VectorType &vector) { return VectorBlock<VectorType,VectorDimension>(vector, index_, getVectorDimension()); }
+  template <typename MatrixType> Block<MatrixType,CovarianceDimension,CovarianceDimension> block(MatrixType &matrix) { return Block<MatrixType,CovarianceDimension,CovarianceDimension>(matrix, covariance_index_, covariance_index_, getCovarianceDimension(), getCovarianceDimension()); }
+  template <typename MatrixType, typename OtherSubState> Block<MatrixType,CovarianceDimension,OtherSubState::CovarianceDimension> block(MatrixType &matrix, const OtherSubState &other) { return Block<MatrixType,CovarianceDimension,OtherSubState::CovarianceDimension>(matrix, covariance_index_, other.getCovarianceIndex(), getCovarianceDimension(), other.getCovarianceDimension()); }
+  template <typename MatrixType> Block<MatrixType,CovarianceDimension,MatrixType::ColsAtCompileTime> rows(MatrixType &matrix) { return Block<MatrixType,CovarianceDimension,MatrixType::ColsAtCompileTime>(matrix, covariance_index_, 0, getCovarianceDimension(), matrix.cols()); }
+  template <typename MatrixType> Block<MatrixType,MatrixType::RowsAtCompileTime,CovarianceDimension> cols(MatrixType &matrix) { return Block<MatrixType,MatrixType::RowsAtCompileTime,CovarianceDimension>(matrix, 0, covariance_index_, matrix.rows(), getCovarianceDimension()); }
+};
+extern template class SubState_<Dynamic,Dynamic>;
+
+class BaseState : public SubState_<Dynamic,Dynamic>
+{
+public:
+    BaseState(State& state, int vector_dimension, int covariance_dimension)
+      : SubState_<Dynamic,Dynamic>(state)
+      , dimension_(vector_dimension)
+      , covariance_dimension_(covariance_dimension)
+    {}
+    virtual ~BaseState() {}
+
+    int getVectorDimension() const { return dimension_; }
+    int getCovarianceDimension() const { return covariance_dimension_; }
+
+private:
+    const IndexType dimension_;
+    const IndexType covariance_dimension_;
+};
+
+template <int _VectorDimension, int _CovarianceDimension>
+boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > State::getSubState(const Model *model) const {
+  return boost::dynamic_pointer_cast<SubState_<_VectorDimension, _CovarianceDimension> >(substates_by_model_.count(model) ? substates_by_model_.at(model).lock() : SubStatePtr());
+}
+
+//template <>
+//inline boost::shared_ptr<BaseState> State::getSubState<Dynamic>(const Model *) const {
+//  return base_;
+//}
+
+template <int _VectorDimension, int _CovarianceDimension>
+boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > State::getSubState(const std::string& name) const {
+  return boost::dynamic_pointer_cast<SubState_<_VectorDimension, _CovarianceDimension> >(substates_by_name_.count(name) ? substates_by_name_.at(name).lock() : SubStatePtr());
+}
+
+template <int _VectorDimension, int _CovarianceDimension>
+boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > State::addSubState(const std::string& name) {
+  return addSubState<_VectorDimension, _CovarianceDimension>(0, name);
+}
+
+template <int _VectorDimension, int _CovarianceDimension>
+boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > State::addSubState(const Model *model, const std::string& name) {
+  boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > substate;
+  if (!name.empty()) substate = getSubState<_VectorDimension, _CovarianceDimension>(name);
+  if (!substate) {
+    if (substates_by_name_.count(name)) return substate; // state already exists but with a different type
+    substate.reset(new SubState_<_VectorDimension, _CovarianceDimension>(*this));
+    substates_.push_back(boost::static_pointer_cast<SubState>(substate));
+    if (!name.empty()) substates_by_name_[name] = SubStateWPtr(boost::static_pointer_cast<SubState>(substate));
+  }
+  if (model) {
+    substates_by_model_[model] = SubStateWPtr(boost::static_pointer_cast<SubState>(substate));
+  }
+  return substate;
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_SUBSTATE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.h
new file mode 100644
index 0000000..93c1a73
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.h	
@@ -0,0 +1,142 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_SYSTEM_H
+#define HECTOR_POSE_ESTIMATION_SYSTEM_H
+
+#include <hector_pose_estimation/system_model.h>
+#include <hector_pose_estimation/types.h>
+#include <hector_pose_estimation/state.h>
+#include <hector_pose_estimation/input.h>
+#include <hector_pose_estimation/filter.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel> class System_;
+
+class System
+{
+public:
+  System(const std::string& name);
+  virtual ~System();
+
+  template <class ConcreteModel> static boost::shared_ptr<System_<ConcreteModel> > create(ConcreteModel *model, const std::string& name = "system");
+
+  virtual const std::string& getName() const { return name_; }
+  virtual void setName(const std::string& name) { name_ = name; }
+
+  virtual SystemModel *getModel() const { return 0; }
+
+  virtual Filter *filter() const = 0;
+  virtual Filter::Predictor *predictor() const = 0;
+  virtual void setFilter(Filter *filter) = 0;
+
+  virtual bool init(PoseEstimation& estimator, State& state);
+  virtual void cleanup();
+  virtual void reset(State& state);
+
+  virtual bool active(const State& state);
+  virtual SystemStatus getStatusFlags() const { return status_flags_; }
+
+  virtual ParameterList& parameters() { return parameters_; }
+  virtual const ParameterList& parameters() const { return parameters_; }
+
+  virtual void getPrior(State &state) const;
+
+  virtual bool update(double dt);
+
+  virtual void updated();
+  virtual bool limitState(State& state);
+
+protected:
+  virtual bool updateImpl(double dt) = 0;
+  virtual bool prepareUpdate(State &state, double dt) { return getModel()->prepareUpdate(state, dt); }
+  virtual void afterUpdate(State &state) { getModel()->afterUpdate(state); }
+
+protected:
+  std::string name_;
+  ParameterList parameters_;
+  SystemStatus status_flags_;
+};
+
+template <class ConcreteModel>
+class System_ : public System
+{
+public:
+  typedef ConcreteModel Model;
+  typedef typename traits::Input<ConcreteModel>::Type InputType;
+  typedef typename traits::Input<ConcreteModel>::Vector InputVector;
+
+  System_(const std::string& name = "system")
+    : System(name)
+    , model_(new Model)
+  {
+    parameters_.add(model_->parameters());
+  }
+
+  System_(Model *model, const std::string& name)
+    : System(name)
+    , model_(model)
+  {
+    parameters_.add(model_->parameters());
+  }
+
+  virtual ~System_() {}
+
+  virtual void reset(State& state) {
+    System::reset(state);
+    if (predictor()) predictor()->reset();
+  }
+
+  virtual Model *getModel() const { return model_.get(); }
+
+  virtual Filter *filter() const { return predictor_ ? predictor_->base() : 0; }
+  virtual Filter::Predictor_<Model> *predictor() const { return predictor_.get(); }
+  virtual void setFilter(Filter *filter = 0); // implemented in filter/set_filter.h
+
+protected:
+  virtual bool updateImpl(double dt);
+
+private:
+  boost::shared_ptr<Model> model_;
+  boost::shared_ptr< Filter::Predictor_<Model> > predictor_;
+};
+
+template <class ConcreteModel>
+boost::shared_ptr<System_<ConcreteModel> > System::create(ConcreteModel *model, const std::string& name)
+{
+  return boost::make_shared<System_<ConcreteModel> >(model, name);
+}
+
+} // namespace hector_pose_estimation
+
+#include "system.inl"
+
+#endif // HECTOR_POSE_ESTIMATION_SYSTEM_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.inl b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.inl
new file mode 100644
index 0000000..54efc95
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system.inl	
@@ -0,0 +1,50 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_SYSTEM_INL
+#define HECTOR_POSE_ESTIMATION_SYSTEM_INL
+
+#include <hector_pose_estimation/system.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel>
+bool System_<ConcreteModel>::updateImpl(double dt)
+{
+  if (!prepareUpdate(filter()->state(), dt)) return false;
+
+  ROS_DEBUG("Updating with system model %s (dt = %f)", getName().c_str(), dt);
+  if (!predictor()->predict(dt)) return false;
+
+  afterUpdate(filter()->state());
+  return true;
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_SYSTEM_INL
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/generic_quaternion_system_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/generic_quaternion_system_model.h
new file mode 100644
index 0000000..0ebf5f9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/generic_quaternion_system_model.h	
@@ -0,0 +1,104 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
+#define HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
+
+#include <hector_pose_estimation/system_model.h>
+#include <hector_pose_estimation/system.h>
+
+#include <hector_pose_estimation/system/imu_input.h>
+#include <hector_pose_estimation/system/imu_model.h>
+
+namespace hector_pose_estimation {
+
+class GenericQuaternionSystemModel;
+
+//namespace traits {
+//  template <> struct Input<GenericQuaternionSystemModel> {
+//    enum { Dimension = ImuInput::Dimension };
+//    typedef ImuInput Type;
+//    typedef ImuInput::Vector Vector;
+//    typedef ImuInput::Variance Variance;
+//  };
+//} // namespace traits
+
+class GenericQuaternionSystemModel : public TimeContinuousSystemModel_<GenericQuaternionSystemModel>
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  GenericQuaternionSystemModel();
+  virtual ~GenericQuaternionSystemModel();
+
+  virtual bool init(PoseEstimation& estimator, System &system, State& state);
+
+  virtual void getPrior(State &state);
+
+  virtual SystemStatus getStatusFlags(const State& state);
+
+  bool prepareUpdate(State& state, double dt);
+
+  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getDerivative;
+  virtual void getDerivative(StateVector& x_dot, const State& state);
+  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getSystemNoise;
+  virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init = true);
+  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getStateJacobian;
+  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true);
+
+//  void setGravity(double gravity) { gravity_ = gravity; }
+//  double getGravity() const { return gravity_; }
+
+protected:
+  AliasT<double> gravity_;
+  double rate_stddev_;
+  double acceleration_stddev_;
+  double angular_acceleration_stddev_;
+  double velocity_stddev_;
+
+  boost::shared_ptr<ImuInput> imu_;
+  boost::shared_ptr<Gyro> gyro_;
+  boost::shared_ptr<Accelerometer> accelerometer_;
+
+  ColumnVector3 rate_nav_;
+  ColumnVector3 acceleration_nav_;
+//  State::Covariance Q_;
+
+  typedef Input_<3> TorqueInput;
+  TorqueInput::Ptr torque_input_;
+  typedef Input_<3> RateInput;
+  RateInput::Ptr rate_input_;
+  typedef Input_<3> ForceInput;
+  ForceInput::Ptr force_input_;
+};
+
+extern template class System_<GenericQuaternionSystemModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/ground_vehicle_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/ground_vehicle_model.h
new file mode 100644
index 0000000..d0595cf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/ground_vehicle_model.h	
@@ -0,0 +1,76 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#ifndef HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
+#define HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
+
+#include <hector_pose_estimation/system/generic_quaternion_system_model.h>
+
+namespace hector_pose_estimation {
+
+class GroundVehicleModel;
+
+//namespace traits {
+//  template <> struct Input<GroundVehicleModel> {
+//    enum { Dimension = ImuInput::Dimension };
+//    typedef ImuInput Type;
+//    typedef ImuInput::Vector Vector;
+//    typedef ImuInput::Variance Variance;
+//  };
+//} // namespace traits
+
+class GroundVehicleModel : public GenericQuaternionSystemModel
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  GroundVehicleModel();
+  virtual ~GroundVehicleModel();
+
+  virtual void getPrior(State &state);
+  virtual SystemStatus getStatusFlags(const State& state);
+
+  using GenericQuaternionSystemModel::getDerivative;
+  virtual void getDerivative(StateVector& x_dot, const State& state);
+  using GenericQuaternionSystemModel::getStateJacobian;
+  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true);
+
+  virtual bool limitState(State& state);
+
+protected:
+  double gain_;
+  double base_height_, min_height_, max_height_;
+  typename Matrix_<3,3>::type dR3;
+};
+
+extern template class System_<GenericQuaternionSystemModel>;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_input.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_input.h
new file mode 100644
index 0000000..bb00681
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_input.h	
@@ -0,0 +1,77 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_IMvector_INPUT_H
+#define HECTOR_POSE_ESTIMATION_IMvector_INPUT_H
+
+#include <hector_pose_estimation/input.h>
+#include <hector_pose_estimation/matrix.h>
+
+#include <sensor_msgs/Imu.h>
+
+namespace hector_pose_estimation {
+
+class ImuInput : public Input_<6>
+{
+public:
+  enum InputIndex {
+    ACCEL_X = 0,
+    ACCEL_Y,
+    ACCEL_Z,
+    GYRO_X,
+    GYRO_Y,
+    GYRO_Z
+  };
+  typedef typename Vector::ConstFixedSegmentReturnType<3>::Type AccelerationType;
+  typedef typename Vector::ConstFixedSegmentReturnType<3>::Type RateType;
+
+  ImuInput() {}
+  ImuInput(const sensor_msgs::Imu& imu) { *this = imu; }
+  virtual ~ImuInput() {}
+
+  virtual const std::string& getName() const { static std::string name("imu"); return name; }
+
+  ImuInput &operator=(const sensor_msgs::Imu& imu) {
+    u_(ACCEL_X) = imu.linear_acceleration.x;
+    u_(ACCEL_Y) = imu.linear_acceleration.y;
+    u_(ACCEL_Z) = imu.linear_acceleration.z;
+    u_(GYRO_X)  = imu.angular_velocity.x;
+    u_(GYRO_Y)  = imu.angular_velocity.y;
+    u_(GYRO_Z)  = imu.angular_velocity.z;
+
+    // TODO: set variance if message contains non-zero covariance matrix
+    return *this;
+  }
+
+  AccelerationType getAcceleration() const { return u_.segment<3>(ACCEL_X); }
+  RateType getRate() const { return u_.segment<3>(GYRO_X); }
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_IMvector_INPUT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_model.h
new file mode 100644
index 0000000..7176aa5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system/imu_model.h	
@@ -0,0 +1,99 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_IMU_MODEL_H
+#define HECTOR_POSE_ESTIMATION_IMU_MODEL_H
+
+#include <hector_pose_estimation/system_model.h>
+#include <hector_pose_estimation/system.h>
+
+#include <hector_pose_estimation/system/imu_input.h>
+
+namespace hector_pose_estimation {
+
+class GyroModel : public TimeContinuousSystemModel_<GyroModel,3>
+{
+public:
+  using TimeContinuousSystemModel_<GyroModel,3>::SubState;
+
+  GyroModel();
+  virtual ~GyroModel();
+
+  bool init(PoseEstimation& estimator, System &system, State& state);
+  void getPrior(State &state);
+
+  ColumnVector3 getError() const { return bias_->getVector(); }
+
+  ColumnVector3 getRate(const ImuInput::RateType& imu_rate, const State& state) const;
+  void getRateJacobian(SystemMatrixBlock& C, const State& state, bool init = true);
+  void getRateNoise(CovarianceBlock Q, const State& state, bool init = true);
+
+  using TimeContinuousSystemModel_<GyroModel,3>::getSystemNoise;
+  void getSystemNoise(NoiseVariance& Q, const State& state, bool init = true);
+
+private:
+  typename SubState::Ptr bias_;
+  double rate_stddev_;
+  double rate_drift_;
+};
+
+class AccelerometerModel : public TimeContinuousSystemModel_<AccelerometerModel,3>
+{
+public:
+  using TimeContinuousSystemModel_<AccelerometerModel,3>::SubState;
+
+  AccelerometerModel();
+  virtual ~AccelerometerModel();
+
+  bool init(PoseEstimation& estimator, System &system, State& state);
+  void getPrior(State &state);
+
+  ColumnVector3 getError() const { return bias_->getVector(); }
+
+  ColumnVector3 getAcceleration(const ImuInput::AccelerationType& imu_acceleration, const State& state) const;
+  void getAccelerationJacobian(SystemMatrixBlock& C, const State& state, bool init = true);
+  void getAccelerationNoise(CovarianceBlock Q, const State& state, bool init = true);
+
+  using TimeContinuousSystemModel_<AccelerometerModel,3>::getSystemNoise;
+  void getSystemNoise(NoiseVariance& Q, const State& state, bool init = true);
+
+private:
+  typename SubState::Ptr bias_;
+  double acceleration_stddev_;
+  double acceleration_drift_;
+};
+
+typedef System_<GyroModel> Gyro;
+extern template class System_<GyroModel>;
+
+typedef System_<AccelerometerModel> Accelerometer;
+extern template class System_<AccelerometerModel>;
+
+}
+
+#endif // HECTOR_POSE_ESTIMATION_IMU_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.h
new file mode 100644
index 0000000..90b5393
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.h	
@@ -0,0 +1,167 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_H
+#define HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_H
+
+#include <hector_pose_estimation/model.h>
+#include <hector_pose_estimation/substate.h>
+#include <hector_pose_estimation/input.h>
+
+namespace hector_pose_estimation {
+
+class SystemModel : public Model {
+public:
+  virtual ~SystemModel() {}
+
+  virtual bool init(PoseEstimation& estimator, System &system, State& state) { return true; }
+
+  enum SystemTypeEnum { UNKNOWN_SYSTEM_TYPE, TIME_DISCRETE, TIME_CONTINUOUS };
+  virtual SystemTypeEnum getSystemType() const { return UNKNOWN_SYSTEM_TYPE; }
+
+  virtual SystemStatus getStatusFlags(const State& state) { return SystemStatus(0); }
+  virtual bool active(const State& state) { return true; }
+
+  virtual void getPrior(State &state) {}
+
+  virtual bool prepareUpdate(State& state, double dt) { return true; }
+  virtual void afterUpdate(State& state) {}
+
+  virtual bool limitState(State& state) { return true; }
+};
+
+namespace traits {
+
+  template <class Derived, int _VectorDimension = Derived::VectorDimension, int _CovarianceDimension = _VectorDimension>
+  struct SystemModel {
+    enum { VectorDimension = _VectorDimension };
+    enum { CovarianceDimension = _CovarianceDimension };
+
+    typedef State::Vector StateVector;
+    typedef State::Covariance NoiseVariance;
+    typedef State::SystemMatrix SystemMatrix;
+
+    enum { InputDimension = traits::Input<Derived>::Dimension };
+    typedef typename traits::Input<Derived>::Type   InputType;
+    typedef typename traits::Input<Derived>::Vector InputVector;
+    typedef typename Matrix_<State::Covariance::RowsAtCompileTime,InputDimension>::type InputMatrix;
+
+    typedef SubState_<VectorDimension,CovarianceDimension> SubState;
+    typedef typename ColumnVector_<VectorDimension>::type Vector;
+
+    typedef typename SubState::VectorSegment VectorSegment;
+    typedef typename SubState::CovarianceBlock CovarianceBlock;
+    typedef typename SubState::CrossVarianceBlock CrossVarianceBlock;
+    typedef Block<SystemMatrix,VectorDimension,SystemMatrix::ColsAtCompileTime> SystemMatrixBlock;
+
+    typedef typename SubState::ConstVectorSegment ConstVectorSegment;
+    typedef typename SubState::ConstCovarianceBlock ConstCovarianceBlock;
+    typedef typename SubState::ConstCrossVarianceBlock ConstCrossVarianceBlock;
+    typedef Block<const SystemMatrix,VectorDimension,SystemMatrix::ColsAtCompileTime> ConstSystemMatrixBlock;
+  };
+
+  #define SYSTEM_MODEL_TRAIT(Derived, _VectorDimension, _CovarianceDimension) \
+    typedef traits::SystemModel<Derived, _VectorDimension, _CovarianceDimension> trait; \
+    \
+    enum { VectorDimension = trait::VectorDimension }; \
+    enum { CovarianceDimension = trait::CovarianceDimension }; \
+    \
+    typedef typename trait::StateVector   StateVector; \
+    typedef typename trait::NoiseVariance NoiseVariance; \
+    typedef typename trait::SystemMatrix  SystemMatrix; \
+    \
+    enum { InputDimension = trait::InputDimension }; \
+    typedef typename trait::InputType     InputType; \
+    typedef typename trait::InputVector   InputVector; \
+    typedef typename trait::InputMatrix   InputMatrix; \
+    \
+    typedef typename trait::SubState SubState; \
+    typedef typename trait::Vector Vector; \
+    \
+    typedef typename trait::VectorSegment VectorSegment; \
+    typedef typename trait::CovarianceBlock CovarianceBlock; \
+    typedef typename trait::CrossVarianceBlock CrossVarianceBlock; \
+    typedef typename trait::SystemMatrixBlock SystemMatrixBlock; \
+    \
+    typedef typename trait::ConstVectorSegment ConstVectorSegment; \
+    typedef typename trait::ConstCovarianceBlock ConstCovarianceBlock; \
+    typedef typename trait::ConstCrossVarianceBlock ConstCrossVarianceBlock; \
+    typedef typename trait::ConstSystemMatrixBlock ConstSystemMatrixBlock; \
+
+} // namespace traits
+
+template <class Derived, int _VectorDimension = Dynamic, int _CovarianceDimension = _VectorDimension>
+class SystemModel_ : public SystemModel {
+public:
+  SYSTEM_MODEL_TRAIT(Derived, _VectorDimension, _CovarianceDimension)
+  virtual ~SystemModel_() {}
+
+  virtual SystemModel::SystemTypeEnum getSystemType() const { return SystemModel::TIME_DISCRETE; }
+
+  virtual void getPrior(State &state);
+
+  Derived *derived() { return static_cast<Derived *>(this); }
+  const Derived *derived() const { return static_cast<const Derived *>(this); }
+
+  virtual void getExpectedDiff(StateVector& x_diff, const State& state, double dt);
+  virtual void getStateJacobian(SystemMatrix& A, const State& state, double dt, bool init = true);
+  virtual void getInputJacobian(InputMatrix& B, const State& state, double dt, bool init = true);
+  virtual void getSystemNoise(NoiseVariance& Q, const State& state, double dt, bool init = true);
+};
+
+template <class Derived, int _VectorDimension = Dynamic, int _CovarianceDimension = _VectorDimension>
+class TimeContinuousSystemModel_ : public SystemModel_<Derived, _VectorDimension, _CovarianceDimension> {
+public:
+  SYSTEM_MODEL_TRAIT(Derived, _VectorDimension, _CovarianceDimension)
+
+  TimeContinuousSystemModel_();
+  virtual ~TimeContinuousSystemModel_();
+
+  virtual SystemModel::SystemTypeEnum getSystemType() const { return SystemModel::TIME_CONTINUOUS; }
+
+  virtual void getDerivative(StateVector& x_dot, const State& state);
+  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true);
+  virtual void getInputJacobian(InputMatrix& B, const State& state, bool init = true);
+  virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init = true);
+
+  // the overwritten time discrete model functions are implemented in system_model.inl
+  void getExpectedDiff(StateVector& x_diff, const State& state, double dt);
+  void getStateJacobian(SystemMatrix& A, const State& state, double dt, bool init = true);
+  void getInputJacobian(InputMatrix& B, const State& state, double dt, bool init = true);
+  void getSystemNoise(NoiseVariance& Q, const State& state, double dt, bool init = true);
+
+private:
+  struct internal;
+  struct internal *internal_;
+};
+
+} // namespace hector_pose_estimation
+
+#include "system_model.inl"
+
+#endif // HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.inl b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.inl
new file mode 100644
index 0000000..5ab73cb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/system_model.inl	
@@ -0,0 +1,154 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_INL
+#define HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_INL
+
+#include <hector_pose_estimation/system_model.h>
+
+namespace hector_pose_estimation {
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void SystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getPrior(State &state)
+{
+  const double dt = 10.0;
+  getSystemNoise(state.P(), state, dt, true);
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void SystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getExpectedDiff(StateVector& x_diff, const State& state, double dt)
+{
+  x_diff.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void SystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getStateJacobian(SystemMatrix& A, const State& state, double dt, bool init)
+{
+  if (init) A.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void SystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getInputJacobian(InputMatrix& B, const State& state, double dt, bool init)
+{
+  if (init) B.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void SystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getSystemNoise(NoiseVariance& Q, const State& state, double dt, bool init)
+{
+  if (init) Q.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getDerivative(StateVector& x_dot, const State& state)
+{
+  x_dot.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getStateJacobian(SystemMatrix& A, const State& state, bool init)
+{
+  if (init) A.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getInputJacobian(InputMatrix& B, const State& state, bool init)
+{
+  if (init) B.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getSystemNoise(NoiseVariance& Q, const State& state, bool init)
+{
+  if (init) Q.setZero();
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+struct TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::internal {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  typename ConcreteModel::StateVector x_diff;
+  typename ConcreteModel::SystemMatrix A;
+  typename ConcreteModel::InputMatrix B;
+  typename ConcreteModel::NoiseVariance Q;
+
+  internal(const State &state)
+    : x_diff(state.getVectorDimension())
+    , A(state.getCovarianceDimension(), state.getCovarianceDimension())
+    , B(state.getCovarianceDimension(), IndexType(InputDimension))
+    , Q(state.getCovarianceDimension(), state.getCovarianceDimension())
+  {}
+};
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::TimeContinuousSystemModel_()
+  : internal_(0)
+{}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::~TimeContinuousSystemModel_()
+{
+  delete internal_;
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getExpectedDiff(StateVector& x_diff, const State& state, double dt) {
+  if (!internal_) internal_ = new internal(state);
+  //internal_->x_diff = ColumnVector::Zero(x_diff.rows());
+  getDerivative(internal_->x_diff, state);
+  x_diff = dt * internal_->x_diff;
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getStateJacobian(SystemMatrix& A, const State& state, double dt, bool init) {
+  if (!internal_) internal_ = new internal(state);
+  //if (init) internal_->A = SystemMatrix::Zero(A.rows(), A.cols());
+  getStateJacobian(internal_->A, state, init);
+  A = dt * internal_->A;
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getInputJacobian(InputMatrix& B, const State& state, double dt, bool init) {
+  if (!internal_) internal_ = new internal(state);
+  //if (init) internal_->B = InputMatrix::Zero(B.rows(), B.cols());
+  getInputJacobian(internal_->B, state, init);
+  B = dt * internal_->B;
+}
+
+template <class ConcreteModel, int _VectorDimension, int _CovarianceDimension>
+void TimeContinuousSystemModel_<ConcreteModel, _VectorDimension, _CovarianceDimension>::getSystemNoise(NoiseVariance& Q, const State& state, double dt, bool init) {
+  if (!internal_) internal_ = new internal(state);
+  //if (init) internal_->Q = NoiseVariance::Zero(Q.rows(), Q.cols());
+  getSystemNoise(internal_->Q, state, init);
+  Q = dt * internal_->Q;
+  Q.assertSymmetric();
+}
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_SYSTEM_MODEL_INL
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h
new file mode 100644
index 0000000..9f4f7e0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h	
@@ -0,0 +1,116 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_TYPES_H
+#define HECTOR_POSE_ESTIMATION_TYPES_H
+
+#include <hector_pose_estimation/matrix.h>
+#include <hector_pose_estimation/collection.h>
+
+namespace hector_pose_estimation {
+
+  enum VectorIndex {
+    X = 0,
+    Y = 1,
+    Z = 2,
+    W = 3
+  };
+
+  enum {
+    STATUS_ALIGNMENT = 0x1,
+    STATUS_DEGRADED = 0x2,
+    STATUS_READY = 0x4,
+    STATUS_MASK = 0xf,
+
+    STATE_ROLLPITCH = 0x10,
+    STATE_YAW = 0x20,
+    STATE_RATE_XY = 0x100,
+    STATE_RATE_Z = 0x200,
+    STATE_VELOCITY_XY = 0x1000,
+    STATE_VELOCITY_Z = 0x2000,
+    STATE_POSITION_XY = 0x10000,
+    STATE_POSITION_Z = 0x20000,
+    STATE_MASK = 0x33330,
+
+    STATE_PSEUDO_ROLLPITCH = 0x40,
+    STATE_PSEUDO_YAW = 0x80,
+    STATE_PSEUDO_RATE_XY = 0x400,
+    STATE_PSEUDO_RATE_Z = 0x800,
+    STATE_PSEUDO_VELOCITY_XY = 0x4000,
+    STATE_PSEUDO_VELOCITY_Z = 0x8000,
+    STATE_PSEUDO_POSITION_XY = 0x40000,
+    STATE_PSEUDO_POSITION_Z = 0x80000,
+    STATE_PSEUDO_MASK = 0xcccc0
+  };
+  typedef unsigned int SystemStatus;
+
+  std::string getSystemStatusString(const SystemStatus& status, const SystemStatus& asterisk_status = 0);
+  static inline std::ostream& operator<<(std::ostream& os, const SystemStatus& status) {
+    return os << getSystemStatusString(status);
+  }
+
+  class Model;
+
+  class SystemModel;
+  class System;
+  template <class Derived> class System_;
+  typedef boost::shared_ptr<System> SystemPtr;
+  typedef boost::weak_ptr<System> SystemWPtr;
+  typedef Collection<System> Systems;
+
+  class MeasurementModel;
+  class MeasurementUpdate;
+  class Measurement;
+  template <class Derived> class Measurement_;
+  typedef boost::shared_ptr<Measurement> MeasurementPtr;
+  typedef boost::weak_ptr<Measurement> MeasurementWPtr;
+  typedef Collection<Measurement> Measurements;
+
+  class Input;
+  typedef boost::shared_ptr<Input> InputPtr;
+  typedef boost::weak_ptr<Input> InputWPtr;
+  typedef Collection<Input> Inputs;
+
+  class PoseEstimation;
+  class Filter;
+  typedef boost::shared_ptr<Filter> FilterPtr;
+  class State;
+  typedef boost::shared_ptr<State> StatePtr;
+
+  class SubState;
+  template <int VectorDimension, int CovarianceDimension> class SubState_;
+  class BaseState;
+  typedef boost::shared_ptr<SubState> SubStatePtr;
+  typedef boost::weak_ptr<SubState> SubStateWPtr;
+
+  class GlobalReference;
+  typedef boost::shared_ptr<GlobalReference> GlobalReferencePtr;
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_TYPES_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/package.xml
new file mode 100644
index 0000000..24673f7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/package.xml	
@@ -0,0 +1,46 @@
+<package>
+  <name>hector_pose_estimation_core</name>
+  <version>0.3.0</version>
+  <description>
+    hector_pose_estimation_core is the core package of the hector_localization stack. It contains the Extended Kalman Filter (EKF)
+    that estimates the 6DOF pose of the robot. hector_pose_estimation can be used either as a library, as a nodelet or as a standalone node.
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_pose_estimation_core</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>rostime</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>geographic_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>cmake_modules</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>rostime</run_depend>
+  <run_depend>rosconsole</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>geographic_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>eigen</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+  <!-- <test_depend>hector_timing</test_depend> -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter.cpp
new file mode 100644
index 0000000..19b7200
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter.cpp	
@@ -0,0 +1,139 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/filter.h>
+#include <hector_pose_estimation/pose_estimation.h>
+
+#ifdef USE_HECTOR_TIMING
+  #include <hector_diagnostics/timing.h>
+#endif
+
+namespace hector_pose_estimation {
+
+Filter::Filter(State &state)
+  : state_(state)
+{
+}
+
+Filter::~Filter()
+{
+}
+
+bool Filter::init(PoseEstimation& estimator)
+{
+  return true;
+}
+
+void Filter::cleanup()
+{
+}
+
+void Filter::reset()
+{
+  state_.reset();
+}
+
+bool Filter::preparePredict(double)
+{
+  return true;
+}
+
+bool Filter::predict(const Systems& systems, double dt) {
+  bool result = true;
+
+#ifdef USE_HECTOR_TIMING
+  hector_diagnostics::TimingSection section("predict");
+#endif
+
+  if (!preparePredict(dt)) return false;
+
+  // Iterate through system models. For an EKF, this will populate the x_diff vector, A and Q matrices.
+  for(Systems::iterator it = systems.begin(); it != systems.end(); it++) {
+    const SystemPtr& system = *it;
+    result &= predict(system, dt);
+  }
+
+  // Call the filter's global predict method. This will actually calculate the updated state vector and variance.
+  result &= doPredict(dt);
+
+  return result;
+}
+
+bool Filter::predict(const SystemPtr& system, double dt) {
+#ifdef USE_HECTOR_TIMING
+  hector_diagnostics::TimingSection section("predict." + system->getName());
+#endif
+  return system->update(dt);
+}
+
+bool Filter::doPredict(double dt) {
+  // already done in System::update()
+  // state_.updated();
+  return true;
+}
+
+bool Filter::prepareCorrect()
+{
+  return true;
+}
+
+bool Filter::correct(const Measurements& measurements) {
+  bool result = true;
+
+#ifdef USE_HECTOR_TIMING
+  hector_diagnostics::TimingSection section("correct");
+#endif
+
+  if (!prepareCorrect()) return false;
+
+  // Iterate through measurement models. This will process the correction step directly.
+  for(Measurements::iterator it = measurements.begin(); it != measurements.end(); it++) {
+    const MeasurementPtr& measurement = *it;
+    result &= correct(measurement);
+  }
+
+  // Call the filter's global correct method. No-op for EKF.
+  result &= doCorrect();
+
+  return result;
+}
+
+bool Filter::correct(const MeasurementPtr& measurement) {
+#ifdef USE_HECTOR_TIMING
+  hector_diagnostics::TimingSection section("correct." + measurement->getName());
+#endif
+  return measurement->process();
+}
+
+bool Filter::doCorrect() {
+  // already done in Measurement::update()
+  // state_.updated();
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter/ekf.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter/ekf.cpp
new file mode 100644
index 0000000..46d7311
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/filter/ekf.cpp	
@@ -0,0 +1,104 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/filter/ekf.h>
+#include <hector_pose_estimation/system.h>
+
+#include <boost/pointer_cast.hpp>
+
+#ifdef USE_HECTOR_TIMING
+  #include <hector_diagnostics/timing.h>
+#endif
+
+namespace hector_pose_estimation {
+namespace filter {
+
+EKF::EKF(State &state)
+  : Filter(state)
+{}
+
+EKF::~EKF()
+{}
+
+bool EKF::init(PoseEstimation &estimator)
+{
+  x_diff = State::Vector(state_.getVectorDimension());
+  A = State::SystemMatrix(state_.getCovarianceDimension(), state_.getCovarianceDimension());
+  Q = State::Covariance(state_.getCovarianceDimension(), state_.getCovarianceDimension());
+  return true;
+}
+
+bool EKF::preparePredict(double dt)
+{
+  x_diff.setZero();
+  A.setIdentity();
+  Q.setZero();
+  return Filter::preparePredict(dt);
+}
+
+bool EKF::predict(const SystemPtr& system, double dt)
+{
+  if (!Filter::predict(system, dt)) return false;
+  EKF::Predictor *predictor = boost::dynamic_pointer_cast<EKF::Predictor>(system->predictor());
+  x_diff += predictor->x_diff;
+  A += predictor->A;
+  Q += predictor->Q;
+  return true;
+}
+
+bool EKF::doPredict(double dt) {
+  ROS_DEBUG_NAMED("ekf.prediction", "EKF prediction (dt = %f):", dt);
+
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "A      = [" << std::endl << A << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "Q      = [" << std::endl << Q << "]");
+
+#ifdef USE_HECTOR_TIMING
+  { hector_diagnostics::TimingSection section("predict.ekf.covariance");
+#endif
+  state().P() = A * state().P() * A.transpose() + Q;
+  state().P().assertSymmetric();
+
+#ifdef USE_HECTOR_TIMING
+  }
+  { hector_diagnostics::TimingSection section("predict.ekf.state");
+#endif
+  state().update(x_diff);
+
+#ifdef USE_HECTOR_TIMING
+  }
+#endif
+
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "x_pred = [" << state().getVector().transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("ekf.prediction", "P_pred = [" << std::endl << state().getCovariance() << "]");
+
+  Filter::doPredict(dt);
+  return true;
+}
+
+} // namespace filter
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/global_reference.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/global_reference.cpp
new file mode 100644
index 0000000..958fea0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/global_reference.cpp	
@@ -0,0 +1,274 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/global_reference.h>
+#include <hector_pose_estimation/state.h>
+#include <cmath>
+
+#include <ros/console.h>
+
+using namespace std;
+
+namespace hector_pose_estimation {
+
+GlobalReference::GlobalReference()
+{
+  parameters().add("reference_latitude",  reference_latitude_  = std::numeric_limits<double>::quiet_NaN());
+  parameters().add("reference_longitude", reference_longitude_ = std::numeric_limits<double>::quiet_NaN());
+  parameters().add("reference_altitude",  reference_altitude_  = std::numeric_limits<double>::quiet_NaN());
+  parameters().add("reference_heading",   heading_.value       = std::numeric_limits<double>::quiet_NaN());
+
+  reset();
+}
+
+const GlobalReferencePtr &GlobalReference::Instance()
+{
+  static GlobalReferencePtr instance;
+  if (!instance) { instance.reset(new GlobalReference); }
+  return instance;
+}
+
+void GlobalReference::reset()
+{
+  position_ = Position();
+  heading_ = Heading();
+  radius_ = Radius();
+
+  // parameters are in degrees
+  position_.latitude  = reference_latitude_ * M_PI/180.0;
+  position_.longitude = reference_longitude_ * M_PI/180.0;
+  position_.altitude  = reference_altitude_;
+  heading_.value      = reference_heading_;
+
+  updated();
+}
+
+ParameterList& GlobalReference::parameters() {
+  return parameters_;
+}
+
+void GlobalReference::updated(bool intermediate) {
+  // calculate earth radii
+  if (hasPosition()) {
+    radius_ = Radius(position_.latitude);
+  }
+
+  // calculate sin and cos of the heading reference
+  if (hasHeading()) {
+    sincos(heading_.value, &heading_.sin, &heading_.cos);
+  }
+
+  // execute update callbacks
+  if (!intermediate) {
+    for(std::list<UpdateCallback>::iterator cb = update_callbacks_.begin(); cb != update_callbacks_.end(); ++cb)
+      (*cb)();
+  }
+}
+
+GlobalReference::Heading::Heading(double heading) : value(heading)
+{
+  sincos(heading, &sin, &cos);
+}
+
+Quaternion GlobalReference::Heading::quaternion() const
+{
+  double sin_2, cos_2;
+  sincos(0.5 * value, &sin_2, &cos_2);
+  return Quaternion(cos_2, 0.0, 0.0, -sin_2);
+}
+
+GlobalReference::Radius::Radius(double latitude) {
+  // WGS84 constants
+  static const double equatorial_radius = 6378137.0;
+  static const double flattening = 1.0/298.257223563;
+  static const double excentrity2 = 2*flattening - flattening*flattening;
+
+  double temp = 1.0 / (1.0 - excentrity2 * sin(latitude) * sin(latitude));
+  double prime_vertical_radius = equatorial_radius * sqrt(temp);
+  north = prime_vertical_radius * (1 - excentrity2) * temp;
+  east  = prime_vertical_radius * cos(latitude);
+}
+
+void GlobalReference::fromWGS84(double latitude, double longitude, double &x, double &y) {
+  if (!hasPosition()) {
+    x = 0.0;
+    y = 0.0;
+    return;
+  }
+  double north = radius_.north * (latitude  - position_.latitude);
+  double east  = radius_.east  * (longitude - position_.longitude);
+  fromNorthEast(north, east, x, y);
+}
+
+void GlobalReference::toWGS84(double x, double y, double &latitude, double &longitude) {
+  if (!hasPosition()) {
+    latitude  = 0.0;
+    longitude = 0.0;
+    return;
+  }
+
+  double north, east;
+  toNorthEast(x, y, north, east);
+  latitude  = position_.latitude  + north / radius_.north;
+  longitude = position_.longitude + east  / radius_.east;
+}
+
+void GlobalReference::fromNorthEast(double north, double east, double &x, double &y) {
+  if (!hasHeading()) {
+    x = 0.0;
+    y = 0.0;
+    return;
+  }
+  x = north * heading_.cos + east * heading_.sin;
+  y = north * heading_.sin - east * heading_.cos;
+}
+
+void GlobalReference::toNorthEast(double x, double y, double &north, double &east) {
+  if (!hasHeading()) {
+    north = 0.0;
+    east = 0.0;
+    return;
+  }
+  north = x * heading_.cos + y * heading_.sin;
+  east  = x * heading_.sin - y * heading_.cos;
+}
+
+GlobalReference& GlobalReference::setPosition(double latitude, double longitude, bool intermediate /* = false */) {
+  position_.latitude = latitude;
+  position_.longitude = longitude;
+  if (!intermediate) ROS_INFO("Set new reference position to %f deg N / %f deg E", this->position().latitude * 180.0/M_PI, this->position().longitude * 180.0/M_PI);
+  updated(intermediate);
+  return *this;
+}
+
+GlobalReference& GlobalReference::setHeading(double heading, bool intermediate /* = false */) {
+  heading_.value = heading;
+  if (!intermediate) ROS_INFO("Set new reference heading to %.1f degress", this->heading() * 180.0 / M_PI);
+  updated(intermediate);
+  return *this;
+}
+
+GlobalReference& GlobalReference::setAltitude(double altitude, bool intermediate /* = false */) {
+  position_.altitude = altitude;
+  if (!intermediate) ROS_INFO("Set new reference altitude to %.2f m", this->position().altitude);
+  updated(intermediate);
+  return *this;
+}
+
+GlobalReference& GlobalReference::setCurrentPosition(const State& state, double new_latitude, double new_longitude) {
+  State::ConstPositionType position = state.getPosition();
+
+  // set reference to new latitude/longitude first (intermediate reference)
+  setPosition(new_latitude, new_longitude, true);
+
+  // convert current position back to WGS84 using the new reference position
+  // and reset the reference position so that current position in x/y coordinates remains the same
+  // This will work unless the radii at the origin and the x/y position of the robot differ too much
+  toWGS84(-position.x(), -position.y(), new_latitude, new_longitude);
+  setPosition(new_latitude, new_longitude);
+
+  return *this;
+}
+
+GlobalReference& GlobalReference::setCurrentHeading(const State& state, double new_heading) {
+  // get current yaw angle
+  double current_yaw = state.getYaw();
+  State::ConstPositionType position = state.getPosition();
+
+  // get current position in WGS84
+  double current_latitude, current_longitude;
+  if (hasPosition()) {
+    toWGS84(position.x(), position.y(), current_latitude, current_longitude);
+  }
+
+  // set the new reference heading
+  setHeading(new_heading - (-current_yaw));
+
+  // set the new reference position so that current position in WGS84 coordinates remains the same as before
+  if (hasPosition()) {
+    setCurrentPosition(state, current_latitude, current_longitude);
+  }
+
+  return *this;
+}
+
+GlobalReference& GlobalReference::setCurrentAltitude(const State& state, double new_altitude) {
+  State::ConstPositionType position = state.getPosition();
+  setAltitude(new_altitude - position.z());
+  return *this;
+}
+
+void GlobalReference::getGeoPose(geographic_msgs::GeoPose& geopose) const
+{
+  Quaternion orientation(heading().quaternion());
+  geopose.orientation.w = orientation.w();
+  geopose.orientation.x = orientation.x();
+  geopose.orientation.y = orientation.y();
+  geopose.orientation.z = orientation.z();
+  geopose.position.latitude  = position().latitude  * 180.0/M_PI;
+  geopose.position.longitude = position().longitude * 180.0/M_PI;
+  geopose.position.altitude  = position().altitude;
+}
+
+bool GlobalReference::getWorldToNavTransform(geometry_msgs::TransformStamped& transform, const std::string &world_frame, const std::string &nav_frame, const ros::Time& stamp) const
+{
+  // Return transform from world_frame (defined by parameters reference_latitude_, reference_longitude_, reference_altitude_ and reference_heading_)
+  // to the nav_frame (this reference)
+  if (isnan(reference_latitude_) ||
+      isnan(reference_longitude_) ||
+      isnan(reference_altitude_) ||
+      isnan(reference_heading_)) {
+    return false;
+  }
+
+  transform.header.stamp = stamp;
+  transform.header.frame_id = world_frame;
+  transform.child_frame_id = nav_frame;
+
+  Radius reference_radius(reference_latitude_ * M_PI/180.0);
+  double north = reference_radius.north * (position_.latitude  - reference_latitude_ * M_PI/180.0);
+  double east  = reference_radius.east  * (position_.longitude - reference_longitude_ * M_PI/180.0);
+  Heading reference_heading(reference_heading_ * M_PI/180.0);
+  transform.transform.translation.x = north * reference_heading.cos + east * reference_heading.sin;
+  transform.transform.translation.y = north * reference_heading.sin - east * reference_heading.cos;
+  transform.transform.translation.z = position_.altitude - reference_altitude_;
+  double heading_diff = heading().value - reference_heading;
+  transform.transform.rotation.w =  cos(heading_diff / 2.);
+  transform.transform.rotation.x =  0.0;
+  transform.transform.rotation.y =  0.0;
+  transform.transform.rotation.z = -sin(heading_diff / 2.);
+
+  return true;
+}
+
+void GlobalReference::addUpdateCallback(const UpdateCallback &cb)
+{
+  update_callbacks_.push_back(cb);
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurement.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurement.cpp
new file mode 100644
index 0000000..2de7608
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurement.cpp	
@@ -0,0 +1,122 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurement.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+Measurement::Measurement(const std::string& name)
+  : name_(name)
+  , status_flags_(0)
+  , enabled_(true)
+  , min_interval_(0.0)
+  , timeout_(0.0)
+  , timer_(0.0)
+{
+  parameters().add("enabled", enabled_);
+  parameters().add("timeout", timeout_);
+  parameters().add("min_interval", min_interval_);
+  parameters().add("timeout", timeout_);
+}
+
+Measurement::~Measurement()
+{
+}
+
+bool Measurement::init(PoseEstimation& estimator, State& state)
+{
+  if (getModel() && !getModel()->init(estimator, *this, state)) return false;
+  if (!onInit(estimator)) return false;
+  return true;
+}
+
+void Measurement::cleanup()
+{
+  if (getModel()) getModel()->cleanup();
+  onCleanup();
+}
+
+void Measurement::reset(State& state)
+{
+  queue().clear();
+  timer_ = 0;
+  status_flags_ = 0;
+
+  if (getModel()) getModel()->reset(state);
+  onReset();
+}
+
+bool Measurement::active(const State& state) {
+  bool active = enabled() && (getModel() ? getModel()->active(state) : !(state.getSystemStatus() & STATUS_ALIGNMENT));
+  if (!active) status_flags_ = 0;
+  if (min_interval_ > 0.0 && timer_ < min_interval_) return false;
+  return active;
+}
+
+void Measurement::increase_timer(double dt) {
+  timer_ += dt;
+}
+
+bool Measurement::timedout() const {
+  return timeout_ > 0.0 && timer_ > timeout_;
+}
+
+void Measurement::add(const MeasurementUpdate& update) {
+  queue().push(update);
+}
+
+bool Measurement::process() {
+  bool result = true;
+
+  while(!(queue().empty())) {
+    result &= update(queue().pop());
+  }
+
+  // check for timeout
+  if (timedout()) {
+    if (status_flags_ > 0) ROS_WARN("Measurement %s timed out.", getName().c_str());
+    status_flags_ = 0;
+  }
+  return result;
+}
+
+bool Measurement::update(const MeasurementUpdate &update)
+{
+  if (!filter() || !active(filter()->state())) return false;
+
+  if (!updateImpl(update)) return false;
+  filter()->state().updated();
+
+  timer_ = 0.0;
+  if (getModel()) status_flags_ = getModel()->getStatusFlags();
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/baro.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/baro.cpp
new file mode 100644
index 0000000..6a78dc6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/baro.cpp	
@@ -0,0 +1,87 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/baro.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+#include <boost/bind.hpp>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<BaroModel>;
+
+BaroModel::BaroModel()
+{
+  stddev_ = 1.0;
+  qnh_ = 1013.25;
+  parameters().add("qnh", qnh_);
+}
+
+BaroModel::~BaroModel() {}
+
+void BaroModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred(0) = qnh_ * pow(1.0 - (0.0065 * (state.getPosition().z() + getElevation())) / 288.15, 5.255);
+}
+
+void BaroModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool)
+{
+  if (state.position()) {
+    state.position()->cols(C)(0,Z) = qnh_ * 5.255 * pow(1.0 - (0.0065 * (state.getPosition().z() + getElevation())) / 288.15, 4.255) * (-0.0065 / 288.15);
+  }
+}
+
+double BaroModel::getAltitude(const BaroUpdate& update)
+{
+  return 288.15 / 0.0065 * (1.0 - pow(update.getVector()(0) / qnh_, 1.0/5.255));
+}
+
+BaroUpdate::BaroUpdate() : qnh_(0) {}
+BaroUpdate::BaroUpdate(double pressure) : qnh_(0) { *this = pressure; }
+BaroUpdate::BaroUpdate(double pressure, double qnh) : qnh_(qnh) { *this = pressure; }
+
+Baro::Baro(const std::string &name)
+  : Measurement_<BaroModel>(name)
+  , HeightBaroCommon(this)
+{
+  parameters().add("auto_elevation", auto_elevation_);
+}
+
+void Baro::onReset()
+{
+  HeightBaroCommon::onReset();
+}
+
+bool Baro::prepareUpdate(State &state, const Update &update) {
+  if (update.qnh() != 0) setQnh(update.qnh());
+  // Note: boost::bind is not real-time safe!
+  setElevation(resetElevation(state, boost::bind(&BaroModel::getAltitude, getModel(), update)));
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gps.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gps.cpp
new file mode 100644
index 0000000..48a3241
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gps.cpp	
@@ -0,0 +1,128 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/gps.h>
+#include <hector_pose_estimation/global_reference.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<GPSModel>;
+
+GPSModel::GPSModel()
+{
+  position_stddev_ = 10.0;
+  velocity_stddev_ = 1.0;
+  parameters().add("position_stddev", position_stddev_);
+  parameters().add("velocity_stddev", velocity_stddev_);
+}
+
+GPSModel::~GPSModel() {}
+
+void GPSModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = R(1,1) = pow(position_stddev_, 2);
+    R(2,2) = R(3,3) = pow(velocity_stddev_, 2);
+  }
+}
+
+bool GPSModel::prepareUpdate(State &state, const MeasurementUpdate &update)
+{
+  state.getRotationMatrix(R);
+  return true;
+}
+
+void GPSModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred(0) = state.getPosition().x();
+  y_pred(1) = state.getPosition().y();
+  y_pred(2) = state.getVelocity().x();
+  y_pred(3) = state.getVelocity().y();
+}
+
+void GPSModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool init)
+{
+  if (!init) return; // C is time-constant
+
+  if (state.position()) {
+    state.position()->cols(C)(0,X) = 1.0;
+    state.position()->cols(C)(1,Y) = 1.0;
+  }
+
+  if (state.velocity()) {
+    state.velocity()->cols(C)(2,X) = 1.0;
+    state.velocity()->cols(C)(3,Y) = 1.0;
+  }
+}
+
+GPS::GPS(const std::string &name)
+  : Measurement_<GPSModel>(name)
+  , auto_reference_(true)
+  , y_(4)
+{
+  parameters().add("auto_reference", auto_reference_);
+}
+
+GPS::~GPS()
+{}
+
+void GPS::onReset() {
+  reference_.reset();
+}
+
+GPSModel::MeasurementVector const& GPS::getVector(const GPSUpdate &update, const State&) {
+  if (!reference_) {
+    y_.setConstant(0.0/0.0);
+    return y_;
+  }
+
+  reference_->fromWGS84(update.latitude, update.longitude, y_(0), y_(1));
+  reference_->fromNorthEast(update.velocity_north, update.velocity_east, y_(2), y_(3));
+
+  return y_;
+}
+
+bool GPS::prepareUpdate(State &state, const Update &update) {
+  // reset reference position if GPS has not been updated for a while
+  if (timedout()) reference_.reset();
+
+  // find new reference position
+  if (reference_ != GlobalReference::Instance()) {
+    reference_ = GlobalReference::Instance();
+    if (!auto_reference_ && !reference_->hasPosition()) {
+      ROS_ERROR("Cannot use GPS measurements if no reference latitude/longitude is set and %s/auto_reference parameter is false.", name_.c_str());
+      return false;
+    }
+    if (auto_reference_) reference_->setCurrentPosition(state, update.latitude, update.longitude);
+  }
+
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gravity.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gravity.cpp
new file mode 100644
index 0000000..c07a9d9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/gravity.cpp	
@@ -0,0 +1,109 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/gravity.h>
+#include <hector_pose_estimation/pose_estimation.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<GravityModel>;
+
+GravityModel::GravityModel()
+  : gravity_(MeasurementVector::Zero())
+{
+  parameters().add("stddev", stddev_, 1.0);
+  parameters().add("use_bias", use_bias_, std::string("accelerometer_bias"));
+}
+
+GravityModel::~GravityModel() {}
+
+bool GravityModel::init(PoseEstimation &estimator, Measurement &measurement, State &state) {
+  if (!use_bias_.empty()) {
+    bias_ = state.getSubState<3,3>(use_bias_);
+    if (!bias_) {
+      ROS_ERROR("Could not find bias substate '%s' during initialization of gravity measurement '%s'.", use_bias_.c_str(), measurement.getName().c_str());
+      return false;
+    }
+  } else {
+    bias_.reset();
+  }
+
+  setGravity(estimator.parameters().getAs<double>("gravity_magnitude"));
+  return true;
+}
+
+
+void GravityModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = R(1,1) = R(2,2) = pow(stddev_, 2);
+  }
+}
+
+void GravityModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  const State::RotationMatrix &R = state.R();
+  y_pred = -R.row(2).transpose() * gravity_.z();
+  if (bias_) {
+    y_pred += bias_->getVector();
+  }
+}
+
+void GravityModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool)
+{
+  const State::RotationMatrix &R = state.R();
+  if (state.orientation()) {
+//    C(0,state.getOrientationCovarianceIndex() + W) =  gravity_.z()*2*q.y();
+//    C(0,state.getOrientationCovarianceIndex() + X) = -gravity_.z()*2*q.z();
+//    C(0,state.getOrientationCovarianceIndex() + Y) =  gravity_.z()*2*q.w();
+//    C(0,state.getOrientationCovarianceIndex() + Z) = -gravity_.z()*2*q.x();
+//    C(1,state.getOrientationCovarianceIndex() + W) = -gravity_.z()*2*q.x();
+//    C(1,state.getOrientationCovarianceIndex() + X) = -gravity_.z()*2*q.w();
+//    C(1,state.getOrientationCovarianceIndex() + Y) = -gravity_.z()*2*q.z();
+//    C(1,state.getOrientationCovarianceIndex() + Z) = -gravity_.z()*2*q.y();
+//    C(2,state.getOrientationCovarianceIndex() + W) = -gravity_.z()*2*q.w();
+//    C(2,state.getOrientationCovarianceIndex() + X) =  gravity_.z()*2*q.x();
+//    C(2,state.getOrientationCovarianceIndex() + Y) =  gravity_.z()*2*q.y();
+//    C(2,state.getOrientationCovarianceIndex() + Z) = -gravity_.z()*2*q.z();
+
+     state.orientation()->cols(C)(X,X) = -gravity_.z() * R(1,0);
+     state.orientation()->cols(C)(X,Y) =  gravity_.z() * R(0,0);
+     state.orientation()->cols(C)(Y,X) = -gravity_.z() * R(1,1);
+     state.orientation()->cols(C)(Y,Y) =  gravity_.z() * R(0,1);
+     state.orientation()->cols(C)(Z,X) = -gravity_.z() * R(1,2);
+     state.orientation()->cols(C)(Z,Y) =  gravity_.z() * R(0,2);
+  }
+
+//  Only the bias component in direction of the gravity is observable, under the assumption that we do not accelerate vertically.
+  if (bias_) {
+    bias_->cols(C) = R.row(2).transpose() * R.row(2);
+  }
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/heading.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/heading.cpp
new file mode 100644
index 0000000..fe4854d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/heading.cpp	
@@ -0,0 +1,66 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/heading.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<HeadingModel>;
+
+HeadingModel::HeadingModel()
+{
+  parameters().add("stddev", stddev_, 10.0*M_PI/180.0);
+}
+
+HeadingModel::~HeadingModel() {}
+
+void HeadingModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = pow(stddev_, 2);
+  }
+}
+
+void HeadingModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred(0) = state.getYaw();
+}
+
+void HeadingModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool)
+{
+  if (state.orientation()) {
+    state.orientation()->cols(C)(0,Z) = 1.0;
+  }
+}
+
+void HeadingModel::limitError(MeasurementVector &error) {
+  error(0) = remainder(error(0), 2 * M_PI);
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/height.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/height.cpp
new file mode 100644
index 0000000..efd5ec4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/height.cpp	
@@ -0,0 +1,116 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/height.h>
+#include <hector_pose_estimation/pose_estimation.h>
+#include <hector_pose_estimation/global_reference.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<HeightModel>;
+
+HeightModel::HeightModel()
+{
+  stddev_ = 10.0;
+  elevation_ = 0.0;
+  parameters().add("stddev", stddev_);
+}
+
+HeightModel::~HeightModel() {}
+
+void HeightModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = pow(stddev_, 2);
+  }
+}
+
+void HeightModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred(0) = state.getPosition().z() + getElevation();
+}
+
+void HeightModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool init)
+{
+  if (!init) return; // C is time-constant
+
+  if (state.position()) {
+    state.position()->cols(C)(0,Z) = 1.0;
+  }
+}
+
+HeightBaroCommon::HeightBaroCommon(Measurement* parent)
+  : auto_elevation_(true)
+  , elevation_initialized_(false)
+{
+}
+
+HeightBaroCommon::~HeightBaroCommon() {}
+
+void HeightBaroCommon::onReset() {
+  elevation_initialized_ = false;
+}
+
+double HeightBaroCommon::resetElevation(const State &state, boost::function<double()> altitude_func) {
+  if (!elevation_initialized_) {
+    if (auto_elevation_) GlobalReference::Instance()->setCurrentAltitude(state, altitude_func());
+    elevation_initialized_ = true;
+  }
+
+  return GlobalReference::Instance()->position().altitude;
+}
+
+Height::Height(const std::string &name)
+  : Measurement_<HeightModel>(name)
+  , HeightBaroCommon(this)
+{
+  parameters().add("auto_elevation", auto_elevation_);
+}
+
+void Height::onReset() {
+  HeightBaroCommon::onReset();
+}
+
+template <typename T> struct functor_wrapper
+{
+  functor_wrapper(const T& value) : value(value) {}
+  T& operator()() { return value; }
+  const T& operator()() const { return value; }
+private:
+  T value;
+};
+
+bool Height::prepareUpdate(State &state, const Update &update) {
+  setElevation(resetElevation(state, functor_wrapper<double>(update.getVector()(0))));
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/magnetic.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/magnetic.cpp
new file mode 100644
index 0000000..9757a1a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/magnetic.cpp	
@@ -0,0 +1,164 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/magnetic.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+#include <Eigen/Geometry>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<MagneticModel>;
+
+MagneticModel::MagneticModel()
+  : declination_(0.0), inclination_(60.0 * M_PI/180.0), magnitude_(0.0)
+{
+  parameters().add("stddev", stddev_, 1.0);
+  parameters().add("declination", declination_);
+  parameters().add("inclination", inclination_);
+  parameters().add("magnitude", magnitude_);
+}
+
+MagneticModel::~MagneticModel() {}
+
+bool MagneticModel::init(PoseEstimation &estimator, Measurement &measurement, State &state)
+{
+  updateMagneticField();
+  return true;
+}
+
+void MagneticModel::setReference(const GlobalReference::Heading &reference_heading) {
+  magnetic_field_reference_.x() = reference_heading.cos * magnetic_field_north_.x() - reference_heading.sin * magnetic_field_north_.y();
+  magnetic_field_reference_.y() = reference_heading.sin * magnetic_field_north_.x() + reference_heading.cos * magnetic_field_north_.y();
+  magnetic_field_reference_.z() = magnetic_field_north_.z();
+}
+
+void MagneticModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = R(1,1) = R(2,2) = pow(stddev_, 2);
+  }
+}
+
+void MagneticModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  const State::RotationMatrix &R = state.R();
+  y_pred = R.transpose() * magnetic_field_reference_;
+}
+
+void MagneticModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool)
+{
+  if (state.orientation()) {
+    const State::RotationMatrix &R = state.R();
+    state.orientation()->cols(C)(X,Z) = R(0,0) * magnetic_field_reference_.y() - R(1,0) * magnetic_field_reference_.x();
+    state.orientation()->cols(C)(Y,Z) = R(0,1) * magnetic_field_reference_.y() - R(1,1) * magnetic_field_reference_.x();
+    state.orientation()->cols(C)(Z,Z) = R(0,2) * magnetic_field_reference_.y() - R(1,2) * magnetic_field_reference_.x();
+  }
+}
+
+double MagneticModel::getMagneticHeading(const State& state, const MeasurementVector &y) const {
+  MeasurementVector y_nav;
+  y_nav = state.R() * y;
+  return atan2(y_nav.y(), y_nav.x()) - state.getYaw();
+}
+
+double MagneticModel::getTrueHeading(const State& state, const MeasurementVector &y) const {
+  return getMagneticHeading(state, y) + declination_;
+}
+
+void MagneticModel::updateMagneticField()
+{
+  double cos_inclination, sin_inclination;
+  sincos(inclination_, &sin_inclination, &cos_inclination);
+
+  double cos_declination, sin_declination;
+  sincos(declination_, &sin_declination, &cos_declination);
+
+  // return normalized magnetic field if magnitude is zero
+  double magnitude = magnitude_;
+  if (magnitude == 0.0) magnitude = 1.0;
+
+  magnetic_field_north_.x() = magnitude * (cos_inclination *   cos_declination);
+  magnetic_field_north_.y() = magnitude * (cos_inclination * (-sin_declination));
+  magnetic_field_north_.z() = magnitude * (-sin_inclination);
+}
+
+Magnetic::Magnetic(const std::string &name)
+  : Measurement_<MagneticModel>(name)
+  , auto_heading_(true)
+  , deviation_(3)
+{
+  deviation_.setZero();
+  parameters().add("auto_heading", auto_heading_);
+  parameters().add("deviation", deviation_);
+}
+
+void Magnetic::onReset() {
+  reference_.reset();
+}
+
+const MagneticModel::MeasurementVector& Magnetic::getVector(const Magnetic::Update& update, const State& state) {
+  y_ = Measurement_<MagneticModel>::getVector(update, state) + deviation_;
+  if (getModel()->hasMagnitude()) return y_;
+
+  double norm = y_.norm();
+  if (norm < 1e-5) {
+    y_.setZero();
+  } else {
+    y_ = y_ / norm;
+  }
+  return y_;
+}
+
+//const MagneticModel::NoiseVariance& Magnetic::getVariance(const Magnetic::Update& update, const State& state) {
+//  if (getModel()->hasMagnitude()) return Measurement_<MagneticModel>::getVariance(update, state);
+
+//  R_ = Measurement_<MagneticModel>::getVariance(update, state);
+//  double norm = Measurement_<MagneticModel>::getVector(update, state).norm();
+//  if (norm < 1e-5) {
+//    R_ = NoiseVariance(1.0, 1.0, 1.0);
+//  } else {
+//    R_ =  R_ / (norm*norm);
+//  }
+//  return R_;
+//}
+
+bool Magnetic::prepareUpdate(State &state, const Update &update) {
+  // reset reference position if Magnetic has not been updated for a while
+  if (timedout()) reference_.reset();
+
+  if (reference_ != GlobalReference::Instance()) {
+    reference_ = GlobalReference::Instance();
+    if (auto_heading_) reference_->setCurrentHeading(state, getModel()->getTrueHeading(state, update.getVector()));
+  }
+
+  getModel()->setReference(reference_->heading());
+  return true;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/poseupdate.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/poseupdate.cpp
new file mode 100644
index 0000000..a63c7fb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/poseupdate.cpp	
@@ -0,0 +1,515 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/poseupdate.h>
+#include <hector_pose_estimation/pose_estimation.h>
+
+#include <Eigen/Core>
+
+#include <boost/bind.hpp>
+
+namespace hector_pose_estimation {
+
+PoseUpdate::PoseUpdate(const std::string& name)
+  : Measurement(name)
+{
+  fixed_alpha_ = 0.0;
+  fixed_beta_  = 0.0;
+  interpret_covariance_as_information_matrix_ = true;
+
+  max_time_difference_ = 1.0;
+  predict_pose_ = true;
+
+  jump_on_max_error_ = true;
+
+  fixed_position_xy_stddev_ = 0.0;
+  fixed_position_z_stddev_ = 0.0;
+  fixed_yaw_stddev_ = 0.0;
+
+  fixed_velocity_xy_stddev_ = 0.0;
+  fixed_velocity_z_stddev_ = 0.0;
+  fixed_angular_rate_xy_stddev_ = 0.0;
+  fixed_angular_rate_z_stddev_ = 0.0;
+
+  max_position_xy_error_ = 3.0; // 3 sigma
+  max_position_z_error_ = 3.0; // 3 sigma
+  max_yaw_error_ = 3.0; // 3 sigma
+
+  max_velocity_xy_error_ = 3.0; // 3 sigma
+  max_velocity_z_error_ = 3.0; // 3 sigma
+  max_angular_rate_xy_error_ = 3.0; // 3 sigma
+  max_angular_rate_z_error_ = 3.0; // 3 sigma
+
+  parameters().add("fixed_alpha", fixed_alpha_);
+  parameters().add("fixed_beta", fixed_beta_);
+  parameters().add("interpret_covariance_as_information_matrix", interpret_covariance_as_information_matrix_);
+  parameters().add("max_time_difference", max_time_difference_);
+  parameters().add("predict_pose", predict_pose_);
+  parameters().add("jump_on_max_error", jump_on_max_error_);
+
+  parameters().add("fixed_position_xy_stddev", fixed_position_xy_stddev_);
+  parameters().add("fixed_position_z_stddev", fixed_position_z_stddev_);
+  parameters().add("fixed_yaw_stddev", fixed_yaw_stddev_);
+  parameters().add("fixed_velocity_xy_stddev", fixed_velocity_xy_stddev_);
+  parameters().add("fixed_velocity_z_stddev", fixed_velocity_z_stddev_);
+  parameters().add("fixed_angular_rate_xy_stddev", fixed_angular_rate_xy_stddev_);
+  parameters().add("fixed_angular_rate_z_stddev", fixed_angular_rate_z_stddev_);
+  parameters().add("max_position_xy_error", max_position_xy_error_ );
+  parameters().add("max_position_z_error", max_position_z_error_);
+  parameters().add("max_yaw_error", max_yaw_error_);
+  parameters().add("max_velocity_xy_error", max_velocity_xy_error_ );
+  parameters().add("max_velocity_z_error", max_velocity_z_error_);
+  parameters().add("max_angular_rate_xy_error", max_angular_rate_xy_error_ );
+  parameters().add("max_angular_rate_z_error", max_angular_rate_z_error_);
+}
+
+PoseUpdate::~PoseUpdate()
+{
+}
+
+bool PoseUpdate::updateImpl(const MeasurementUpdate &update_)
+{
+  Update const &update = static_cast<Update const &>(update_);
+
+  while (update.pose) {
+    // convert incoming update information to Eigen
+    Eigen::Vector3d update_pose(update.pose->pose.pose.position.x, update.pose->pose.pose.position.y, update.pose->pose.pose.position.z);
+    Eigen::Quaterniond update_orientation(update.pose->pose.pose.orientation.w, update.pose->pose.pose.orientation.x, update.pose->pose.pose.orientation.y, update.pose->pose.pose.orientation.z);
+    Eigen::Vector3d update_euler;
+
+    // information is the information matrix if interpret_covariance_as_information_matrix_ is true and a covariance matrix otherwise
+    // zero elements are counted as zero information in any case
+    SymmetricMatrix6 information(Eigen::Map<const SymmetricMatrix6>(update.pose->pose.covariance.data()));
+
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "PoseUpdate: x = [ " << filter()->state().getVector().transpose() << " ], P = [ " << filter()->state().getCovariance() << " ]" << std::endl
+                                      << "update: pose = [ " << update_pose.transpose() << " ], rpy = [ " << update_euler.transpose() << " ], information = [ " << information << " ]");
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "dt = " << (filter()->state().getTimestamp() - update.pose->header.stamp).toSec() << " s");
+
+    // predict update pose using the estimated velocity and degrade information
+    if (!update.pose->header.stamp.isZero()) {
+      double dt = (filter()->state().getTimestamp() - update.pose->header.stamp).toSec();
+      if (dt < 0.0) {
+        ROS_DEBUG_STREAM_NAMED("poseupdate", "Ignoring pose update as it has a negative time difference: dt = " << dt << "s");
+        break;
+
+      } else if (max_time_difference_ > 0.0 && dt >= max_time_difference_) {
+        ROS_DEBUG_STREAM_NAMED("poseupdate", "Ignoring pose update as the time difference is too large: dt = " << dt << "s");
+        break;
+
+      } else if (max_time_difference_ > 0.0){
+        if (interpret_covariance_as_information_matrix_)
+          information = information * (1.0 - dt/max_time_difference_);
+        else
+          information = information / (1.0 - dt/max_time_difference_);
+      }
+
+      if (predict_pose_) {
+        State::ConstVelocityType state_velocity(filter()->state().getVelocity());
+        update_pose = update_pose + state_velocity * dt;
+
+        State::ConstRateType state_rate(filter()->state().getRate());
+        update_orientation = update_orientation * Eigen::Quaterniond().fromRotationVector(state_rate * dt);
+      }
+    }
+
+    // Calculate euler angles
+    {
+        const Eigen::Quaterniond &q = update_orientation;
+        /* roll  = */ update_euler(0) = atan2(2*(q.y()*q.z() + q.w()*q.x()), q.w()*q.w() - q.x()*q.x() - q.y()*q.y() + q.z()*q.z());
+        /* pitch = */ update_euler(1) = -asin(2*(q.x()*q.z() - q.w()*q.y()));
+        /* yaw   = */ update_euler(2) = atan2(2*(q.x()*q.y() + q.w()*q.z()), q.w()*q.w() + q.x()*q.x() - q.y()*q.y() - q.z()*q.z());
+    }
+
+    // update PositionXY
+    if (information(0,0) > 0.0 || information(1,1) > 0.0) {
+      // fetch observation matrix H and current state x
+      PositionXYModel::MeasurementMatrix H(position_xy_model_.getDimension(), filter()->state().getCovarianceDimension());
+      PositionXYModel::MeasurementVector x(position_xy_model_.getDimension());
+      position_xy_model_.getStateJacobian(H, filter()->state(), true);
+      position_xy_model_.getExpectedValue(x, filter()->state());
+
+      PositionXYModel::MeasurementVector y(update_pose.segment<2>(0));
+      PositionXYModel::NoiseVariance Iy(information.block<2,2>(0,0));
+
+      // invert Iy if information is a covariance matrix
+      if (!interpret_covariance_as_information_matrix_) Iy = Iy.inverse().eval();
+
+      // fixed_position_xy_stddev_ = 1.0;
+      if (fixed_position_xy_stddev_ != 0.0) {
+        Iy.setZero();
+        Iy(0,0) = Iy(1,1) = 1.0 / (fixed_position_xy_stddev_*fixed_position_xy_stddev_);
+      }
+
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "Position Update: ");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      x = [" << x.transpose() << "], H = [ " << H << " ], Px = [" <<  (H * filter()->state().P() * H.transpose()) << "], Ix = [ " << (H * filter()->state().P() * H.transpose()).inverse() << "]");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      y = [" << y.transpose() << "], Iy = [ " << Iy << " ]");
+      double innovation = updateInternal(filter()->state(), Iy, y - x, H, "position_xy", max_position_xy_error_, boost::bind(&PositionXYModel::updateState, &position_xy_model_, _1, _2));
+      position_xy_model_.getExpectedValue(x, filter()->state());
+      ROS_DEBUG_STREAM_NAMED("poseupdate", " ==> xy = [" << x << "], Pxy = [ " << (H * filter()->state().P() * H.transpose()) << " ], innovation = " << innovation);
+
+      status_flags_ |= STATE_POSITION_XY;
+    }
+
+    // update PositionZ
+    if (information(2,2) > 0.0) {
+      // fetch observation matrix H and current state x
+      PositionZModel::MeasurementMatrix H(position_z_model_.getDimension(), filter()->state().getCovarianceDimension());
+      PositionZModel::MeasurementVector x(position_z_model_.getDimension());
+      position_z_model_.getStateJacobian(H, filter()->state(), true);
+      position_z_model_.getExpectedValue(x, filter()->state());
+
+      PositionZModel::MeasurementVector y(update_pose.segment<1>(2));
+      PositionZModel::NoiseVariance Iy(information.block<1,1>(2,2));
+
+      // invert Iy if information is a covariance matrix
+      if (!interpret_covariance_as_information_matrix_) Iy = Iy.inverse().eval();
+
+      // fixed_position_z_stddev_ = 1.0;
+      if (fixed_position_z_stddev_ != 0.0) {
+        Iy.setZero();
+        Iy(0,0) = 1.0 / (fixed_position_z_stddev_*fixed_position_z_stddev_);
+      }
+
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "Height Update: ");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      x = " << x(0) << ", H = [ " << H << " ], Px = [" <<  (H * filter()->state().P() * H.transpose()) << "], Ix = [ " << (H * filter()->state().P() * H.transpose()).inverse() << "]");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      y = " << y(0) << ", Iy = [ " << Iy << " ]");
+      double innovation = updateInternal(filter()->state(), Iy, y - x, H, "position_z", max_position_z_error_, boost::bind(&PositionZModel::updateState, &position_z_model_, _1, _2));
+      position_z_model_.getExpectedValue(x, filter()->state());
+      ROS_DEBUG_STREAM_NAMED("poseupdate", " ==> xy = " << x(0) << ", Pxy = [ " << (H * filter()->state().P() * H.transpose()) << " ], innovation = " << innovation);
+
+      status_flags_ |= STATE_POSITION_Z;
+    }
+
+    // update Yaw
+    if (information(5,5) > 0.0) {
+      YawModel::MeasurementMatrix H(yaw_model_.getDimension(), filter()->state().getCovarianceDimension());
+      YawModel::MeasurementVector x(yaw_model_.getDimension());
+      yaw_model_.getStateJacobian(H, filter()->state(), true);
+      yaw_model_.getExpectedValue(x, filter()->state());
+
+      YawModel::MeasurementVector y(update_euler.tail<1>());
+      YawModel::NoiseVariance Iy(information.block<1,1>(5,5));
+
+      // invert Iy if information is a covariance matrix
+      if (!interpret_covariance_as_information_matrix_) Iy = Iy.inverse().eval();
+
+      // fixed_yaw_stddev_ = 5.0 * M_PI/180.0;
+      if (fixed_yaw_stddev_ != 0.0) {
+        Iy.setZero();
+        Iy(0,0) = 1.0 / (fixed_yaw_stddev_*fixed_yaw_stddev_);
+      }
+
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "Yaw Update: ");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      x = " << x(0) * 180.0/M_PI << "°, H = [ " << H << " ], Px = [" <<  (H * filter()->state().P() * H.transpose()) << "], Ix = [ " << (H * filter()->state().P() * H.transpose()).inverse() << "]");
+      ROS_DEBUG_STREAM_NAMED("poseupdate", "      y = " << y(0) * 180.0/M_PI << "°, Iy = [ " << Iy << " ]");
+
+      YawModel::MeasurementVector error(y - x);
+      error(0) = error(0) - 2.0*M_PI * round(error(0) / (2.0*M_PI));
+
+      double innovation = updateInternal(filter()->state(), Iy, error, H, "yaw", max_yaw_error_, boost::bind(&YawModel::updateState, &yaw_model_, _1, _2));
+      yaw_model_.getExpectedValue(x, filter()->state());
+      ROS_DEBUG_STREAM_NAMED("poseupdate", " ==> xy = " << x(0) * 180.0/M_PI << "°, Pxy = [ " << (H * filter()->state().P() * H.transpose()) << " ], innovation = " << innovation);
+
+      status_flags_ |= STATE_YAW;
+    }
+
+    break;
+  }
+
+  while (update.twist) {
+    // convert incoming update information to Eigen
+    Eigen::Vector3d update_linear(update.twist->twist.twist.linear.x, update.twist->twist.twist.linear.y, update.twist->twist.twist.linear.z);
+    Eigen::Vector3d update_angular(update.twist->twist.twist.angular.x, update.twist->twist.twist.angular.y, update.twist->twist.twist.angular.z);
+
+    // information is the information matrix if interpret_covariance_as_information_matrix_ is true and a covariance matrix otherwise
+    // zero elements are counted as zero information in any case
+    SymmetricMatrix6 information(Eigen::Map<const SymmetricMatrix6>(update.twist->twist.covariance.data()));
+
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "TwistUpdate:  state = [ " << filter()->state().getVector().transpose() << " ], P = [ " << filter()->state().getCovariance() << " ]" << std::endl
+                                      << "     update: linear = [ " << update_linear.transpose() << " ], angular = [ " << update_angular.transpose() << " ], information = [ " << information << " ]");
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "                 dt = " << (filter()->state().getTimestamp() - update.twist->header.stamp).toSec() << " s");
+
+    // degrade information if the time difference is too large
+    if (!update.twist->header.stamp.isZero()) {
+      double dt = (filter()->state().getTimestamp() - update.twist->header.stamp).toSec();
+      if (dt < 0.0) {
+        ROS_DEBUG_STREAM_NAMED("poseupdate", "Ignoring twist update as it has a negative time difference: dt = " << dt << "s");
+        break;
+
+      } else if (max_time_difference_ > 0.0 && dt >= max_time_difference_) {
+        ROS_DEBUG_STREAM_NAMED("poseupdate", "Ignoring twist update as the time difference is too large: dt = " << dt << "s");
+        break;
+
+      } else if (max_time_difference_ > 0.0){
+        if (interpret_covariance_as_information_matrix_)
+          information = information * (1.0 - dt/max_time_difference_);
+        else
+          information = information / (1.0 - dt/max_time_difference_);
+      }
+    }
+
+    // fetch observation matrix H and current state x
+    TwistModel::MeasurementMatrix H(twist_model_.getDimension(), filter()->state().getCovarianceDimension());
+    TwistModel::MeasurementVector x(twist_model_.getDimension());
+    twist_model_.getStateJacobian(H, filter()->state(), true);
+    twist_model_.getExpectedValue(x, filter()->state());
+
+    TwistModel::MeasurementVector y(twist_model_.getDimension());
+    TwistModel::NoiseVariance Iy(information);
+    y.segment<3>(0) = update_linear;
+    y.segment<3>(3) = update_angular;
+
+    // invert Iy if information is a covariance matrix
+    if (!interpret_covariance_as_information_matrix_) {
+      ROS_DEBUG_NAMED("poseupdate", "Twist updates with covariance matrices are currently not supported");
+      break;
+    }
+
+    // update VelocityXY
+    if (information(0,0) > 0.0 || information(0,0) > 0.0) {
+      status_flags_ |= STATE_VELOCITY_XY;
+
+      // fixed_velocity_xy_stddev_ = 1.0;
+      if (fixed_velocity_xy_stddev_ != 0.0) {
+        for(int i = 0; i < 6; ++i) Iy(0,i) = Iy(1,i) = Iy(i,0) = Iy(i,1) = 0.0;
+        Iy(0,0) = Iy(1,1) = 1.0 / (fixed_velocity_xy_stddev_*fixed_velocity_xy_stddev_);
+      }
+    }
+
+    // update VelocityZ
+    if (information(2,2) > 0.0) {
+      status_flags_ |= STATE_VELOCITY_Z;
+
+      // fixed_velocity_z_stddev_ = 1.0;
+      if (fixed_velocity_z_stddev_ != 0.0) {
+          for(int i = 0; i < 6; ++i) Iy(2,i) = Iy(i,2) = 0.0;
+        Iy(2,2) = 1.0 / (fixed_velocity_z_stddev_*fixed_velocity_z_stddev_);
+      }
+    }
+
+    // update RateXY
+    if (information(3,3) > 0.0 || information(4,4) > 0.0) {
+      status_flags_ |= STATE_RATE_XY;
+
+      // fixed_angular_rate_xy_stddev_ = 1.0;
+      if (fixed_angular_rate_xy_stddev_ != 0.0) {
+        for(int i = 0; i < 6; ++i) Iy(3,i) = Iy(3,i) = Iy(i,4) = Iy(i,4) = 0.0;
+        Iy(4,4) = Iy(5,5) = 1.0 / (fixed_angular_rate_xy_stddev_*fixed_angular_rate_xy_stddev_);
+      }
+    }
+
+    // update RateZ
+    if (information(5,5) > 0.0) {
+      status_flags_ |= STATE_RATE_Z;
+
+      // fixed_angular_rate_z_stddev_ = 1.0;
+      if (fixed_angular_rate_z_stddev_ != 0.0) {
+        for(int i = 0; i < 6; ++i) Iy(5,i) = Iy(i,5) = 0.0;
+        Iy(5,5) = 1.0 / (fixed_angular_rate_z_stddev_*fixed_angular_rate_z_stddev_);
+      }
+    }
+
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "Twist Update: ");
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "      x = [" << x.transpose() << "], H = [ " << H << " ], Px = [" <<  (H * filter()->state().P() * H.transpose()) << "], Ix = [ " << (H * filter()->state().P() * H.transpose()).inverse() << "]");
+    ROS_DEBUG_STREAM_NAMED("poseupdate", "      y = [" << y.transpose() << "], Iy = [ " << Iy << " ]");
+    double innovation = updateInternal(filter()->state(), Iy, y - x, H, "twist", 0.0);
+    twist_model_.getExpectedValue(x, filter()->state());
+    ROS_DEBUG_STREAM_NAMED("poseupdate", " ==> xy = [" << x.transpose() << "], Pxy = [ " << (H * filter()->state().P() * H.transpose()) << " ], innovation = " << innovation);
+
+    break;
+  }
+
+  // already done in Measurement::update()
+  // filter()->state().updated();
+  return true;
+}
+
+double PoseUpdate::calculateOmega(const SymmetricMatrix &Ix, const SymmetricMatrix &Iy) {
+  double tr_x = Ix.trace();
+  double tr_y = Iy.trace();
+  return tr_y / (tr_x + tr_y);
+}
+
+template <typename MeasurementVector, typename MeasurementMatrix, typename NoiseVariance>
+double PoseUpdate::updateInternal(State &state, const NoiseVariance &Iy, const MeasurementVector &error, const MeasurementMatrix &H, const std::string& text, const double max_error, JumpFunction jump_function) {
+  NoiseVariance H_Px_HT(H * state.P() * H.transpose());
+
+  if (H_Px_HT.determinant() <= 0) {
+    ROS_DEBUG_STREAM("Ignoring poseupdate for " << text << " as the a-priori state covariance is zero!");
+    return 0.0;
+  }
+  NoiseVariance Ix(H_Px_HT.inverse().eval());
+
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "H = [" << H << "]");
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "Ix = [" << Ix << "]");
+
+  double alpha = fixed_alpha_, beta = fixed_beta_;
+  if (alpha == 0.0 && beta == 0.0) {
+    beta = calculateOmega(Ix, Iy);
+    alpha = 1.0 - beta;
+
+//    if (beta > 0.8) {
+//      ROS_DEBUG_STREAM("Reducing update variance for " << text << " due to high information difference between Ix = [" << Ix << "] and Iy = [" << Iy << "]");
+//      beta = 0.8;
+//      alpha = 1.0 - beta;
+//    }
+  }
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "alpha = " << alpha << ", beta = " << beta);
+
+  if (max_error > 0.0) {
+    double error2 = error.transpose() * Ix * (Ix + Iy).inverse() * Iy * error;
+    if (error2 > max_error * max_error) {
+      if (!jump_on_max_error_ || !jump_function) {
+        ROS_WARN_STREAM_NAMED("poseupdate", "Ignoring poseupdate for " << text << " as the error [ " << error.transpose() << " ], |error| = " << sqrt(error2) << " sigma exceeds max_error!");
+        return 0.0;
+      } else {
+        ROS_WARN_STREAM_NAMED("poseupdate", "Update for " << text << " with error [ " << error.transpose() << " ], |error| = " << sqrt(error2) << " sigma exceeds max_error!");
+        jump_function(state, error);
+        return 0.0;
+      }
+    }
+  }
+
+//  SymmetricMatrix Ii(Ix * (alpha - 1) + Iy * beta);
+//  double innovation = Ii.determinant();
+//  ROS_DEBUG_STREAM_NAMED("poseupdate", "Ii = [" << Ii << "], innovation = " << innovation);
+
+  // S_1 is equivalent to S^(-1) = (H*P*H^T + R)^(-1) in the standard Kalman gain
+  NoiseVariance S_1(Ix - Ix * (Ix * alpha + Iy * beta).inverse() * Ix);
+  typename Matrix_<State::Covariance::ColsAtCompileTime, MeasurementMatrix::RowsAtCompileTime>::type P_HT((H * state.P()).transpose());
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "P*HT = [" << (P_HT) << "]");
+
+  double innovation = S_1.determinant();
+  state.P() = state.P() - P_HT * S_1 * P_HT.transpose(); // may invalidate Px if &Pxy == &Px
+  state.P().assertSymmetric();
+  state.update(P_HT * Iy * beta * error);
+  // state.x() = state.x() + P_HT * Iy * beta * error;
+
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "K = [" << (P_HT * Iy * beta) << "]");
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "dx = [" << (P_HT * Iy * beta * error).transpose() << "]");
+
+  return innovation;
+}
+
+void PositionXYModel::getExpectedValue(MeasurementVector &y_pred, const State &state) {
+  y_pred = state.getPosition().head<2>();
+}
+
+void PositionXYModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init) {
+  if (init) {
+    if (state.position()) {
+      state.position()->cols(C)(0,X)   = 1.0;
+      state.position()->cols(C)(1,Y)   = 1.0;
+    }
+  }
+}
+
+void PositionXYModel::updateState(State &state, const ColumnVector &diff) const {
+  if (state.position()) {
+    state.position()->vector().head<2>() += diff;
+  }
+}
+
+void PositionZModel::getExpectedValue(MeasurementVector &y_pred, const State &state) {
+  y_pred(0) = state.getPosition().z();
+}
+
+void PositionZModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init) {
+  if (init && state.position()) {
+    state.position()->cols(C)(0,Z)   = 1.0;
+  }
+}
+
+void PositionZModel::updateState(State &state, const ColumnVector &diff) const {
+  if (state.position()) {
+    state.position()->vector().segment<1>(Z) += diff;
+  }
+}
+
+void YawModel::getExpectedValue(MeasurementVector &y_pred, const State &state) {
+  y_pred(0) = state.getYaw();
+}
+
+void YawModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init) {
+  if (init && state.orientation()) {
+    state.orientation()->cols(C)(0,Z) = 1.0;
+  }
+}
+
+void YawModel::updateState(State &state, const ColumnVector &diff) const {
+  Eigen::Quaterniond::Matrix3 rotation(Eigen::AngleAxisd(diff(0), Eigen::Vector3d::UnitZ()));
+
+  Eigen::MatrixXd S(Eigen::MatrixXd::Identity(state.getCovarianceDimension(), state.getCovarianceDimension()));
+
+  if (state.orientation()) {
+//    S.block(state.orientation()->getCovarianceIndex(), state.orientation()->getCovarianceIndex(), 4, 4) <<
+//      /* QUATERNION_X: */  rotation.w(), -rotation.z(),  rotation.y(), rotation.x(),
+//      /* QUATERNION_Y: */  rotation.z(),  rotation.w(), -rotation.x(), rotation.y(),
+//      /* QUATERNION_Z: */ -rotation.y(),  rotation.x(),  rotation.w(), rotation.z(),
+//      /* QUATERNION_W: */ -rotation.x(), -rotation.y(), -rotation.z(), rotation.w();
+    S.block(state.orientation()->getCovarianceIndex(), state.orientation()->getCovarianceIndex(), 3, 3) = rotation.transpose();
+    state.updateOrientation(ColumnVector3(0.0, 0.0, -diff(0)));
+  }
+
+  if (state.velocity()) {
+    S.block(state.velocity()->getCovarianceIndex(), state.velocity()->getCovarianceIndex(), 3, 3) = rotation.transpose();
+    state.velocity()->vector() = rotation.transpose() * state.velocity()->vector();
+  }
+
+// Rate vector is in body frame. No need to rotate it.
+//  if (state.rate()) {
+//    S.block(state.rate()->getCovarianceIndex(), state.rate()->getCovarianceIndex(), 3, 3) = rotation.transpose();
+//    state.rate()->vector() = rotation.transpose() * state.rate()->vector();
+//  }
+
+  ROS_DEBUG_STREAM_NAMED("poseupdate", "Jump yaw by " << (diff(0) * 180.0/M_PI) << " degrees. rotation = [" << rotation << "], S = [" << S << "].");
+
+  // update covariance matrix P
+  state.P() = S * state.P() * S.transpose();
+}
+
+void TwistModel::getExpectedValue(MeasurementVector &y_pred, const State &state) {
+  y_pred.segment<3>(0) = state.getVelocity();
+  y_pred.segment<3>(3) = state.getRate();
+}
+
+void TwistModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init) {
+  if (init && state.velocity()) {
+    state.velocity()->cols(C)(0,X) = 1.0;
+    state.velocity()->cols(C)(1,Y) = 1.0;
+    state.velocity()->cols(C)(2,Z) = 1.0;
+  }
+
+  if (init && state.rate()) {
+    state.rate()->cols(C)(3,X) = 1.0;
+    state.rate()->cols(C)(4,Y) = 1.0;
+    state.rate()->cols(C)(5,Z) = 1.0;
+  }
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/rate.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/rate.cpp
new file mode 100644
index 0000000..63e5894
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/rate.cpp	
@@ -0,0 +1,88 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/rate.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<RateModel>;
+
+RateModel::RateModel()
+{
+  parameters().add("stddev", stddev_, 10.0 * M_PI/180.0);
+  parameters().add("use_bias", use_bias_, std::string("gyro_bias"));
+}
+
+RateModel::~RateModel() {}
+
+bool RateModel::init(PoseEstimation &estimator, Measurement &measurement, State &state)
+{
+  if (!use_bias_.empty()) {
+    bias_ = state.getSubState<3,3>(use_bias_);
+    if (!bias_) {
+      ROS_ERROR("Could not find bias substate '%s' during initialization of rate measurement '%s'.", use_bias_.c_str(), measurement.getName().c_str());
+      return false;
+    }
+  } else {
+    bias_.reset();
+  }
+
+  return true;
+}
+
+void RateModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = R(1,1) = R(2,2) = pow(stddev_, 2);
+  }
+}
+
+void RateModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred = state.getRate();
+
+  if (bias_) {
+    y_pred += bias_->getVector();
+  }
+}
+
+void RateModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
+{
+  if (!init) return;
+
+  if (state.rate()) {
+   state.rate()->cols(C).setIdentity();
+  }
+
+  if (bias_) {
+    bias_->cols(C).setIdentity();
+  }
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/zerorate.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/zerorate.cpp
new file mode 100644
index 0000000..0f4e331
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/measurements/zerorate.cpp	
@@ -0,0 +1,96 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/measurements/zerorate.h>
+#include <hector_pose_estimation/system/imu_model.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class Measurement_<ZeroRateModel>;
+
+ZeroRateModel::ZeroRateModel()
+{
+  parameters().add("stddev", stddev_, 90.0*M_PI/180.0);
+  parameters().add("use_bias", use_bias_, std::string("gyro_bias"));
+}
+
+ZeroRateModel::~ZeroRateModel() {}
+
+bool ZeroRateModel::init(PoseEstimation &estimator, Measurement &measurement, State &state)
+{
+  if (!use_bias_.empty()) {
+    bias_ = state.getSubState<3,3>(use_bias_);
+    if (!bias_) {
+      ROS_ERROR("Could not find bias substate '%s' during initialization of zero rate pseudo measurement '%s'.", use_bias_.c_str(), measurement.getName().c_str());
+      return false;
+    }
+  } else {
+    bias_.reset();
+  }
+
+  if (!bias_ && !state.rate()) {
+    ROS_WARN("Pseudo updating with zero rate is a no-op, as the state does not contain rates nor biases.");
+    // return false;
+  }
+
+  return true;
+}
+
+void ZeroRateModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
+{
+  if (init) {
+    R(0,0) = pow(stddev_, 2);
+  }
+}
+
+void ZeroRateModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
+{
+  y_pred(0) = state.getRate().z();
+
+  if (!state.rate() && bias_) {
+    y_pred(0) += bias_->getVector().z();
+  }
+}
+
+void ZeroRateModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool)
+{
+  if (state.rate()) {
+    state.rate()->cols(C)(0,Z) = 1.0;
+  } else if (bias_) {
+    bias_->cols(C)(0,Z) = 1.0;
+  }
+}
+
+const ZeroRateModel::MeasurementVector* ZeroRateModel::getFixedMeasurementVector() const
+{
+  static MeasurementVector zero(MeasurementVector::Zero());
+  return &zero;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/parameters.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/parameters.cpp
new file mode 100644
index 0000000..5142acf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/parameters.cpp	
@@ -0,0 +1,226 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/parameters.h>
+#include <hector_pose_estimation/ros/parameters.h>
+
+#include <boost/algorithm/string.hpp>
+
+#include <hector_pose_estimation/matrix.h>
+
+#include <iostream>
+
+namespace hector_pose_estimation {
+
+namespace {
+  struct null_deleter {
+    void operator()(void const *) const {}
+  };
+}
+
+ParameterList& ParameterList::add(ParameterPtr const& parameter) {
+  erase(parameter->key);
+  push_back(parameter);
+  return *this;
+}
+
+ParameterList& ParameterList::add(ParameterList const& other) {
+  for(ParameterList::const_iterator it = other.begin(); it != other.end(); ++it) push_back(*it);
+  return *this;
+}
+
+ParameterList& ParameterList::add(Parameter& alias, const std::string& key) {
+  if (!key.empty()) alias.key = key;
+  return add(ParameterPtr(&alias, null_deleter()));
+}
+
+ParameterList& ParameterList::copy(const std::string& prefix, ParameterList const& parameters) {
+  for(ParameterList::const_iterator it = parameters.begin(); it != parameters.end(); ++it) {
+    ParameterPtr copy((*it)->clone());
+    if (!copy) continue;
+    if (!prefix.empty()) copy->key = prefix + copy->key;
+    push_back(copy);
+  }
+  return *this;
+}
+
+ParameterList& ParameterList::copy(ParameterList const& parameters) {
+  copy(std::string(), parameters);
+  return *this;
+}
+
+ParameterPtr const& ParameterList::get(const std::string& key) const {
+  for(const_iterator it = begin(); it != end(); ++it) {
+    if ((*it)->key == key) {
+      return *it;
+    }
+  }
+  throw std::runtime_error("parameter not found");
+}
+
+ParameterList::iterator ParameterList::erase(const std::string& key) {
+  iterator it = begin();
+  for(; it != end(); ++it) {
+    if ((*it)->key == key) return erase(it);
+  }
+  return it;
+}
+
+template <typename T>
+struct ParameterRegistryROS::Handler
+{
+  bool operator()(const ParameterPtr& parameter, ros::NodeHandle& nh, bool set_all = false) {
+    try {
+      ParameterT<T> p(*parameter);
+      std::string param_key(boost::algorithm::to_lower_copy(parameter->key));
+      if (!nh.getParam(param_key, p.value())) {
+        if (set_all) {
+          nh.setParam(param_key, p.value());
+          ROS_DEBUG_STREAM("Registered parameter " << param_key << " with new value " << p.value());
+        }
+      } else {
+        ROS_DEBUG_STREAM("Found parameter " << param_key << " with value " << p.value());
+      }
+      return true;
+    } catch(std::bad_cast&) {
+      return false;
+    }
+  }
+};
+
+template <>
+struct ParameterRegistryROS::Handler<ColumnVector>
+{
+  bool operator()(const ParameterPtr& parameter, ros::NodeHandle& nh, bool set_all = false) {
+    try {
+      ParameterT<ColumnVector> p(*parameter);
+      std::string param_key(boost::algorithm::to_lower_copy(parameter->key));
+      XmlRpc::XmlRpcValue vector;
+      if (!nh.getParam(param_key, vector)) {
+        if (set_all) {
+          /// nh.setParam(param_key, p.value);
+          ROS_DEBUG_STREAM("Not registered vector parameter " << param_key << ". Using defaults.");
+        }
+      } else {
+        if (vector.getType() != XmlRpc::XmlRpcValue::TypeArray) {
+          ROS_WARN_STREAM("Found parameter " << param_key << ", but it's not an array!");
+          return false;
+        }
+        p.value().resize(vector.size());
+        for(int i = 0; i < vector.size(); ++i) p.value()[i] = vector[i];
+        ROS_DEBUG_STREAM("Found parameter " << param_key << " with value " << p.value());
+      }
+      return true;
+    } catch(std::bad_cast&) {
+      return false;
+    }
+  }
+};
+
+template <typename T>
+std::ostream& operator<<(std::ostream& os, const std::vector<T>& vector) {
+  os << "[";
+  for(typename std::vector<T>::const_iterator it = vector.begin(); it != vector.end(); ++it) {
+    if (it != vector.begin()) os << ", ";
+    os << *it;
+  }
+  os << "]";
+  return os;
+}
+
+template <typename T>
+struct ParameterRegistryROS::Handler< std::vector<T> >
+{
+  bool operator()(const ParameterPtr& parameter, ros::NodeHandle& nh, bool set_all = false) {
+    try {
+      ParameterT< std::vector<T> > p(*parameter);
+      std::string param_key(boost::algorithm::to_lower_copy(parameter->key));
+      XmlRpc::XmlRpcValue vector;
+      if (!nh.getParam(param_key, vector)) {
+        if (set_all) {
+          /// nh.setParam(param_key, p.value);
+          ROS_DEBUG_STREAM("Not registered vector parameter " << param_key << ". Using defaults.");
+        }
+      } else {
+        if (vector.getType() != XmlRpc::XmlRpcValue::TypeArray) {
+          ROS_WARN_STREAM("Found parameter " << param_key << ", but it's not an array!");
+          return false;
+        }
+        p.value().resize(vector.size());
+        for(int i = 0; i < vector.size(); ++i) p.value()[i] = vector[i];
+        ROS_DEBUG_STREAM("Found parameter " << param_key << " with value " << p.value());
+      }
+      return true;
+    } catch(std::bad_cast&) {
+      return false;
+    }
+  }
+};
+
+ParameterRegistryROS::ParameterRegistryROS(ros::NodeHandle nh)
+  : nh_(nh)
+  , set_all_(false)
+{
+  nh_.getParam("set_all_parameters", set_all_);
+}
+
+void ParameterRegistryROS::operator ()(ParameterPtr parameter) {
+  // call initialize recursively for ParameterList parameters
+  if (parameter->hasType<ParameterList>()) {
+    ParameterList with_prefix;
+    with_prefix.copy(parameter->key + "/", parameter->as<ParameterList>());
+    with_prefix.initialize(*this);
+    return;
+  }
+
+  ROS_DEBUG_STREAM("Registering ROS parameter " << parameter->key);
+
+  if (Handler<std::string>()(parameter, nh_, set_all_) ||
+      Handler<double>()(parameter, nh_, set_all_) ||
+      Handler<std::vector<double> >()(parameter, nh_, set_all_) ||
+      Handler<int>()(parameter, nh_, set_all_) ||
+      Handler<bool>()(parameter, nh_, set_all_) ||
+      Handler<ColumnVector>()(parameter, nh_, set_all_)
+     ) {
+    return;
+  }
+
+  ROS_ERROR("Parameter %s has unknown type %s!", parameter->key.c_str(), parameter->type());
+}
+
+void ParameterList::initialize(ParameterRegisterFunc func) const {
+  for(const_iterator it = begin(); it != end(); ++it) {
+    const ParameterPtr& parameter = *it;
+    if (parameter->empty()) continue;
+    if (parameter->isAlias()) continue;
+
+    func(*it);
+  }
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/pose_estimation.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/pose_estimation.cpp
new file mode 100644
index 0000000..56dfdd2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/pose_estimation.cpp	
@@ -0,0 +1,775 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/pose_estimation.h>
+#include <hector_pose_estimation/filter/ekf.h>
+#include <hector_pose_estimation/global_reference.h>
+
+#include <hector_pose_estimation/system/imu_input.h>
+#include <hector_pose_estimation/system/imu_model.h>
+
+#include <boost/weak_ptr.hpp>
+
+namespace hector_pose_estimation {
+
+namespace {
+  static PoseEstimation *the_instance = 0;
+}
+
+PoseEstimation::PoseEstimation(const SystemPtr& system, const StatePtr& state)
+  : state_(state ? state : StatePtr(new OrientationPositionVelocityState))
+  , rate_update_(new Rate("rate"))
+  , gravity_update_(new Gravity ("gravity"))
+  , zerorate_update_(new ZeroRate("zerorate"))
+{
+  if (!the_instance) the_instance = this;
+  if (system) addSystem(system);
+
+  world_frame_ = "/world";
+  nav_frame_ = "nav";
+  base_frame_ = "base_link";
+  stabilized_frame_ = "base_stabilized";
+  footprint_frame_ = "base_footprint";
+  // position_frame_ = "base_position";
+  alignment_time_ = 0.0;
+  gravity_ = -9.8065;
+
+  parameters().add("world_frame", world_frame_);
+  parameters().add("nav_frame", nav_frame_);
+  parameters().add("base_frame", base_frame_);
+  parameters().add("stabilized_frame", stabilized_frame_);
+  parameters().add("footprint_frame", footprint_frame_);
+  parameters().add("position_frame", position_frame_);
+  parameters().add(globalReference()->parameters());
+  parameters().add("alignment_time", alignment_time_);
+  parameters().add("gravity_magnitude", gravity_);
+
+  // add default measurements
+  addMeasurement(rate_update_);
+  addMeasurement(gravity_update_);
+  addMeasurement(zerorate_update_);
+}
+
+PoseEstimation::~PoseEstimation()
+{
+  cleanup();
+}
+
+PoseEstimation *PoseEstimation::Instance() {
+  if (!the_instance) the_instance = new PoseEstimation();
+  return the_instance;
+}
+
+bool PoseEstimation::init()
+{
+#ifdef EIGEN_RUNTIME_NO_MALLOC
+  Eigen::internal::set_is_malloc_allowed(true);
+#endif
+
+  // initialize global reference
+  globalReference()->reset();
+
+  // check if system is initialized
+  if (systems_.empty()) return false;
+
+  // create new filter
+  filter_.reset(new filter::EKF(*state_));
+
+  // initialize systems (new systems could be added during initialization!)
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it)
+    if (!(*it)->init(*this, state())) return false;
+
+  // initialize measurements (new systems could be added during initialization!)
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); ++it)
+    if (!(*it)->init(*this, state())) return false;
+
+  // initialize filter
+  filter_->init(*this);
+
+  // call setFilter for each system and each measurement
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it)
+    (*it)->setFilter(filter_.get());
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); ++it)
+    (*it)->setFilter(filter_.get());
+
+  // reset (or initialize) filter and measurements
+  reset();
+
+  return true;
+}
+
+void PoseEstimation::cleanup()
+{
+  // cleanup system
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it) (*it)->cleanup();
+
+  // cleanup measurements
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); ++it) (*it)->cleanup();
+
+  // delete filter instance
+  if (filter_) filter_.reset();
+}
+
+void PoseEstimation::reset()
+{
+  // check if system is initialized
+  if (systems_.empty()) return;
+
+  // set initial status
+  if (filter_) filter_->reset();
+
+  // restart alignment
+  alignment_start_ = ros::Time();
+  if (alignment_time_ > 0) {
+    state().setSystemStatus(STATUS_ALIGNMENT);
+  }
+
+  // reset systems and measurements
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it) {
+    (*it)->reset(state());
+    (*it)->getPrior(state());
+  }
+
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); ++it) {
+    (*it)->reset(state());
+  }
+
+  updated();
+}
+
+void PoseEstimation::update(ros::Time new_timestamp)
+{
+  // check if system is initialized
+  if (systems_.empty()) return;
+
+  ros::Duration dt;
+  if (!getTimestamp().isZero()) {
+    if (new_timestamp.isZero()) new_timestamp = ros::Time::now();
+    dt = new_timestamp - getTimestamp();
+  }
+  setTimestamp(new_timestamp);
+
+  // do the update step
+  update(dt.toSec());
+}
+
+void PoseEstimation::update(double dt)
+{
+  // check dt
+  if (dt < -1.0)
+    reset();
+  else if (dt < 0.0)
+    return;
+  else if (dt > 1.0)
+    dt = 1.0;
+
+  // check if system and filter is initialized
+  if (systems_.empty() || !filter_) return;
+
+  // filter rate measurement first
+  boost::shared_ptr<ImuInput> imu = getInputType<ImuInput>("imu");
+  if (imu) {
+    // Should the biases already be integrated here?
+    // Note: The state set here only has an effect if the state vector does not have a rate/acceleration component.
+    state().setRate(imu->getRate());
+    state().setAcceleration(imu->getAcceleration() + state().R().row(2).transpose() * gravity_);
+
+    if (state().rate() && rate_update_) {
+      rate_update_->update(Rate::Update(imu->getRate()));
+    }
+  }
+
+  // time update step
+  filter_->predict(systems_, dt);
+
+  // pseudo measurement updates (if required)
+  if (imu && !(getSystemStatus() & STATE_ROLLPITCH)) {
+    gravity_update_->enable();
+    gravity_update_->update(Gravity::Update(imu->getAcceleration()));
+  } else {
+    gravity_update_->disable();
+  }
+  if (!(getSystemStatus() & STATE_RATE_Z)) {
+    zerorate_update_->enable();
+    zerorate_update_->update(ZeroRate::Update());
+  } else {
+    zerorate_update_->disable();
+  }
+
+  // measurement updates
+  filter_->correct(measurements_);
+
+  // updated hook
+  updated();
+
+  // set measurement status and increase timers
+  SystemStatus measurement_status = 0;
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); it++) {
+    const MeasurementPtr& measurement = *it;
+    measurement_status |= measurement->getStatusFlags();
+    measurement->increase_timer(dt);
+  }
+  setMeasurementStatus(measurement_status);
+
+  // set system status
+  SystemStatus system_status = 0;
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); it++) {
+    const SystemPtr& system = *it;
+    system_status |= system->getStatusFlags();
+  }
+  updateSystemStatus(system_status, STATE_MASK | STATE_PSEUDO_MASK);
+
+  // check for invalid state
+  if (!state().valid()) {
+    ROS_FATAL("Invalid state, resetting...");
+    reset();
+    return;
+  }
+
+  // switch overall system status
+  if (inSystemStatus(STATUS_ALIGNMENT)) {
+    if (alignment_start_.isZero()) alignment_start_ = getTimestamp();
+    if ((getTimestamp() - alignment_start_).toSec() >= alignment_time_) {
+      updateSystemStatus(STATUS_DEGRADED, STATUS_ALIGNMENT);
+    }
+  } else if (inSystemStatus(STATE_ROLLPITCH | STATE_YAW | STATE_POSITION_XY | STATE_POSITION_Z)) {
+    updateSystemStatus(STATUS_READY, STATUS_DEGRADED);
+  } else {
+    updateSystemStatus(STATUS_DEGRADED, STATUS_READY);
+  }
+
+
+#ifdef EIGEN_RUNTIME_NO_MALLOC
+  // No memory allocations allowed after the first update!
+  Eigen::internal::set_is_malloc_allowed(false);
+#endif
+}
+
+void PoseEstimation::updated() {
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it) {
+    (*it)->limitState(state());
+  }
+}
+
+const SystemPtr& PoseEstimation::addSystem(const SystemPtr& system, const std::string& name) {
+  if (!name.empty() && system->getName().empty()) system->setName(name);
+  parameters().add(system->getName(), system->parameters());
+  return systems_.add(system, system->getName());
+}
+
+InputPtr PoseEstimation::addInput(const InputPtr& input, const std::string& name)
+{
+  if (!name.empty()) input->setName(name);
+  return inputs_.add(input, input->getName());
+}
+
+InputPtr PoseEstimation::setInput(const Input& value, std::string name)
+{
+  if (name.empty()) name = value.getName();
+  InputPtr input = inputs_.get(name);
+  if (!input) {
+    ROS_WARN("Set input \"%s\", but this input is not registered by any system model.", name.c_str());
+    return InputPtr();
+  }
+
+  *input = value;
+  return input;
+}
+
+const MeasurementPtr& PoseEstimation::addMeasurement(const MeasurementPtr& measurement, const std::string& name) {
+  if (!name.empty()) measurement->setName(name);
+  parameters().add(measurement->getName(), measurement->parameters());
+  return measurements_.add(measurement, measurement->getName());
+}
+
+const State::Vector& PoseEstimation::getStateVector() {
+//  if (state_is_dirty_) {
+//    state_ = filter_->PostGet()->ExpectedValueGet();
+//    state_is_dirty_ = false;
+//  }
+  return state().getVector();
+}
+
+const State::Covariance& PoseEstimation::getCovariance() {
+//  if (covariance_is_dirty_) {
+//    covariance_ = filter_->PostGet()->CovarianceGet();
+//    covariance_is_dirty_ = false;
+//  }
+  return state().getCovariance();
+}
+
+SystemStatus PoseEstimation::getSystemStatus() const {
+  return state().getSystemStatus();
+}
+
+SystemStatus PoseEstimation::getMeasurementStatus() const {
+  return state().getMeasurementStatus();
+}
+
+bool PoseEstimation::inSystemStatus(SystemStatus test_status) const {
+  return state().inSystemStatus(test_status);
+}
+
+bool PoseEstimation::setSystemStatus(SystemStatus new_status) {
+  return state().setSystemStatus(new_status);
+}
+
+bool PoseEstimation::setMeasurementStatus(SystemStatus new_measurement_status) {
+  return state().setMeasurementStatus(new_measurement_status);
+}
+
+bool PoseEstimation::updateSystemStatus(SystemStatus set, SystemStatus clear) {
+  return state().updateSystemStatus(set, clear);
+}
+
+bool PoseEstimation::updateMeasurementStatus(SystemStatus set, SystemStatus clear) {
+  return state().updateMeasurementStatus(set, clear);
+}
+
+const ros::Time& PoseEstimation::getTimestamp() const {
+  return state().getTimestamp();
+}
+
+void PoseEstimation::setTimestamp(const ros::Time& timestamp) {
+  state().setTimestamp(timestamp);
+}
+
+void PoseEstimation::getHeader(std_msgs::Header& header) {
+  header.stamp = getTimestamp();
+  header.frame_id = nav_frame_;
+}
+
+void PoseEstimation::getState(nav_msgs::Odometry& msg, bool with_covariances) {
+  getHeader(msg.header);
+  getPose(msg.pose.pose);
+  getVelocity(msg.twist.twist.linear);
+  getRate(msg.twist.twist.angular);
+  msg.child_frame_id = base_frame_;
+
+  // rotate body vectors to nav frame
+  ColumnVector3 rate_nav = state().R() * ColumnVector3(msg.twist.twist.angular.x, msg.twist.twist.angular.y, msg.twist.twist.angular.z);
+  msg.twist.twist.angular.x = rate_nav.x();
+  msg.twist.twist.angular.y = rate_nav.y();
+  msg.twist.twist.angular.z = rate_nav.z();
+
+  // fill covariances
+  if (with_covariances) {
+    Eigen::Map< Eigen::Matrix<geometry_msgs::PoseWithCovariance::_covariance_type::value_type,6,6> >  pose_covariance_msg(msg.pose.covariance.data());
+    Eigen::Map< Eigen::Matrix<geometry_msgs::TwistWithCovariance::_covariance_type::value_type,6,6> > twist_covariance_msg(msg.twist.covariance.data());
+
+    // position covariance
+    if (state().position()) {
+      pose_covariance_msg.block<3,3>(0,0) = state().position()->getCovariance();
+    }
+
+    // rotation covariance (world-fixed)
+    if (state().orientation()) {
+      pose_covariance_msg.block<3,3>(3,3) = state().orientation()->getCovariance();
+    }
+
+    // position/orientation cross variance
+    if (state().position() && state().orientation()) {
+      pose_covariance_msg.block<3,3>(0,3) = state().orientation()->getCrossVariance(*state().position());
+      pose_covariance_msg.block<3,3>(3,0) = pose_covariance_msg.block<3,3>(0,3).transpose();
+    }
+
+    // velocity covariance
+    if (state().velocity()) {
+      twist_covariance_msg.block<3,3>(0,0) = state().velocity()->getCovariance();
+    }
+
+    // angular rate covariance
+    if (state().rate()) {
+      twist_covariance_msg.block<3,3>(3,3) = state().rate()->getCovariance();
+    }
+
+    // cross velocity/angular_rate variance
+    if (state().velocity() && state().rate()) {
+      pose_covariance_msg.block<3,3>(0,3) = state().velocity()->getCrossVariance(*state().rate());
+      pose_covariance_msg.block<3,3>(3,0) = pose_covariance_msg.block<3,3>(0,3).transpose();
+    }
+  }
+}
+
+void PoseEstimation::getPose(tf::Pose& pose) {
+  tf::Quaternion quaternion;
+  getPosition(pose.getOrigin());
+  getOrientation(quaternion);
+  pose.setRotation(quaternion);
+}
+
+void PoseEstimation::getPose(tf::Stamped<tf::Pose>& pose) {
+  getPose(static_cast<tf::Pose &>(pose));
+  pose.stamp_ = getTimestamp();
+  pose.frame_id_ = nav_frame_;
+}
+
+void PoseEstimation::getPose(geometry_msgs::Pose& pose) {
+  getPosition(pose.position);
+  getOrientation(pose.orientation);
+}
+
+void PoseEstimation::getPose(geometry_msgs::PoseStamped& pose) {
+  getHeader(pose.header);
+  getPose(pose.pose);
+}
+
+void PoseEstimation::getPosition(tf::Point& point) {
+  State::ConstPositionType position(state().getPosition());
+  point = tf::Point(position.x(), position.y(), position.z());
+}
+
+void PoseEstimation::getPosition(tf::Stamped<tf::Point>& point) {
+  getPosition(static_cast<tf::Point &>(point));
+  point.stamp_ = getTimestamp();
+  point.frame_id_ = nav_frame_;
+}
+
+void PoseEstimation::getPosition(geometry_msgs::Point& point) {
+  State::ConstPositionType position(state().getPosition());
+  point.x = position.x();
+  point.y = position.y();
+  point.z = position.z();
+}
+
+void PoseEstimation::getPosition(geometry_msgs::PointStamped& point) {
+  getHeader(point.header);
+  getPosition(point.point);
+}
+
+void PoseEstimation::getGlobal(double &latitude, double &longitude, double &altitude) {
+  State::ConstPositionType position(state().getPosition());
+  double north =  position.x() * globalReference()->heading().cos - position.y() * globalReference()->heading().sin;
+  double east  = -position.x() * globalReference()->heading().sin - position.y() * globalReference()->heading().cos;
+  latitude  = globalReference()->position().latitude  + north / globalReference()->radius().north;
+  longitude = globalReference()->position().longitude + east  / globalReference()->radius().east;
+  altitude  = globalReference()->position().altitude  + position.z();
+}
+
+void PoseEstimation::getGlobalPosition(double &latitude, double &longitude, double &altitude) {
+  getGlobal(latitude, longitude, altitude);
+}
+
+void PoseEstimation::getGlobal(geographic_msgs::GeoPoint& global)
+{
+  getGlobalPosition(global.latitude, global.longitude, global.altitude);
+  global.latitude  *= 180.0/M_PI;
+  global.longitude *= 180.0/M_PI;
+}
+
+void PoseEstimation::getGlobal(sensor_msgs::NavSatFix& global)
+{
+  getHeader(global.header);
+  global.header.frame_id = world_frame_;
+
+  if ((getSystemStatus() & STATE_POSITION_XY) && globalReference()->hasPosition()) {
+    global.status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
+  } else {
+    global.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
+  }
+
+  getGlobalPosition(global.latitude, global.longitude, global.altitude);
+  global.latitude  *= 180.0/M_PI;
+  global.longitude *= 180.0/M_PI;
+
+  if (getSystemStatus() & STATE_POSITION_XY) {
+    global.status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
+  } else {
+    global.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
+  }
+}
+
+void PoseEstimation::getGlobalPosition(sensor_msgs::NavSatFix& global)
+{
+  getGlobal(global);
+}
+
+void PoseEstimation::getGlobal(geographic_msgs::GeoPoint& position, geometry_msgs::Quaternion& quaternion)
+{
+  getGlobal(position);
+  Quaternion global_orientation = globalReference()->heading().quaternion() * Quaternion(state().getOrientation());
+  quaternion.w = global_orientation.w();
+  quaternion.x = global_orientation.x();
+  quaternion.y = global_orientation.y();
+  quaternion.z = global_orientation.z();
+}
+
+void PoseEstimation::getGlobal(geographic_msgs::GeoPose& global)
+{
+  getGlobal(global.position, global.orientation);
+}
+
+void PoseEstimation::getOrientation(tf::Quaternion& quaternion) {
+  Quaternion orientation(state().getOrientation());
+  quaternion = tf::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w());
+}
+
+void PoseEstimation::getOrientation(tf::Stamped<tf::Quaternion>& quaternion) {
+  getOrientation(static_cast<tf::Quaternion &>(quaternion));
+  quaternion.stamp_ = getTimestamp();
+  quaternion.frame_id_ = nav_frame_;
+}
+
+void PoseEstimation::getOrientation(geometry_msgs::Quaternion& quaternion) {
+  Quaternion orientation(state().getOrientation());
+  quaternion.w = orientation.w();
+  quaternion.x = orientation.x();
+  quaternion.y = orientation.y();
+  quaternion.z = orientation.z();
+}
+
+void PoseEstimation::getOrientation(geometry_msgs::QuaternionStamped& quaternion) {
+  getHeader(quaternion.header);
+  getOrientation(quaternion.quaternion);
+}
+
+void PoseEstimation::getOrientation(double &yaw, double &pitch, double &roll) {
+  tf::Quaternion quaternion;
+  getOrientation(quaternion);
+#ifdef TF_MATRIX3x3_H
+  tf::Matrix3x3(quaternion).getRPY(roll, pitch, yaw);
+#else
+  btMatrix3x3(quaternion).getRPY(roll, pitch, yaw);
+#endif
+}
+
+void PoseEstimation::getImuWithBiases(geometry_msgs::Vector3& linear_acceleration, geometry_msgs::Vector3& angular_velocity) {
+  boost::shared_ptr<const ImuInput>  input     = boost::dynamic_pointer_cast<const ImuInput>(getInput("imu"));
+  boost::shared_ptr<const Accelerometer> accel = boost::dynamic_pointer_cast<const Accelerometer>(getSystem("accelerometer"));
+
+  if (input) {
+    linear_acceleration.x = input->getAcceleration().x();
+    linear_acceleration.y = input->getAcceleration().y();
+    linear_acceleration.z = input->getAcceleration().z();
+  } else {
+    linear_acceleration.x = 0.0;
+    linear_acceleration.y = 0.0;
+    linear_acceleration.z = 0.0;
+  }
+
+  if (accel) {
+    linear_acceleration.x -= accel->getModel()->getError().x();
+    linear_acceleration.y -= accel->getModel()->getError().y();
+    linear_acceleration.z -= accel->getModel()->getError().z();
+  }
+
+  getRate(angular_velocity);
+}
+
+void PoseEstimation::getVelocity(tf::Vector3& vector) {
+  State::ConstVelocityType velocity(state().getVelocity());
+  vector = tf::Vector3(velocity.x(), velocity.y(), velocity.z());
+}
+
+void PoseEstimation::getVelocity(tf::Stamped<tf::Vector3>& vector) {
+  getVelocity(static_cast<tf::Vector3 &>(vector));
+  vector.stamp_ = getTimestamp();
+  vector.frame_id_ = nav_frame_;
+}
+
+void PoseEstimation::getVelocity(geometry_msgs::Vector3& vector) {
+  State::ConstVelocityType velocity(state().getVelocity());
+  vector.x = velocity.x();
+  vector.y = velocity.y();
+  vector.z = velocity.z();
+}
+
+void PoseEstimation::getVelocity(geometry_msgs::Vector3Stamped& vector) {
+  getHeader(vector.header);
+  getVelocity(vector.vector);
+}
+
+void PoseEstimation::getRate(tf::Vector3& vector) {
+  geometry_msgs::Vector3 rate;
+  getRate(rate);
+  vector = tf::Vector3(rate.x, rate.y, rate.z);
+}
+
+void PoseEstimation::getRate(tf::Stamped<tf::Vector3>& vector) {
+  getRate(static_cast<tf::Vector3 &>(vector));
+  vector.stamp_ = getTimestamp();
+  vector.frame_id_ = base_frame_;
+}
+
+void PoseEstimation::getRate(geometry_msgs::Vector3& vector) {
+  if (state().rate()) {
+    State::ConstRateType rate(state().getRate());
+    vector.x    = rate.x();
+    vector.y    = rate.y();
+    vector.z    = rate.z();
+
+  } else {
+    boost::shared_ptr<const ImuInput> input = boost::dynamic_pointer_cast<const ImuInput>(getInput("imu"));
+    boost::shared_ptr<const Gyro> gyro      = boost::dynamic_pointer_cast<const Gyro>(getSystem("gyro"));
+
+    if (input) {
+      vector.x = input->getRate().x();
+      vector.y = input->getRate().y();
+      vector.z = input->getRate().z();
+    } else {
+      vector.x = 0.0;
+      vector.y = 0.0;
+      vector.z = 0.0;
+    }
+
+    if (gyro) {
+      vector.x -= gyro->getModel()->getError().x();
+      vector.y -= gyro->getModel()->getError().y();
+      vector.z -= gyro->getModel()->getError().z();
+    }
+  }
+}
+
+void PoseEstimation::getRate(geometry_msgs::Vector3Stamped& vector) {
+  getHeader(vector.header);
+  getRate(vector.vector);
+  vector.header.frame_id = base_frame_;
+}
+
+void PoseEstimation::getBias(geometry_msgs::Vector3& angular_velocity, geometry_msgs::Vector3& linear_acceleration) {
+  boost::shared_ptr<const Accelerometer> accel = boost::dynamic_pointer_cast<const Accelerometer>(getSystem("accelerometer"));
+  boost::shared_ptr<const Gyro> gyro           = boost::dynamic_pointer_cast<const Gyro>(getSystem("gyro"));
+
+  if (gyro) {
+    angular_velocity.x = gyro->getModel()->getError().x();
+    angular_velocity.y = gyro->getModel()->getError().y();
+    angular_velocity.z = gyro->getModel()->getError().z();
+  } else {
+    angular_velocity.x = 0.0;
+    angular_velocity.y = 0.0;
+    angular_velocity.z = 0.0;
+  }
+
+  if (accel) {
+    linear_acceleration.x = accel->getModel()->getError().x();
+    linear_acceleration.y = accel->getModel()->getError().y();
+    linear_acceleration.z = accel->getModel()->getError().z();
+  } else {
+    linear_acceleration.x = 0.0;
+    linear_acceleration.y = 0.0;
+    linear_acceleration.z = 0.0;
+  }
+}
+
+void PoseEstimation::getBias(geometry_msgs::Vector3Stamped& angular_velocity, geometry_msgs::Vector3Stamped& linear_acceleration) {
+  getBias(angular_velocity.vector, linear_acceleration.vector);
+  angular_velocity.header.stamp = getTimestamp();
+  angular_velocity.header.frame_id = base_frame_;
+  linear_acceleration.header.stamp = getTimestamp();
+  linear_acceleration.header.frame_id = base_frame_;
+}
+
+void PoseEstimation::getTransforms(std::vector<tf::StampedTransform>& transforms) {
+  tf::Quaternion orientation;
+  tf::Point position;
+  getOrientation(orientation);
+  getPosition(position);
+
+  tf::Transform transform(orientation, position);
+  double y,p,r;
+  transform.getBasis().getEulerYPR(y,p,r);
+
+  std::string parent_frame = nav_frame_;
+
+  if(!position_frame_.empty()) {
+    tf::Transform position_transform;
+    position_transform.getBasis().setIdentity();
+    position_transform.setOrigin(tf::Point(position.x(), position.y(), position.z()));
+    transforms.push_back(tf::StampedTransform(position_transform, getTimestamp(), parent_frame, position_frame_ ));
+  }
+
+  if (!footprint_frame_.empty()) {
+    tf::Transform footprint_transform;
+    footprint_transform.getBasis().setEulerYPR(y, 0.0, 0.0);
+    footprint_transform.setOrigin(tf::Point(position.x(), position.y(), 0.0));
+    transforms.push_back(tf::StampedTransform(footprint_transform, getTimestamp(), parent_frame, footprint_frame_));
+
+    parent_frame = footprint_frame_;
+    transform = footprint_transform.inverseTimes(transform);
+  }
+
+  if (!stabilized_frame_.empty()) {
+    tf::Transform stabilized_transform(transform);
+#ifdef TF_MATRIX3x3_H
+    tf::Matrix3x3 rollpitch_rotation; rollpitch_rotation.setEulerYPR(0.0, p, r);
+#else
+    btMatrix3x3 rollpitch_rotation; rollpitch_rotation.setEulerYPR(0.0, p, r);
+#endif
+    stabilized_transform = stabilized_transform * tf::Transform(rollpitch_rotation.inverse());
+    transforms.push_back(tf::StampedTransform(stabilized_transform, getTimestamp(), parent_frame, stabilized_frame_));
+
+    parent_frame = stabilized_frame_;
+    transform = stabilized_transform.inverseTimes(transform);
+  }
+
+  transforms.push_back(tf::StampedTransform(transform, getTimestamp(), parent_frame, base_frame_));
+
+//  transforms.resize(3);
+
+//  transforms[0].stamp_ = getTimestamp();
+//  transforms[0].frame_id_ = nav_frame_;
+//  transforms[0].child_frame_id_ = footprint_frame_;
+//  transforms[0].setOrigin(tf::Point(position.x(), position.y(), 0.0));
+//  rotation.setEulerYPR(y,0.0,0.0);
+//  transforms[0].setBasis(rotation);
+
+//  transforms[1].stamp_ = getTimestamp();
+//  transforms[1].frame_id_ = footprint_frame_;
+//  transforms[1].child_frame_id_ = stabilized_frame_;
+//  transforms[1].setIdentity();
+//  transforms[1].setOrigin(tf::Point(0.0, 0.0, position.z()));
+
+//  transforms[2].stamp_ = getTimestamp();
+//  transforms[2].frame_id_ = stabilized_frame_;
+//  transforms[2].child_frame_id_ = base_frame_;
+//  transforms[2].setIdentity();
+//  rotation.setEulerYPR(0.0,p,r);
+//  transforms[2].setBasis(rotation);
+}
+
+void PoseEstimation::updateWorldToOtherTransform(tf::StampedTransform& world_to_other_transform) {
+  world_to_other_transform.frame_id_ = world_frame_;
+
+  double y,p,r;
+  world_to_other_transform.getBasis().getEulerYPR(y,p,r);
+  if (!(getSystemStatus() & (STATE_ROLLPITCH   | STATE_PSEUDO_ROLLPITCH)))   { r = p = 0.0; }
+  if (!(getSystemStatus() & (STATE_YAW         | STATE_PSEUDO_YAW)))         { y = 0.0; }
+  if (!(getSystemStatus() & (STATE_POSITION_XY | STATE_PSEUDO_POSITION_XY))) { world_to_other_transform.getOrigin().setX(0.0); world_to_other_transform.getOrigin().setY(0.0); }
+  if (!(getSystemStatus() & (STATE_POSITION_Z  | STATE_PSEUDO_POSITION_Z)))  { world_to_other_transform.getOrigin().setZ(0.0); }
+  world_to_other_transform.getBasis().setEulerYPR(y, p, r);
+}
+
+bool PoseEstimation::getWorldToNavTransform(geometry_msgs::TransformStamped& transform) {
+  return globalReference()->getWorldToNavTransform(transform, world_frame_, nav_frame_, getTimestamp());
+}
+
+const GlobalReferencePtr &PoseEstimation::globalReference() {
+  return GlobalReference::Instance();
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/state.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/state.cpp
new file mode 100644
index 0000000..030a801
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/state.cpp	
@@ -0,0 +1,297 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/state.h>
+#include <hector_pose_estimation/substate.h>
+
+#include <ros/console.h>
+
+namespace hector_pose_estimation {
+
+FullState::FullState()
+{
+  orientation_ = addSubState<OrientationStateType::VectorDimension,OrientationStateType::CovarianceDimension>("orientation");
+  rate_ = addSubState<RateStateType::VectorDimension,RateStateType::CovarianceDimension>("rate");
+  position_ = addSubState<PositionStateType::VectorDimension,PositionStateType::CovarianceDimension>("position");
+  velocity_ = addSubState<VelocityStateType::VectorDimension,VelocityStateType::CovarianceDimension>("velocity");
+  construct();
+}
+
+FullState::~FullState() {}
+
+OrientationPositionVelocityState::OrientationPositionVelocityState()
+{
+  orientation_ = addSubState<OrientationStateType::VectorDimension,OrientationStateType::CovarianceDimension>("orientation");
+  position_ = addSubState<PositionStateType::VectorDimension,PositionStateType::CovarianceDimension>("position");
+  velocity_ = addSubState<VelocityStateType::VectorDimension,VelocityStateType::CovarianceDimension>("velocity");
+  construct();
+}
+
+OrientationPositionVelocityState::~OrientationPositionVelocityState() {}
+
+OrientationOnlyState::OrientationOnlyState()
+{
+  orientation_ = addSubState<OrientationStateType::VectorDimension,OrientationStateType::CovarianceDimension>("orientation");
+  construct();
+}
+
+OrientationOnlyState::~OrientationOnlyState() {}
+
+PositionVelocityState::PositionVelocityState()
+{
+  position_ = addSubState<PositionStateType::VectorDimension,PositionStateType::CovarianceDimension>("position");
+  velocity_ = addSubState<VelocityStateType::VectorDimension,VelocityStateType::CovarianceDimension>("velocity");
+  construct();
+}
+
+PositionVelocityState::~PositionVelocityState() {}
+
+State::State() {}
+
+State::~State() {}
+
+void State::construct()
+{
+  base_.reset(new BaseState(*this, getVectorDimension(), getCovarianceDimension()));
+  reset();
+}
+
+void State::reset()
+{
+  // reset status flags
+  system_status_ = 0;
+  measurement_status_ = 0;
+
+  // reset pseudo-states
+  fake_rate_ = Vector::Zero(3,1);
+  fake_orientation_ = Vector::Zero(4,1);
+  fake_position_ = Vector::Zero(3,1);
+  fake_velocity_ = Vector::Zero(3,1);
+  fake_acceleration_ = Vector::Zero(3,1);
+
+  // reset state
+  vector_.setZero();
+  covariance_.setZero();
+  fake_orientation_.w() = 1.0;
+  if (orientation()) orientation()->vector().w() = 1.0;
+
+  R_valid_ = false;
+}
+
+bool State::valid() const {
+  return (vector_ == vector_);
+}
+
+void State::updated()
+{
+  normalize();
+  R_valid_ = false;
+}
+
+State::ConstOrientationType State::getOrientation() const   { return (orientation()  ? orientation()->getVector()  : ConstOrientationType(fake_orientation_, 0)); }
+State::ConstRateType State::getRate() const                 { return (rate()         ? rate()->getVector()         : ConstRateType(fake_rate_, 0)); }
+State::ConstPositionType State::getPosition() const         { return (position()     ? position()->getVector()     : ConstPositionType(fake_position_, 0)); }
+State::ConstVelocityType State::getVelocity() const         { return (velocity()     ? velocity()->getVector()     : ConstVelocityType(fake_velocity_, 0)); }
+State::ConstAccelerationType State::getAcceleration() const { return (acceleration() ? acceleration()->getVector() : ConstAccelerationType(fake_acceleration_, 0)); }
+
+void State::getRotationMatrix(RotationMatrix &R) const
+{
+  Quaternion q(getOrientation());
+  R = q.toRotationMatrix();
+//  R << (q.w()*q.w()+q.x()*q.x()-q.y()*q.y()-q.z()*q.z()), (2.0*q.x()*q.y()-2.0*q.w()*q.z()),                 (2.0*q.x()*q.z()+2.0*q.w()*q.y()),
+//       (2.0*q.x()*q.y()+2.0*q.w()*q.z()),                 (q.w()*q.w()-q.x()*q.x()+q.y()*q.y()-q.z()*q.z()), (2.0*q.y()*q.z()-2.0*q.w()*q.x()),
+//       (2.0*q.x()*q.z()-2.0*q.w()*q.y()),                 (2.0*q.y()*q.z()+2.0*q.w()*q.x()),                 (q.w()*q.w()-q.x()*q.x()-q.y()*q.y()+q.z()*q.z());
+}
+
+const State::RotationMatrix &State::R() const {
+  if (!R_valid_) {
+    getRotationMatrix(R_);
+    R_valid_ = true;
+  }
+  return R_;
+}
+
+double State::getYaw() const
+{
+  ConstOrientationType q(getOrientation());
+  return atan2(2*q.x()*q.y() + 2*q.w()*q.z(), q.x()*q.x() + q.w()*q.w() - q.z()*q.z() - q.y()*q.y());
+}
+
+void State::getEuler(double &roll, double &pitch, double &yaw) const
+{
+  ConstOrientationType q(getOrientation());
+  roll  = atan2(2*(q.y()*q.z() + q.w()*q.x()), q.w()*q.w() - q.x()*q.x() - q.y()*q.y() + q.z()*q.z());
+  pitch = -asin(2*(q.x()*q.z() - q.w()*q.y()));
+  yaw   = atan2(2*(q.x()*q.y() + q.w()*q.z()), q.w()*q.w() + q.x()*q.x() - q.y()*q.y() - q.z()*q.z());
+}
+
+ColumnVector3 State::getEuler() const
+{
+  ColumnVector3 euler;
+  getEuler(euler(0), euler(1), euler(2));
+  return euler;
+}
+
+void State::update(const Vector &vector_update)
+{
+  if (orientation()) {
+    // if vector_update has only n - 1 elements, we have to use covariance indices
+    int orientation_index, orientation_size;
+    if (vector_update.size() == getVectorDimension() - 1) {
+      orientation_index = orientation()->getCovarianceIndex();
+      orientation_size  = orientation()->getCovarianceDimension();
+    } else {
+      assert(vector_update.size() == getVectorDimension());
+      orientation_index = orientation()->getVectorIndex();
+      orientation_size  = orientation()->getVectorDimension();
+    }
+
+    // add everything before orientation part
+    if (orientation_index > 0) {
+      int length = orientation_index;
+      x().head(length) += vector_update.head(length);
+    }
+
+    // add everything after orientation part
+    if (orientation_index + orientation_size < vector_update.size()) {
+      int length = vector_update.size() - orientation_index - orientation_size;
+      x().tail(length) += vector_update.tail(length);
+    }
+
+    // update orientation
+    updateOrientation(vector_update.segment<3>(orientation_index));
+
+  } else {
+    // simply add vectors
+    x() += vector_update;
+  }
+}
+
+void State::updateOrientation(const ColumnVector3 &rotation_vector)
+{
+  if (!orientation()) return;
+
+//  Eigen::Quaterniond q(orientation()->vector().data());
+//  q = Eigen::Quaterniond(1.0, 0.5 * rotation_vector.x(), 0.5 * rotation_vector.y(), 0.5 * rotation_vector.z()) * q;
+//  orientation()->vector() = q.normalized().coeffs();
+
+  // Eigen::Map<Eigen::Quaterniond> q(orientation()->vector().data());
+  Eigen::Quaterniond q(orientation()->vector().data());
+  q = Eigen::Quaterniond().fromRotationVector(rotation_vector) * q;
+  orientation()->vector() = q.coeffs();
+
+  R_valid_ = false;
+}
+
+bool State::inSystemStatus(SystemStatus test_status) const {
+  return (getSystemStatus() & test_status) == test_status;
+}
+
+bool State::setSystemStatus(SystemStatus new_status) {
+  if (new_status == system_status_) return true;
+
+  // iterate through StatusCallbacks
+  for(std::vector<SystemStatusCallback>::const_iterator it = status_callbacks_.begin(); it != status_callbacks_.end(); ++it)
+    if (!(*it)(new_status)) return false;
+
+  SystemStatus set = new_status & ~system_status_;
+  SystemStatus cleared = system_status_ & ~new_status;
+  if (set)     ROS_INFO_STREAM("Set system status " << getSystemStatusString(new_status, set));
+  if (cleared) ROS_INFO_STREAM("Cleared system status " << getSystemStatusString(cleared, cleared));
+
+  system_status_ = new_status;
+  return true;
+}
+
+bool State::setMeasurementStatus(SystemStatus new_measurement_status) {
+  SystemStatus set = new_measurement_status & ~measurement_status_;
+  SystemStatus cleared = measurement_status_ & ~new_measurement_status;
+  if (set)     ROS_INFO_STREAM("Set measurement status " << getSystemStatusString(new_measurement_status, set));
+  if (cleared) ROS_INFO_STREAM("Cleared measurement status " << getSystemStatusString(cleared, cleared));
+
+  measurement_status_ = new_measurement_status;
+  return true;
+}
+
+bool State::updateSystemStatus(SystemStatus set, SystemStatus clear) {
+  return setSystemStatus((system_status_ & ~clear) | set);
+}
+
+bool State::updateMeasurementStatus(SystemStatus set, SystemStatus clear) {
+  return setMeasurementStatus((measurement_status_ & ~clear) | set);
+}
+
+void State::addSystemStatusCallback(const SystemStatusCallback& callback) {
+//  for(std::vector<SystemStatusCallback>::const_iterator it = status_callbacks_.begin(); it != status_callbacks_.end(); ++it)
+//    if (*it == callback) return;
+  status_callbacks_.push_back(callback);
+}
+
+void State::normalize() {
+  if (orientation()) {
+    double s = 1.0 / orientation()->vector().norm();
+    orientation()->vector() = orientation()->vector() * s;
+  }
+}
+
+void State::setOrientation(const Quaternion& orientation)
+{
+  setOrientation(orientation.coeffs());
+}
+
+void State::setRollPitch(const Quaternion& q)
+{
+  ScalarType roll, pitch;
+  roll  = atan2(2*(q.y()*q.z() + q.w()*q.x()), q.w()*q.w() - q.x()*q.x() - q.y()*q.y() + q.z()*q.z());
+  pitch = -asin(2*(q.x()*q.z() - q.w()*q.y()));
+  setRollPitch(roll, pitch);
+}
+
+void State::setRollPitch(ScalarType roll, ScalarType pitch)
+{
+  ScalarType yaw = getYaw();
+  fake_orientation_ = Quaternion(Eigen::AngleAxis<ScalarType>(yaw, ColumnVector3::UnitZ()) * Eigen::AngleAxis<ScalarType>(pitch, ColumnVector3::UnitY()) * Eigen::AngleAxis<ScalarType>(roll, ColumnVector3::UnitX())).coeffs();
+}
+
+void State::setYaw(const Quaternion& orientation)
+{
+  const Quaternion &q = orientation;
+  double yaw = atan2(2*(q.x()*q.y() + q.w()*q.z()), q.w()*q.w() + q.x()*q.x() - q.y()*q.y() - q.z()*q.z());
+  setYaw(yaw);
+}
+
+void State::setYaw(ScalarType yaw)
+{
+  ColumnVector3 euler = getEuler();
+  fake_orientation_ = Quaternion(Eigen::AngleAxis<ScalarType>(yaw, ColumnVector3::UnitZ()) * Eigen::AngleAxis<ScalarType>(euler(1), ColumnVector3::UnitY()) * Eigen::AngleAxis<ScalarType>(euler(2), ColumnVector3::UnitX())).coeffs();
+}
+
+template class SubState::initializer<Dynamic,Dynamic>;
+template class SubState_<Dynamic,Dynamic>;
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system.cpp
new file mode 100644
index 0000000..ae084d4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system.cpp	
@@ -0,0 +1,89 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/system.h>
+#include <hector_pose_estimation/filter/ekf.h>
+
+namespace hector_pose_estimation {
+
+System::System(const std::string &name)
+  : name_(name)
+  , status_flags_(0)
+{
+}
+
+System::~System() {
+}
+
+void System::getPrior(State &state) const
+{
+  getModel()->getPrior(state);
+}
+
+bool System::init(PoseEstimation& estimator, State& state)
+{
+  if (!getModel() || !getModel()->init(estimator, *this, state)) return false;
+  return true;
+}
+
+void System::cleanup()
+{
+  if (getModel()) getModel()->cleanup();
+}
+
+void System::reset(State& state)
+{
+  if (getModel()) getModel()->reset(state);
+  status_flags_ = 0;
+}
+
+bool System::active(const State& state) {
+  bool active = (!getModel() || getModel()->active(state));
+  if (!active) status_flags_ = 0;
+  return active;
+}
+
+bool System::update(double dt) {
+  if (!filter() || !active(filter()->state())) return false;
+
+  if (getModel()) status_flags_ = getModel()->getStatusFlags(filter()->state());
+  if (!this->updateImpl(dt)) return false;
+  filter()->state().updated();
+
+  updated();
+  return true;
+}
+
+void System::updated() {
+}
+
+bool System::limitState(State &state) {
+  return getModel()->limitState(state);
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/generic_quaternion_system_model.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/generic_quaternion_system_model.cpp
new file mode 100644
index 0000000..5c325e8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/generic_quaternion_system_model.cpp	
@@ -0,0 +1,336 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/system/generic_quaternion_system_model.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+#include <hector_pose_estimation/pose_estimation.h>
+
+namespace hector_pose_estimation {
+
+template class System_<GenericQuaternionSystemModel>;
+
+GenericQuaternionSystemModel::GenericQuaternionSystemModel()
+{
+  angular_acceleration_stddev_ = 360.0 * M_PI/180.0;
+  rate_stddev_ = 0.0;
+  acceleration_stddev_ = 0.0;
+  velocity_stddev_ = 0.0;
+
+//  parameters().addAlias("gravity", gravity_);
+  parameters().add("angular_acceleration_stddev", angular_acceleration_stddev_);
+  parameters().add("rate_stddev", rate_stddev_);
+  parameters().add("acceleration_stddev", acceleration_stddev_);
+  parameters().add("velocity_stddev", velocity_stddev_);
+}
+
+GenericQuaternionSystemModel::~GenericQuaternionSystemModel()
+{
+}
+
+bool GenericQuaternionSystemModel::init(PoseEstimation& estimator, System &system, State& state)
+{
+  gravity_ = estimator.parameters().get("gravity_magnitude");
+
+  imu_ = estimator.getInputType<ImuInput>("imu");
+  if (imu_ && state.orientation()) {
+    gyro_ = estimator.getSystem_<Gyro>("gyro");
+    if (!gyro_) {
+      gyro_.reset(new Gyro("gyro"));
+      estimator.addSystem(gyro_);
+    }
+  }
+  if (imu_ && state.velocity()) {
+    accelerometer_ = estimator.getSystem_<Accelerometer>("accelerometer");
+    if (!accelerometer_) {
+      accelerometer_.reset(new Accelerometer("accelerometer"));
+      estimator.addSystem(accelerometer_);
+    }
+
+  }
+
+//  // precalculate Q in order to just copy the parts that are active
+//  // Note: Q might be too small as we add other substates later.
+//  Q_ = State::Covariance::Zero(state.getCovarianceDimension(), state.getCovarianceDimension());
+//  if (state.orientation()) {
+//    if (!state.rate() && imu_ && gyro_) {
+//      gyro_->getModel()->getRateNoise(state.orientation()->block(Q_), state, true);
+//    }
+//    state.orientation()->block(Q_) += pow(rate_stddev_, 2) * SymmetricMatrix3::Identity();
+//  }
+//  if (state.rate()) {
+//    state.rate()->block(Q_) = pow(angular_acceleration_stddev_, 2) * SymmetricMatrix3::Identity();
+//  }
+//  if (state.position()) {
+//    state.position()->block(Q_) = pow(velocity_stddev_, 2) * SymmetricMatrix3::Identity();
+//  }
+//  if (state.velocity()) {
+//    if (!state.acceleration() && imu_ && accelerometer_) {
+//      accelerometer_->getModel()->getAccelerationNoise(state.velocity()->block(Q_), state, true);
+//    }
+//    state.velocity()->block(Q_) += pow(acceleration_stddev_, 2) * SymmetricMatrix3::Identity();
+//  }
+
+  return true;
+}
+
+void GenericQuaternionSystemModel::getPrior(State &state) {
+  if (state.orientation()) {
+    state.orientation()->P()(X,X) = 1.0;
+    state.orientation()->P()(Y,Y) = 1.0;
+    state.orientation()->P()(Z,Z) = 0.0;
+  }
+
+  if (state.rate()) {
+    state.rate()->P()(X,X) = pow(0.0 * M_PI/180.0, 2);
+    state.rate()->P()(Y,Y) = pow(0.0 * M_PI/180.0, 2);
+    state.rate()->P()(Z,Z) = pow(0.0 * M_PI/180.0, 2);
+  }
+
+  if (state.position()) {
+    state.position()->P()(X,X) = 0.0;
+    state.position()->P()(Y,Y) = 0.0;
+    state.position()->P()(Z,Z) = 0.0;
+  }
+
+  if (state.velocity()) {
+    state.velocity()->P()(X,X) = 0.0;
+    state.velocity()->P()(Y,Y) = 0.0;
+    state.velocity()->P()(Z,Z) = 0.0;
+  }
+}
+
+bool GenericQuaternionSystemModel::prepareUpdate(State& state, double dt)
+{
+  if (state.rate()) {
+    rate_nav_ = state.R() * state.getRate();
+  }
+  else if (rate_input_) {
+    rate_nav_ = state.R() * rate_input_->getVector();
+  }
+  else if (imu_) {
+    if (gyro_) {
+      rate_nav_ = state.R() * gyro_->getModel()->getRate(imu_->getRate(), state);
+    } else {
+      rate_nav_ = state.R() * imu_->getRate();
+    }
+  } else {
+    rate_nav_.setZero();
+  }
+
+  if (state.acceleration()) {
+    acceleration_nav_ = state.R() * state.getAcceleration();
+  }
+  else if (force_input_) {
+    acceleration_nav_ = state.R() * force_input_->getVector();
+  }
+  else if (imu_) {
+    if (accelerometer_) {
+      acceleration_nav_ = state.R() * accelerometer_->getModel()->getAcceleration(imu_->getAcceleration(), state);
+    } else {
+      acceleration_nav_ = state.R() * imu_->getAcceleration();
+    }
+  } else {
+    acceleration_nav_.setZero();
+  }
+
+  ROS_DEBUG_STREAM_NAMED("system", "rate_nav = [" << rate_nav_.transpose() << "]");
+  ROS_DEBUG_STREAM_NAMED("system", "acceleration_nav = [" << acceleration_nav_.transpose() << "]");
+  return true;
+}
+
+void GenericQuaternionSystemModel::getDerivative(StateVector& x_dot, const State& state)
+{
+  x_dot.setZero();
+
+  if (state.rate()) {
+    if (torque_input_) {
+      state.rate()->segment(x_dot) = torque_input_->getVector();
+    }
+  }
+
+  if (state.orientation()) {
+    state.orientation()->segment(x_dot).head(3) = rate_nav_;
+    if (!(state.getSystemStatus() & STATE_YAW) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.orientation()->segment(x_dot).z() = 0.0;
+    }
+  }
+
+  if (state.velocity()) {
+    if ((state.getSystemStatus() & STATE_VELOCITY_XY) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.velocity()->segment(x_dot)(X) = acceleration_nav_.x();
+      state.velocity()->segment(x_dot)(Y) = acceleration_nav_.y();
+    }
+    if ((state.getSystemStatus() & STATE_VELOCITY_Z) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.velocity()->segment(x_dot)(Z) = acceleration_nav_.z();
+      if (imu_) {
+        state.velocity()->segment(x_dot)(Z) += gravity_;
+      }
+    }
+  }
+
+  if (state.position()) {
+    State::ConstVelocityType v(state.getVelocity());
+    if ((state.getSystemStatus() & STATE_POSITION_XY) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.position()->segment(x_dot)(X) = v.x();
+      state.position()->segment(x_dot)(Y) = v.y();
+    }
+    if ((state.getSystemStatus() & STATE_POSITION_Z) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.position()->segment(x_dot)(Z) = v.z();
+    }
+  }
+}
+
+void GenericQuaternionSystemModel::getSystemNoise(NoiseVariance& Q, const State& state, bool init)
+{
+//  if (init) Q.setZero();
+//  Q.topLeftCorner(Q_.rows(), Q_.cols()) = Q_;
+
+//  if (state.orientation()) {
+//    if (!(state.getSystemStatus() & STATE_YAW) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+//      state.orientation()->block(Q)(Z,Z) = 0.0;
+//    }
+//  }
+
+//  if (state.velocity()) {
+//    if (!(state.getSystemStatus() & STATE_VELOCITY_XY) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+//      state.velocity()->block(Q)(X,X) = 0.0;
+//      state.velocity()->block(Q)(Y,Y) = 0.0;
+//    }
+//    if (!(state.getSystemStatus() & STATE_VELOCITY_Z) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+//      state.velocity()->block(Q)(Z,Z) = 0.0;
+//    }
+//  }
+
+//  if (state.position()) {
+//    if (!(state.getSystemStatus() & STATE_POSITION_XY) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+//      state.position()->block(Q)(X,X) = 0.0;
+//      state.position()->block(Q)(Y,Y) = 0.0;
+//    }
+//    if (!(state.getSystemStatus() & STATE_POSITION_Z) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+//      state.position()->block(Q)(Z,Z) = 0.0;
+//    }
+//  }
+
+  if (!init) return;
+
+  Q.setZero();
+  if (state.orientation()) {
+    if (!state.rate() && imu_ && gyro_) {
+      gyro_->getModel()->getRateNoise(state.orientation()->block(Q), state, init);
+    }
+    state.orientation()->block(Q) += pow(rate_stddev_, 2) * SymmetricMatrix3::Identity();
+  }
+  if (state.rate()) {
+    state.rate()->block(Q) = pow(angular_acceleration_stddev_, 2) * SymmetricMatrix3::Identity();
+  }
+  if (state.position()) {
+    state.position()->block(Q) = pow(velocity_stddev_, 2) * SymmetricMatrix3::Identity();
+  }
+  if (state.velocity()) {
+    if (!state.acceleration() && imu_ && accelerometer_) {
+      accelerometer_->getModel()->getAccelerationNoise(state.velocity()->block(Q), state, init);
+    }
+    state.velocity()->block(Q) += pow(acceleration_stddev_, 2) * SymmetricMatrix3::Identity();
+  }
+}
+
+void GenericQuaternionSystemModel::getStateJacobian(SystemMatrix& A, const State& state, bool)
+{
+  const State::RotationMatrix &R = state.R();
+  A.setZero();
+
+  if (state.orientation()) {
+    if (state.rate()) {
+      state.orientation()->block(A, *state.rate()) = R;
+    } else if (imu_ && gyro_) {
+      GyroModel::SystemMatrixBlock A_orientation = state.orientation()->rows(A);
+      gyro_->getModel()->getRateJacobian(A_orientation, state);
+      state.orientation()->rows(A) = R * A_orientation;
+    }
+
+    state.orientation()->block(A) += SkewSymmetricMatrix(-rate_nav_);
+
+    if (!(state.getSystemStatus() & STATE_YAW) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.orientation()->rows(A).row(2).setZero();
+      state.orientation()->block(A).col(2).setZero();
+    }
+  }
+
+  if (state.velocity()) {
+    if (state.acceleration()) {
+      state.velocity()->block(A, *state.acceleration()) = R;
+    } else if (imu_ && accelerometer_) {
+      AccelerometerModel::SystemMatrixBlock A_velocity = state.velocity()->rows(A);
+      accelerometer_->getModel()->getAccelerationJacobian(A_velocity, state);
+      state.velocity()->rows(A) = R * A_velocity;
+    }
+
+    if (state.orientation()) {
+      state.velocity()->block(A, *state.orientation()) += SkewSymmetricMatrix(-acceleration_nav_);
+    }
+
+    if (!(state.getSystemStatus() & STATE_VELOCITY_XY) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.velocity()->rows(A).topRows(2).setZero();
+    }
+
+    if (!(state.getSystemStatus() & STATE_VELOCITY_Z) || (state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.velocity()->rows(A).row(2).setZero();
+    }
+  }
+
+  if (state.position() && state.velocity()) {
+    state.position()->block(A, *state.velocity()).setIdentity();
+
+    if ((state.getSystemStatus() & STATE_POSITION_XY) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.position()->block(A, *state.velocity())(X,X) = 1.0;
+      state.position()->block(A, *state.velocity())(Y,Y) = 1.0;
+    }
+    if ((state.getSystemStatus() & STATE_POSITION_Z) && !(state.getSystemStatus() & STATUS_ALIGNMENT)) {
+      state.position()->block(A, *state.velocity())(Z,Z) = 1.0;
+    }
+  }
+
+}
+
+SystemStatus GenericQuaternionSystemModel::getStatusFlags(const State& state)
+{
+  SystemStatus flags = state.getMeasurementStatus();
+  if (flags & STATE_POSITION_XY) flags |= STATE_VELOCITY_XY;
+  if (flags & STATE_POSITION_Z)  flags |= STATE_VELOCITY_Z;
+  if (imu_) {
+    if (flags & STATE_VELOCITY_XY)      flags |= STATE_ROLLPITCH;
+    if (flags & STATE_ROLLPITCH)        flags |= STATE_RATE_XY;
+    if (flags & STATE_PSEUDO_ROLLPITCH) flags |= STATE_PSEUDO_RATE_XY;
+    if (flags & STATE_YAW)              flags |= STATE_RATE_Z;
+    if (flags & STATE_PSEUDO_YAW)       flags |= STATE_PSEUDO_RATE_Z;
+  }
+  return flags & STATE_MASK;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/ground_vehicle_model.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/ground_vehicle_model.cpp
new file mode 100644
index 0000000..323aab4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/ground_vehicle_model.cpp	
@@ -0,0 +1,124 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/system/ground_vehicle_model.h>
+#include <hector_pose_estimation/pose_estimation.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+#include <limits>
+
+namespace hector_pose_estimation {
+
+template class System_<GroundVehicleModel>;
+
+GroundVehicleModel::GroundVehicleModel()
+{
+  gain_ = 1.0;
+  base_height_ = 0.0;
+  min_height_ = -std::numeric_limits<double>::quiet_NaN();
+  max_height_ =  std::numeric_limits<double>::quiet_NaN();
+
+  parameters().add("gain", gain_);
+  parameters().add("base_height", base_height_);
+  parameters().add("min_height", min_height_);
+  parameters().add("max_height", max_height_);
+
+  // derivative of the 3rd column of the rotation matrix
+  dR3 <<  0.0, 1.0, 0.0,
+         -1.0, 0.0, 0.0,
+          0.0, 0.0, 0.0;
+}
+
+GroundVehicleModel::~GroundVehicleModel()
+{
+}
+
+void GroundVehicleModel::getPrior(State &state)
+{
+  GenericQuaternionSystemModel::getPrior(state);
+  if (state.position()) state.position()->vector().z() = base_height_;
+}
+
+void GroundVehicleModel::getDerivative(StateVector& x_dot, const State& state)
+{
+  // forward to GenericQuaternionSystemModel
+  GenericQuaternionSystemModel::getDerivative(x_dot, state);
+
+  const State::RotationMatrix &R = state.R();
+  State::ConstVelocityType v(state.getVelocity());
+
+  // Update the body z velocity towards 0
+  if (state.velocity()) {
+    // v_z_body = R.col(2).dot(v)
+    state.velocity()->segment(x_dot) += -gain_ * R.col(2) * (R.col(2).dot(v));
+  }
+}
+
+void GroundVehicleModel::getStateJacobian(SystemMatrix& A, const State& state, bool init)
+{
+  GenericQuaternionSystemModel::getStateJacobian(A, state, init);
+
+  const State::RotationMatrix &R = state.R();
+  State::ConstVelocityType v(state.getVelocity());
+
+  if (state.velocity()) {
+    state.velocity()->block(A) += -gain_ * R.col(2) * R.col(2).transpose();
+
+    if (state.orientation()) {
+      state.velocity()->block(A, *state.orientation()) += -gain_ * (dR3 * (R.col(2).dot(v)) + R.col(2) * (v.transpose() * dR3));
+    }
+  }
+}
+
+SystemStatus GroundVehicleModel::getStatusFlags(const State& state)
+{
+  SystemStatus flags = GenericQuaternionSystemModel::getStatusFlags(state);
+  if (flags & STATE_VELOCITY_XY) {
+    flags |= STATE_VELOCITY_Z;
+    flags |= STATE_POSITION_Z;
+  }
+  return flags;
+}
+
+bool GroundVehicleModel::limitState(State& state)
+{
+  bool result = GenericQuaternionSystemModel::limitState(state);
+  if (state.position()) {
+    if (state.position()->vector().z() < min_height_) {
+      state.position()->vector().z() = min_height_;
+      result = false;
+    }
+    if (state.position()->vector().z() > max_height_) {
+      state.position()->vector().z() = max_height_;
+      result = false;
+    }
+  }
+  return result;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/imu_model.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/imu_model.cpp
new file mode 100644
index 0000000..7ff69f7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/system/imu_model.cpp	
@@ -0,0 +1,194 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/system/imu_model.h>
+#include <hector_pose_estimation/pose_estimation.h>
+#include <hector_pose_estimation/filter/set_filter.h>
+
+namespace hector_pose_estimation {
+
+template class System_<GyroModel>;
+template class System_<AccelerometerModel>;
+
+static const Matrix3 MinusIdentity = -Matrix3::Identity();
+
+GyroModel::GyroModel()
+{
+  rate_stddev_ = 1.0 * M_PI/180.0;
+  rate_drift_ = 1.0e-1 * M_PI/180.0;
+  parameters().add("stddev", rate_stddev_);
+  parameters().add("drift", rate_drift_);
+}
+
+GyroModel::~GyroModel()
+{}
+
+bool GyroModel::init(PoseEstimation& estimator, System &system, State& state)
+{
+  bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+  return bias_;
+}
+
+void GyroModel::getPrior(State &state)
+{
+  bias_->block(state.P()) = 3600./2. * pow(rate_drift_, 2) * SymmetricMatrix3::Identity();
+}
+
+void GyroModel::getSystemNoise(NoiseVariance& Q, const State& state, bool init)
+{
+  if (!init) return;
+  bias_->block(Q)(X,X) = bias_->block(Q)(Y,Y) = pow(rate_drift_, 2);
+  bias_->block(Q)(Z,Z) = pow(rate_drift_, 2);
+}
+
+ColumnVector3 GyroModel::getRate(const ImuInput::RateType& imu_rate, const State& state) const
+{
+  return imu_rate - bias_->getVector();
+}
+
+void GyroModel::getRateJacobian(SystemMatrixBlock& C, const State& state, bool init)
+{
+  if (!init) return;
+  bias_->cols(C) = MinusIdentity;
+}
+
+void GyroModel::getRateNoise(CovarianceBlock Q, const State &, bool init)
+{
+  if (!init) return;
+  Q(X,X) = Q(Y,Y) = Q(Z,Z) = pow(rate_stddev_, 2);
+}
+
+//void GyroModel::getDerivative(StateVector &x_dot, const State &state)
+//{
+//  x_dot.setZero();
+//  if (state.orientation() && !state.rate()) {
+//    state.orientation()->segment(x_dot).head(3) = state.R() * bias_->vector();
+//  }
+//}
+
+//void GyroModel::getStateJacobian(SystemMatrix& A, const State& state)
+//{
+//  A.setZero();
+//  if (state.orientation() && !state.rate()) {
+//    state.orientation()->block(A, *bias_) = state.R();
+//  }
+//}
+
+AccelerometerModel::AccelerometerModel()
+{
+  acceleration_stddev_ = 1.0e-2;
+  acceleration_drift_ = 1.0e-2;
+  parameters().add("stddev", acceleration_stddev_);
+  parameters().add("drift", acceleration_drift_);
+}
+
+AccelerometerModel::~AccelerometerModel()
+{}
+
+bool AccelerometerModel::init(PoseEstimation& estimator, System &system, State& state)
+{
+  bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+  return bias_;
+}
+
+void AccelerometerModel::getPrior(State &state)
+{
+  bias_->block(state.P()) = 3600./2. * pow(acceleration_drift_, 2) * SymmetricMatrix3::Identity();
+}
+
+void AccelerometerModel::getSystemNoise(NoiseVariance& Q, const State&, bool init)
+{
+  if (!init) return;
+  bias_->block(Q)(X,X) = bias_->block(Q)(Y,Y) = pow(acceleration_drift_, 2);
+  bias_->block(Q)(Z,Z) = pow(acceleration_drift_, 2);
+}
+
+ColumnVector3 AccelerometerModel::getAcceleration(const ImuInput::AccelerationType& imu_acceleration, const State& state) const
+{
+  return imu_acceleration - bias_->getVector();
+}
+
+void AccelerometerModel::getAccelerationJacobian(SystemMatrixBlock& C, const State&, bool init)
+{
+  if (!init) return;
+  bias_->cols(C) = MinusIdentity;
+}
+
+void AccelerometerModel::getAccelerationNoise(CovarianceBlock Q, const State &, bool init)
+{
+  if (!init) return;
+  Q(X,X) = Q(Y,Y) = Q(Z,Z) = pow(acceleration_stddev_, 2);
+}
+
+//void AccelerometerModel::getDerivative(StateVector &x_dot, const State &state)
+//{
+//  x_dot.setZero();
+//  if (state.velocity() && !state.acceleration()) {
+//    if (state.getSystemStatus() & STATE_VELOCITY_XY) {
+//      state.velocity()->segment(x_dot)(X) = bias_nav_.x();
+//      state.velocity()->segment(x_dot)(Y) = bias_nav_.y();
+//    }
+//    if (state.getSystemStatus() & STATE_VELOCITY_Z) {
+//      state.velocity()->segment(x_dot)(Z) = bias_nav_.z();
+//    }
+//  }
+//}
+
+//void AccelerometerModel::getStateJacobian(SystemMatrixBlock& A, const State& state)
+//{
+//  A.setZero();
+//  if (state.velocity() && !state.acceleration()) {
+//    const State::RotationMatrix &R = state.R();
+
+//    if (state.getSystemStatus() & STATE_VELOCITY_XY) {
+//      state.velocity()->block(A, *bias_).row(X) = R.row(X);
+//      state.velocity()->block(A, *bias_).row(Y) = R.row(Y);
+//    }
+//    if (state.getSystemStatus() & STATE_VELOCITY_Z) {
+//      state.velocity()->block(A, *bias_).row(Z) = R.row(Z);
+//    }
+
+//    if (state.getSystemStatus() & STATE_VELOCITY_XY) {
+//      state.velocity()->block(A, *state.orientation())(X,X) = 0.0;
+//      state.velocity()->block(A, *state.orientation())(X,Y) =  bias_nav_.z();
+//      state.velocity()->block(A, *state.orientation())(X,Z) = -bias_nav_.y();
+
+//      state.velocity()->block(A, *state.orientation())(Y,X) = -bias_nav_.z();
+//      state.velocity()->block(A, *state.orientation())(Y,Y) = 0.0;
+//      state.velocity()->block(A, *state.orientation())(Y,Z) =  bias_nav_.x();
+//    }
+
+//    if (state.getSystemStatus() & STATE_VELOCITY_Z) {
+//      state.velocity()->block(A, *state.orientation())(Z,X) =  bias_nav_.y();
+//      state.velocity()->block(A, *state.orientation())(Z,Y) = -bias_nav_.x();
+//      state.velocity()->block(A, *state.orientation())(Z,Z) = 0.0;
+//    }
+//  }
+//}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/types.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/types.cpp
new file mode 100644
index 0000000..45035e6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation_core/src/types.cpp	
@@ -0,0 +1,68 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/types.h>
+
+namespace hector_pose_estimation {
+
+std::string getSystemStatusString(const SystemStatus& status, const SystemStatus& asterisk_status) {
+  std::string result;
+  static const char* const str[] = {
+    "ALIGNMENT", "DEGRADED", "READY", 0,
+    "ROLLPITCH", "YAW", "PSEUDO_ROLLPITCH", "PSEUDO_YAW",
+    "RATE_XY", "RATE_Z", "PSEUDO_RATE_XY", "PSEUDO_RATE_Z",
+    "VELOCITY_XY", "VELOCITY_Z", "PSEUDO_VELOCITY_XY", "PSEUDO_VELOCITY_Z",
+    "POSITION_XY", "POSITION_Z", "PSEUDO_POSITION_XY", "PSEUDO_POSITION_Z",
+  };
+
+  if (asterisk_status) {
+      for(unsigned int i = 0; i < sizeof(str)/sizeof(*str); ++i) {
+      if (asterisk_status & (1 << i)) {
+        result += "*" + std::string(str[i]) + " ";
+      }
+    }
+
+    if (asterisk_status != status) result += "(";
+  }
+
+  for(unsigned int i = 0; i < sizeof(str)/sizeof(*str); ++i) {
+    if (status & (1 << i)) {
+      if (asterisk_status & (1 << i)) continue;
+      result += std::string(str[i]) + " ";
+    }
+  }
+  if (result.size() > 0) result.resize(result.size() - 1);
+
+  if (asterisk_status && (asterisk_status != status)) {
+    result += ")";
+  }
+
+  return result;
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CHANGELOG.rst
new file mode 100644
index 0000000..c537b6b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CHANGELOG.rst	
@@ -0,0 +1,50 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package message_to_tf
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2016-06-27)
+------------------
+
+0.2.2 (2016-06-24)
+------------------
+
+0.2.1 (2015-11-08)
+------------------
+* Update error message
+* Add TransformStamped as an input type
+* Contributors: Paul Bovbel
+
+0.2.0 (2015-02-22)
+------------------
+
+0.1.5 (2014-10-02)
+------------------
+* get subscribed topic from the command line
+* initialize origin when publishing imu transform and fixed imu pose output (fix #6)
+* Contributors: Johannes Meyer
+
+0.1.4 (2014-08-28)
+------------------
+
+0.1.3 (2014-07-09)
+------------------
+* message_to_tf: fixed base_link transform publishing (was removed in 77f2cc2334d15fc0e9395ceb9b40cd4601448289)
+* Contributors: Johannes Meyer
+
+0.1.2 (2014-06-02)
+------------------
+* Add parameter for optionally not publishing roll/pitch to tf
+* Don´t publish roll/pitch (to be parametrized soon)
+* Contributors: Stefan Kohlbrecher, hector1
+
+0.1.1 (2014-03-30)
+------------------
+* added missing dependency to roscpp
+* Contributors: Johannes Meyer
+
+0.1.0 (2013-09-03)
+------------------
+* catkinized stack hector_localization
+* readded tf_prefix support (deprecated feature in ROS hydro beta)
+* added ShapeShifter subscriber which accepts multiple message types
+* added euler angle publisher (Vector3Stamped)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CMakeLists.txt
new file mode 100644
index 0000000..ee63058
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/CMakeLists.txt	
@@ -0,0 +1,102 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(message_to_tf)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS tf nav_msgs geometry_msgs sensor_msgs topic_tools)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES
+    CATKIN_DEPENDS tf nav_msgs geometry_msgs sensor_msgs topic_tools
+    DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(message_to_tf
+  src/message_to_tf.cpp
+)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(message_to_tf hector_worldmodel_msgs_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(message_to_tf
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS message_to_tf
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+# install(DIRECTORY launch/
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+# )
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/package.xml
new file mode 100644
index 0000000..22b914e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/package.xml	
@@ -0,0 +1,38 @@
+<package>
+  <name>message_to_tf</name>
+  <version>0.3.0</version>
+  <description>
+    message_to_tf translates pose information from different kind of common_msgs message types to tf. Currently the node supports nav_msgs/Odometry, geometry_msgs/PoseStamped and sensor_msgs/Imu messages as input.
+    The resulting transform is divided into three subtransforms with intermediate frames for the footprint and the stabilized base frame (without roll and pitch).
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/message_to_tf</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>topic_tools</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>topic_tools</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/src/message_to_tf.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/src/message_to_tf.cpp
new file mode 100644
index 0000000..ba9ece2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/message_to_tf/src/message_to_tf.cpp	
@@ -0,0 +1,296 @@
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <sensor_msgs/Imu.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h> // for tf::getPrefixParam()
+#include <tf/transform_datatypes.h>
+
+#include <topic_tools/shape_shifter.h>
+
+std::string g_odometry_topic;
+std::string g_pose_topic;
+std::string g_imu_topic;
+std::string g_topic;
+std::string g_frame_id;
+std::string g_footprint_frame_id;
+std::string g_position_frame_id;
+std::string g_stabilized_frame_id;
+std::string g_child_frame_id;
+
+bool g_publish_roll_pitch;
+
+std::string g_tf_prefix;
+
+tf::TransformBroadcaster *g_transform_broadcaster;
+ros::Publisher g_pose_publisher;
+ros::Publisher g_euler_publisher;
+
+#ifndef TF_MATRIX3x3_H
+  typedef btScalar tfScalar;
+  namespace tf { typedef btMatrix3x3 Matrix3x3; }
+#endif
+
+void addTransform(std::vector<geometry_msgs::TransformStamped>& transforms, const tf::StampedTransform& tf)
+{
+  transforms.push_back(geometry_msgs::TransformStamped());
+  tf::transformStampedTFToMsg(tf, transforms.back());
+}
+
+void sendTransform(geometry_msgs::Pose const &pose, const std_msgs::Header& header, std::string child_frame_id = "")
+{
+  std::vector<geometry_msgs::TransformStamped> transforms;
+
+  tf::StampedTransform tf;
+  tf.stamp_ = header.stamp;
+
+  tf.frame_id_ = header.frame_id;
+  if (!g_frame_id.empty()) tf.frame_id_ = g_frame_id;
+  tf.frame_id_ = tf::resolve(g_tf_prefix, tf.frame_id_);
+
+  if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
+  if (child_frame_id.empty()) child_frame_id = "base_link";
+
+  tf::Quaternion orientation;
+  tf::quaternionMsgToTF(pose.orientation, orientation);
+  tfScalar yaw, pitch, roll;
+  tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
+  tf::Point position;
+  tf::pointMsgToTF(pose.position, position);
+
+  // position intermediate transform (x,y,z)
+  if( !g_position_frame_id.empty() && child_frame_id != g_position_frame_id) {
+    tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_position_frame_id);
+    tf.setOrigin(tf::Vector3(position.x(), position.y(), position.z() ));
+    tf.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
+    addTransform(transforms, tf);
+  }
+
+  // footprint intermediate transform (x,y,yaw)
+  if (!g_footprint_frame_id.empty() && child_frame_id != g_footprint_frame_id) {
+    tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_footprint_frame_id);
+    tf.setOrigin(tf::Vector3(position.x(), position.y(), 0.0));
+    tf.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw));
+    addTransform(transforms, tf);
+
+    yaw = 0.0;
+    position.setX(0.0);
+    position.setY(0.0);
+    tf.frame_id_ = tf::resolve(g_tf_prefix, g_footprint_frame_id);
+  }
+
+  // stabilized intermediate transform (z)
+  if (!g_footprint_frame_id.empty() && child_frame_id != g_stabilized_frame_id) {
+    tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
+    tf.setOrigin(tf::Vector3(0.0, 0.0, position.z()));
+    tf.setBasis(tf::Matrix3x3::getIdentity());
+    addTransform(transforms, tf);
+
+    position.setZ(0.0);
+    tf.frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
+  }
+
+  // base_link transform (roll, pitch)
+  if (g_publish_roll_pitch) {
+    tf.child_frame_id_ = tf::resolve(g_tf_prefix, child_frame_id);
+    tf.setOrigin(position);
+    tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, yaw));
+    addTransform(transforms, tf);
+  }
+
+  g_transform_broadcaster->sendTransform(transforms);
+
+  // publish pose message
+  if (g_pose_publisher) {
+    geometry_msgs::PoseStamped pose_stamped;
+    pose_stamped.pose = pose;
+    pose_stamped.header = header;
+    g_pose_publisher.publish(pose_stamped);
+  }
+
+  // publish pose message
+  if (g_euler_publisher) {
+    geometry_msgs::Vector3Stamped euler_stamped;
+    euler_stamped.vector.x = roll;
+    euler_stamped.vector.y = pitch;
+    euler_stamped.vector.z = yaw;
+    euler_stamped.header = header;
+    g_euler_publisher.publish(euler_stamped);
+  }
+}
+
+void odomCallback(nav_msgs::Odometry const &odometry) {
+  sendTransform(odometry.pose.pose, odometry.header, odometry.child_frame_id);
+}
+
+void poseCallback(geometry_msgs::PoseStamped const &pose) {
+  sendTransform(pose.pose, pose.header);
+}
+
+void tfCallback(geometry_msgs::TransformStamped const &tf) {
+  geometry_msgs::Pose pose;
+  pose.position.x = tf.transform.translation.x;
+  pose.position.y = tf.transform.translation.y;
+  pose.position.z = tf.transform.translation.z;
+  pose.orientation = tf.transform.rotation;
+
+  sendTransform(pose, tf.header);
+}
+
+void imuCallback(sensor_msgs::Imu const &imu) {
+  std::vector<geometry_msgs::TransformStamped> transforms;
+  std::string child_frame_id;
+
+  tf::StampedTransform tf;
+  tf.stamp_ = imu.header.stamp;
+
+  tf.frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
+  if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
+  if (child_frame_id.empty()) child_frame_id = "base_link";
+
+  tf::Quaternion orientation;
+  tf::quaternionMsgToTF(imu.orientation, orientation);
+  tfScalar yaw, pitch, roll;
+  tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
+  tf::Quaternion rollpitch = tf::createQuaternionFromRPY(roll, pitch, 0.0);
+
+  // base_link transform (roll, pitch)
+  if (g_publish_roll_pitch) {
+    tf.child_frame_id_ = tf::resolve(g_tf_prefix, child_frame_id);
+    tf.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
+    tf.setRotation(rollpitch);
+    addTransform(transforms, tf);
+  }
+
+  if (!transforms.empty()) g_transform_broadcaster->sendTransform(transforms);
+
+  // publish pose message
+  if (g_pose_publisher) {
+    geometry_msgs::PoseStamped pose_stamped;
+    pose_stamped.header.stamp = imu.header.stamp;
+    pose_stamped.header.frame_id = g_stabilized_frame_id;
+    tf::quaternionTFToMsg(rollpitch, pose_stamped.pose.orientation);
+    g_pose_publisher.publish(pose_stamped);
+  }
+}
+
+void multiCallback(topic_tools::ShapeShifter const &input) {
+  if (input.getDataType() == "nav_msgs/Odometry") {
+    nav_msgs::Odometry::ConstPtr odom = input.instantiate<nav_msgs::Odometry>();
+    odomCallback(*odom);
+    return;
+  }
+
+  if (input.getDataType() == "geometry_msgs/PoseStamped") {
+    geometry_msgs::PoseStamped::ConstPtr pose = input.instantiate<geometry_msgs::PoseStamped>();
+    poseCallback(*pose);
+    return;
+  }
+
+  if (input.getDataType() == "sensor_msgs/Imu") {
+    sensor_msgs::Imu::ConstPtr imu = input.instantiate<sensor_msgs::Imu>();
+    imuCallback(*imu);
+    return;
+  }
+
+  if (input.getDataType() == "geometry_msgs/TransformStamped") {
+    geometry_msgs::TransformStamped::ConstPtr tf = input.instantiate<geometry_msgs::TransformStamped>();
+    tfCallback(*tf);
+    return;
+  }
+
+  ROS_ERROR_THROTTLE(1.0, "message_to_tf received a %s message. Supported message types: nav_msgs/Odometry geometry_msgs/PoseStamped geometry_msgs/TransformStamped sensor_msgs/Imu", input.getDataType().c_str());
+}
+
+int main(int argc, char** argv) {
+  ros::init(argc, argv, "message_to_tf");
+
+  g_footprint_frame_id = "base_footprint";
+  g_stabilized_frame_id = "base_stabilized";
+  // g_position_frame_id = "base_position";
+  // g_child_frame_id = "base_link";
+
+  ros::NodeHandle priv_nh("~");
+  priv_nh.getParam("odometry_topic", g_odometry_topic);
+  priv_nh.getParam("pose_topic", g_pose_topic);
+  priv_nh.getParam("imu_topic", g_imu_topic);
+  priv_nh.getParam("topic", g_topic);
+  priv_nh.getParam("frame_id", g_frame_id);
+  priv_nh.getParam("footprint_frame_id", g_footprint_frame_id);
+  priv_nh.getParam("position_frame_id", g_position_frame_id);
+  priv_nh.getParam("stabilized_frame_id", g_stabilized_frame_id);
+  priv_nh.getParam("child_frame_id", g_child_frame_id);
+
+  // get topic from the commandline
+  if (argc > 1) {
+      g_topic = argv[1];
+      g_odometry_topic.clear();
+      g_pose_topic.clear();
+      g_imu_topic.clear();
+  }
+
+  g_publish_roll_pitch = true;
+  priv_nh.getParam("publish_roll_pitch", g_publish_roll_pitch);
+
+  g_tf_prefix = tf::getPrefixParam(priv_nh);
+  g_transform_broadcaster = new tf::TransformBroadcaster;
+
+  ros::NodeHandle node;
+  ros::Subscriber sub1, sub2, sub3, sub4;
+  int subscribers = 0;
+  if (!g_odometry_topic.empty()) {
+      sub1 = node.subscribe(g_odometry_topic, 10, &odomCallback);
+      subscribers++;
+  }
+  if (!g_pose_topic.empty()) {
+      sub2 = node.subscribe(g_pose_topic, 10, &poseCallback);
+      subscribers++;
+  }
+  if (!g_imu_topic.empty()) {
+      sub3 = node.subscribe(g_imu_topic, 10, &imuCallback);
+      subscribers++;
+  }
+  if (!g_topic.empty()) {
+      sub4 = node.subscribe(g_topic, 10, &multiCallback);
+      subscribers++;
+  }
+
+  if (subscribers == 0) {
+    ROS_FATAL("Usage: rosrun message_to_tf message_to_tf <topic>");
+    return 1;
+  } else if (subscribers > 1) {
+    ROS_FATAL("More than one of the parameters odometry_topic, pose_topic, imu_topic and topic are set.\n"
+              "Please specify exactly one of them or simply add the topic name to the command line.");
+    return 1;
+  }
+
+  bool publish_pose = true;
+  priv_nh.getParam("publish_pose", publish_pose);
+  if (publish_pose) {
+    std::string publish_pose_topic;
+    priv_nh.getParam("publish_pose_topic", publish_pose_topic);
+
+    if (!publish_pose_topic.empty())
+      g_pose_publisher = node.advertise<geometry_msgs::PoseStamped>(publish_pose_topic, 10);
+    else
+      g_pose_publisher = priv_nh.advertise<geometry_msgs::PoseStamped>("pose", 10);
+  }
+
+  bool publish_euler = true;
+  priv_nh.getParam("publish_euler", publish_euler);
+  if (publish_euler) {
+    std::string publish_euler_topic;
+    priv_nh.getParam("publish_euler_topic", publish_euler_topic);
+
+    if (!publish_euler_topic.empty())
+      g_euler_publisher = node.advertise<geometry_msgs::Vector3Stamped>(publish_euler_topic, 10);
+    else
+      g_euler_publisher = priv_nh.advertise<geometry_msgs::Vector3Stamped>("euler", 10);
+  }
+
+  ros::spin();
+  delete g_transform_broadcaster;
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CATKIN_IGNORE b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CATKIN_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CHANGELOG.rst
new file mode 100644
index 0000000..0bbb2e9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CHANGELOG.rst	
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rtt_hector_pose_estimation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0 (2015-02-22)
+------------------
+
+0.1.5 (2014-10-02)
+------------------
+
+0.1.3 (2014-07-09)
+------------------
+* 0.1.3
+* rtt_hector_pose_estimation: added missing rtt_std_msgs dependency
+* rtt_hector_pose_estimation: updated CMakeLists.txt for Orocos Toolchain 2.7
+* Contributors: Johannes Meyer
+
+0.1.2 (2014-06-02)
+------------------
+
+0.1.1 (2014-03-30)
+------------------
+* added CATKIN_IGNORE marker to prevent rosdep errors on missing dependency rtt_nav_msgs
+* hector_pose_estimation/rtt_hector_pose_estimation: removed optional usage of package hector_uav_msgs and created a separate package hector_quadrotor_pose_estimation instead
+* added rtt_ros/plugin_depend tags to package.xml and removed rtt stuff from CATKIN_DEPENDS
+* Contributors: Johannes Meyer
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CMakeLists.txt
new file mode 100644
index 0000000..4076c58
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/CMakeLists.txt	
@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtt_hector_pose_estimation)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS hector_pose_estimation_core)
+
+## Find Orocos RTT
+set(OROCOS_TARGET gnulinux)
+find_package(OROCOS-RTT QUIET)
+if(NOT OROCOS-RTT_FOUND)
+  message(WARNING "Orocos RTT was not found. Package ${PROJECT_NAME} will not be built.")
+  return()
+else()
+  include(${OROCOS-RTT_USE_FILE})
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES
+    CATKIN_DEPENDS hector_pose_estimation_core
+    DEPENDS
+)
+
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+
+orocos_component(rtt_hector_pose_estimation
+  src/taskcontext.cpp
+  src/services.cpp
+  src/parameters.cpp
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(rtt_hector_pose_estimation
+  ${catkin_LIBRARIES}
+  ${USE_OROCOS_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+# install(TARGETS rtt_hector_pose_estimation
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/hector_pose_estimation
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+# install(DIRECTORY launch/
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+# )
+
+####################
+## Orocos Package ##
+####################
+
+orocos_generate_package(
+  DEPENDS_TARGETS rtt_rosnode rtt_sensor_msgs rtt_geometry_msgs rtt_nav_msgs
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/include/hector_pose_estimation/rtt/taskcontext.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/include/hector_pose_estimation/rtt/taskcontext.h
new file mode 100644
index 0000000..d971785
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/include/hector_pose_estimation/rtt/taskcontext.h	
@@ -0,0 +1,127 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_RTT_TASKCONTEXT_H
+#define HECTOR_POSE_ESTIMATION_RTT_TASKCONTEXT_H
+
+#include <hector_pose_estimation/pose_estimation.h>
+
+#include <rtt/TaskContext.hpp>
+#include <rtt/InputPort.hpp>
+#include <rtt/OutputPort.hpp>
+
+#include <sensor_msgs/typekit/Imu.h>
+
+#include <nav_msgs/typekit/Odometry.h>
+#include <geometry_msgs/typekit/PoseStamped.h>
+#include <geometry_msgs/typekit/Vector3Stamped.h>
+#ifdef USE_MAV_MSGS
+  #include <mav_msgs/Height.h>
+#else
+  #include <geometry_msgs/typekit/PointStamped.h>
+#endif
+#include <geometry_msgs/typekit/PoseWithCovarianceStamped.h>
+#include <sensor_msgs/typekit/NavSatFix.h>
+#include <std_msgs/String.h>
+
+#include <ros/ros.h>
+
+namespace hector_pose_estimation {
+
+class PoseEstimationTaskContext : public RTT::TaskContext, PoseEstimation {
+public:
+  PoseEstimationTaskContext(const std::string& name = "PoseEsimation", const SystemPtr& system = SystemPtr());
+  virtual ~PoseEstimationTaskContext();
+
+  void updateOutputs();
+  void reset();
+
+  using TaskCore::cleanup;
+
+protected:
+  bool configureHook();
+  void cleanupHook();
+
+  bool startHook();
+  void stopHook();
+
+  void updateHook();
+
+  void commandCallback(RTT::base::PortInterface *);
+
+private:
+  RTT::InputPort<sensor_msgs::Imu> imu_input_;
+  sensor_msgs::Imu imu_in_;
+
+  RTT::InputPort<geometry_msgs::PoseWithCovarianceStamped> pose_update_input_;
+  geometry_msgs::PoseWithCovarianceStamped pose_update_;
+
+  RTT::InputPort<geometry_msgs::Vector3Stamped> magnetic_input_;
+  geometry_msgs::Vector3Stamped magnetic_;
+
+#ifdef USE_MAV_MSGS
+  RTT::InputPort<mav_msgs::Height> height_input_;
+  mav_msgs::Height height_;
+#else
+  RTT::InputPort<geometry_msgs::PointStamped> height_input_;
+  geometry_msgs::PointStamped height_;
+#endif
+
+  RTT::InputPort<sensor_msgs::NavSatFix> gps_input_;
+  RTT::InputPort<geometry_msgs::Vector3Stamped> gps_velocity_input_;
+  sensor_msgs::NavSatFix gps_;
+  geometry_msgs::Vector3Stamped gps_velocity_;
+
+  RTT::OutputPort<nav_msgs::Odometry> state_output_;
+  nav_msgs::Odometry state_;
+
+  RTT::OutputPort<sensor_msgs::Imu> imu_output_;
+  sensor_msgs::Imu imu_out_;
+
+  RTT::OutputPort<geometry_msgs::PoseStamped> pose_output_;
+  geometry_msgs::PoseStamped pose_;
+
+  RTT::OutputPort<geometry_msgs::Vector3Stamped> velocity_output_;
+  geometry_msgs::Vector3Stamped velocity_;
+
+  RTT::OutputPort<sensor_msgs::NavSatFix> global_position_output_;
+  sensor_msgs::NavSatFix global_position_;
+
+  RTT::OutputPort<geometry_msgs::Vector3Stamped> angular_velocity_bias_output_, linear_acceleration_bias_output_;
+  geometry_msgs::Vector3Stamped angular_velocity_bias_;
+  geometry_msgs::Vector3Stamped linear_acceleration_bias_;
+
+  RTT::InputPort<std_msgs::String> command_input_;
+
+  ros::NodeHandle node_handle_;
+  std::string param_namespace_;
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_RTT_TASKCONTEXT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/package.xml
new file mode 100644
index 0000000..d34a146
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/package.xml	
@@ -0,0 +1,47 @@
+<package>
+  <name>rtt_hector_pose_estimation</name>
+  <version>0.2.0</version>
+  <description>
+    An RTT TaskContext that runs hector_pose_estimation_core.
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_pose_estimation_rtt</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>hector_pose_estimation_core</build_depend>
+  <build_depend>rtt_rosnode</build_depend>
+  <build_depend>rtt_sensor_msgs</build_depend>
+  <build_depend>rtt_geometry_msgs</build_depend>
+  <build_depend>rtt_nav_msgs</build_depend>
+  <build_depend>rtt_std_msgs</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_pose_estimation_core</run_depend>
+  <run_depend>rtt_rosnode</run_depend>
+  <run_depend>rtt_sensor_msgs</run_depend>
+  <run_depend>rtt_geometry_msgs</run_depend>
+  <run_depend>rtt_nav_msgs</run_depend>
+  <run_depend>rtt_std_msgs</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+  <export>
+    <rtt_ros>
+      <plugin_depend>rtt_rosnode</plugin_depend>
+      <plugin_depend>rtt_sensor_msgs</plugin_depend>
+      <plugin_depend>rtt_geometry_msgs</plugin_depend>
+      <plugin_depend>rtt_nav_msgs</plugin_depend>
+      <plugin_depend>rtt_std_msgs</plugin_depend>
+    </rtt_ros>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.cpp
new file mode 100644
index 0000000..5acc93b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.cpp	
@@ -0,0 +1,64 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "parameters.h"
+#include <hector_pose_estimation/matrix.h>
+
+#include <rtt/Logger.hpp>
+#include <rtt/PropertyBag.hpp>
+#include <rtt/Property.hpp>
+
+namespace hector_pose_estimation {
+
+ParameterRegistryProperties::ParameterRegistryProperties(RTT::PropertyBag *properties, bool set_all)
+  : properties_(properties)
+  , set_all_(set_all)
+{
+}
+
+void ParameterRegistryProperties::operator ()(ParameterPtr parameter) {
+  properties_->removeProperty(properties_->getProperty(parameter->key));
+  if (parameter->hasType<std::string>()) { properties_->addProperty(parameter->key, parameter->as<std::string>()); return; }
+  if (parameter->hasType<double>())      { properties_->addProperty(parameter->key, parameter->as<double>()); return; }
+  if (parameter->hasType<int>())         { properties_->addProperty(parameter->key, parameter->as<int>()); return; }
+  if (parameter->hasType<bool>())        { properties_->addProperty(parameter->key, parameter->as<bool>()); return; }
+
+  if (parameter->hasType< std::vector<double> >()) {
+    // TODO
+    // return;
+  }
+
+  if (parameter->hasType< std::vector<ColumnVector> >()) {
+    // TODO
+    // return;
+  }
+
+  RTT::log(RTT::Error) << "Could not register parameter " << parameter->key << " due to unknown type " << parameter->type() << "!" << RTT::endlog();
+}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.h
new file mode 100644
index 0000000..47c19e3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/parameters.h	
@@ -0,0 +1,49 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_RTT_PARAMETERS_H
+#define HECTOR_POSE_ESTIMATION_RTT_PARAMETERS_H
+
+#include <hector_pose_estimation/parameters.h>
+#include <rtt/PropertyBag.hpp>
+
+namespace hector_pose_estimation {
+
+  struct ParameterRegistryProperties : public ParameterRegistry {
+    ParameterRegistryProperties(RTT::PropertyBag *properties, bool set_all = true);
+    virtual void operator()(ParameterPtr);
+
+  private:
+    template <typename T> struct Handler;
+    RTT::PropertyBag *properties_;
+    bool set_all_;
+  };
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_RTT_PARAMETERS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.cpp
new file mode 100644
index 0000000..68c1e21
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.cpp	
@@ -0,0 +1,52 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "services.h"
+#include "parameters.h"
+
+namespace hector_pose_estimation {
+
+SystemService::SystemService(RTT::TaskContext *owner, const SystemPtr& system, const std::string& name)
+  : RTT::Service(name.empty() ? system->getName() : name, owner)
+{
+  system->parameters().initialize(ParameterRegistryProperties(this->properties()));
+}
+
+SystemService::~SystemService()
+{}
+
+MeasurementService::MeasurementService(RTT::TaskContext *owner, const MeasurementPtr& measurement, const std::string& name)
+  : RTT::Service(name.empty() ? measurement->getName() : name, owner)
+{
+  measurement->parameters().initialize(ParameterRegistryProperties(this->properties()));
+}
+
+MeasurementService::~MeasurementService()
+{}
+
+} // namespace hector_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.h b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.h
new file mode 100644
index 0000000..ad4517e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/services.h	
@@ -0,0 +1,60 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_POSE_ESTIMATION_RTT_SERVICES_H
+#define HECTOR_POSE_ESTIMATION_RTT_SERVICES_H
+
+#include <rtt/Service.hpp>
+#include <hector_pose_estimation/system.h>
+#include <hector_pose_estimation/measurement.h>
+
+namespace hector_pose_estimation {
+
+class SystemService : public RTT::Service
+{
+private:
+  System *system;
+
+public:
+  SystemService(RTT::TaskContext *owner, const SystemPtr& system, const std::string& name = std::string());
+  virtual ~SystemService();
+};
+
+class MeasurementService : public RTT::Service
+{
+private:
+  Measurement *measurement;
+
+public:
+  MeasurementService(RTT::TaskContext *owner, const MeasurementPtr& measurement, const std::string& name = std::string());
+  virtual ~MeasurementService();
+};
+
+} // namespace hector_pose_estimation
+
+#endif // HECTOR_POSE_ESTIMATION_RTT_SERVICES_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/taskcontext.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/taskcontext.cpp
new file mode 100644
index 0000000..4ea3803
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_localization/rtt_hector_pose_estimation/src/taskcontext.cpp	
@@ -0,0 +1,224 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer and Martin Nowara, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_pose_estimation/rtt/taskcontext.h>
+#include "services.h"
+#include "parameters.h"
+
+#include <hector_pose_estimation/system/generic_quaternion_system_model.h>
+#include <hector_pose_estimation/measurements/poseupdate.h>
+#include <hector_pose_estimation/measurements/height.h>
+#include <hector_pose_estimation/measurements/magnetic.h>
+#include <hector_pose_estimation/measurements/gps.h>
+
+#include <hector_pose_estimation/ros/parameters.h>
+
+#include <rtt/Component.hpp>
+
+namespace hector_pose_estimation {
+
+PoseEstimationTaskContext::PoseEstimationTaskContext(const std::string& name, const SystemPtr& system)
+  : RTT::TaskContext(name, RTT::TaskContext::PreOperational)
+  , PoseEstimation(system)
+{
+  if (!system) addSystem(System::create(new GenericQuaternionSystemModel));
+
+  this->addEventPort("raw_imu", imu_input_);
+  this->addPort("poseupdate", pose_update_input_);
+  this->addPort("magnetic", magnetic_input_);
+  this->addPort("pressure_height", height_input_);
+  this->addPort("fix", gps_input_);
+  this->addPort("fix_velocity", gps_velocity_input_);
+  this->addPort("state", state_output_);
+  this->addPort("imu", imu_output_);
+  this->addPort("pose", pose_output_);
+  this->addPort("velocity", velocity_output_);
+  this->addPort("global", global_position_output_);
+  this->addPort("angular_velocity_bias", angular_velocity_bias_output_);
+  this->addPort("linear_acceleration_bias", linear_acceleration_bias_output_);
+  this->addEventPort("syscommand", command_input_, boost::bind(&PoseEstimationTaskContext::commandCallback, this, _1));
+
+  param_namespace_ = "~";
+  this->addProperty("param_namespace", param_namespace_);
+
+  this->addOperation("reset", &PoseEstimationTaskContext::reset, this, RTT::OwnThread);
+  this->addOperation("getSystemStatus", &PoseEstimation::getSystemStatus, static_cast<PoseEstimation *>(this), RTT::OwnThread);
+  this->addOperation("getMeasurementStatus", &PoseEstimation::getMeasurementStatus, static_cast<PoseEstimation *>(this), RTT::OwnThread);
+
+  PoseEstimation::addMeasurement(new PoseUpdate("PoseUpdate"));
+  PoseEstimation::addMeasurement(new Height("Height"));
+  PoseEstimation::addMeasurement(new Magnetic("Magnetic"));
+  PoseEstimation::addMeasurement(new GPS("GPS"));
+
+  for(Systems::iterator it = systems_.begin(); it != systems_.end(); ++it) {
+    this->provides()->addService(RTT::Service::shared_ptr(new SystemService(this, *it)));
+  }
+
+  for(Measurements::iterator it = measurements_.begin(); it != measurements_.end(); ++it) {
+    this->provides()->addService(RTT::Service::shared_ptr(new MeasurementService(this, *it)));
+  }
+
+  PoseEstimation::parameters().initialize(ParameterRegistryROS(ros::NodeHandle(param_namespace_)));
+  PoseEstimation::parameters().initialize(ParameterRegistryProperties(this->properties()));
+}
+
+PoseEstimationTaskContext::~PoseEstimationTaskContext()
+{
+  stop();
+  cleanup();
+}
+
+bool PoseEstimationTaskContext::configureHook()
+{
+  if (!PoseEstimation::init()) {
+    RTT::log(RTT::Error) << "Intitialization of pose estimation failed!" << RTT::endlog();
+    return false;
+  }
+
+  // publish initial state
+  updateOutputs();
+
+  return true;
+}
+
+void PoseEstimationTaskContext::cleanupHook()
+{
+  PoseEstimation::cleanup();
+}
+
+bool PoseEstimationTaskContext::startHook()
+{
+  return true;
+}
+
+void PoseEstimationTaskContext::stopHook()
+{
+}
+
+void PoseEstimationTaskContext::updateHook()
+{
+  while(magnetic_input_.read(magnetic_) == RTT::NewData && PoseEstimation::getMeasurement("Magnetic"))
+  {
+    Magnetic::MeasurementVector update(3);
+    update.x() = magnetic_.vector.x;
+    update.y() = magnetic_.vector.y;
+    update.z() = magnetic_.vector.z;
+    PoseEstimation::getMeasurement("Magnetic")->add(Magnetic::Update(update));
+  }
+
+  while(height_input_.read(height_) == RTT::NewData && PoseEstimation::getMeasurement("Height"))
+  {
+    Height::Update update;
+#ifdef USE_MAV_MSGS
+    update = height_.height;
+#else
+    update = height_.point.z;
+#endif
+    PoseEstimation::getMeasurement("Height")->add(update);
+  }
+
+  while(gps_input_.read(gps_) == RTT::NewData && gps_velocity_input_.read(gps_velocity_) != RTT::NoData && PoseEstimation::getMeasurement("GPS"))
+  {
+    if (gps_.status.status != sensor_msgs::NavSatStatus::STATUS_NO_FIX)
+    {
+      GPS::Update update;
+      update.latitude = gps_.latitude * M_PI/180.0;
+      update.longitude = gps_.longitude * M_PI/180.0;
+      update.velocity_north =  gps_velocity_.vector.x;
+      update.velocity_east  = -gps_velocity_.vector.y;
+      PoseEstimation::getMeasurement("GPS")->add(update);
+    }
+  }
+
+  while(pose_update_input_.read(pose_update_) == RTT::NewData && PoseEstimation::getMeasurement("PoseUpdate"))
+  {
+    PoseEstimation::getMeasurement("PoseUpdate")->add(PoseUpdate::Update(pose_update_));
+  }
+
+  while(imu_input_.read(imu_in_) == RTT::NewData) {
+    setInput(ImuInput(imu_in_));
+    PoseEstimation::update(imu_in_.header.stamp);
+    updateOutputs();
+  }
+}
+
+void PoseEstimationTaskContext::updateOutputs()
+{
+  getState(state_);
+  state_output_.write(state_);
+
+  if (imu_output_.connected()) {
+    imu_out_.header = state_.header;
+    imu_out_.orientation = state_.pose.pose.orientation;
+    getImuWithBiases(imu_out_.linear_acceleration, imu_out_.angular_velocity);
+    imu_output_.write(imu_out_);
+  }
+
+  if (pose_output_.connected()) {
+    pose_.header = state_.header;
+    pose_.pose = state_.pose.pose;
+    pose_output_.write(pose_);
+  }
+
+  if (velocity_output_.connected()) {
+    velocity_.header = state_.header;
+    velocity_.vector = state_.twist.twist.linear;
+    velocity_output_.write(velocity_);
+  }
+
+  if (global_position_output_.connected()) {
+    getGlobalPosition(global_position_);
+    global_position_output_.write(global_position_);
+  }
+
+  if (angular_velocity_bias_output_.connected() || linear_acceleration_bias_output_.connected()) {
+    getHeader(angular_velocity_bias_.header);
+    getHeader(linear_acceleration_bias_.header);
+    getBias(angular_velocity_bias_, linear_acceleration_bias_);
+    angular_velocity_bias_output_.write(angular_velocity_bias_);
+    linear_acceleration_bias_output_.write(linear_acceleration_bias_);
+  }
+}
+
+
+void PoseEstimationTaskContext::reset() {
+  RTT::log(RTT::Info) << "Resetting pose_estimation" << RTT::endlog();
+  PoseEstimation::reset();
+  updateOutputs();
+}
+
+void PoseEstimationTaskContext::commandCallback(RTT::base::PortInterface *) {
+  std_msgs::String command;
+  if (command_input_.read(command) == RTT::NewData) {
+    if (command.data == "reset") reset();
+  }
+}
+
+} // namespace
+
+ORO_CREATE_COMPONENT( hector_pose_estimation::PoseEstimationTaskContext )
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/README.md b/Source Files/hector_quadrotor_tutorial/src/hector_models/README.md
new file mode 100644
index 0000000..11c908b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/README.md	
@@ -0,0 +1,2 @@
+# hector_models
+hector_models contains (urdf) models and xacro macros of sensors and robot components.
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CHANGELOG.rst
new file mode 100644
index 0000000..7dd9bea
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CHANGELOG.rst	
@@ -0,0 +1,19 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_components_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.2 (2014-09-01)
+------------------
+* increased maximum torque for camera servos in vision_box_common.gazebo.xacro
+* adapted urdf for asus xtion and added camera variables
+* Add simple ps eye geometry
+* Contributors: Johannes Meyer, Stefan Kohlbrecher
+
+0.3.1 (2014-03-30)
+------------------
+* Re-parent LIDAR and camera mount to top_box_link
+* Add xacro macros for setting dimensions
+* Remove obsolete files
+* Add UTM-30LX macro to vision box xacro
+* Add hector ugv vision box to hector_components_description package for better reusability
+* Contributors: Stefan Kohlbrecher
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CMakeLists.txt
new file mode 100644
index 0000000..6687224
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/CMakeLists.txt	
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_components_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS
+    INCLUDE_DIRS
+    LIBRARIES
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(DIRECTORY meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256.png b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256.png
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HcmV?d00001

diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector1_top_box.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector1_top_box.dae
new file mode 100644
index 0000000..4e8abaf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector1_top_box.dae	
@@ -0,0 +1,184 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.62.2 r45068</authoring_tool>
+    </contributor>
+    <created>2012-03-25T00:22:58</created>
+    <modified>2012-03-25T00:22:58</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p" name="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p">
+      <init_from>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-surface">
+          <surface type="2D">
+            <init_from>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-sampler">
+          <sampler2D>
+            <source>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
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new file mode 100644
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <technique_common>
+            <accessor source="#_-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="_-mesh-vertices">
+          <input semantic="POSITION" source="#_-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_0011" count="4">
+          <input semantic="VERTEX" source="#_-mesh-vertices" offset="0"/>
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+          <input semantic="TEXCOORD" source="#_-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 </vcount>
+          <p>2 8 24 5 8 25 4 8 26 2 9 27 4 9 28 3 9 29 1 10 30 7 10 31 6 10 32 1 11 33 0 11 34 7 11 35</p>
+        </polylist>
+        <polylist material="Material2" count="8">
+          <input semantic="VERTEX" source="#_-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#_-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#_-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#_-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_0011" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Material2" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector2_top_box.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector2_top_box.stl
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector2_top_boxTEST_SELF_FILTER.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector2_top_boxTEST_SELF_FILTER.dae
new file mode 100644
index 0000000..8d65a56
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/hector2_top_boxTEST_SELF_FILTER.dae	
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.62.2 r45133</authoring_tool>
+    </contributor>
+    <created>2012-03-29T08:40:08</created>
+    <modified>2012-03-29T08:40:08</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p" name="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p">
+      <init_from>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-surface">
+          <surface type="2D">
+            <init_from>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-sampler">
+          <sampler2D>
+            <source>HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7713178 0.7713178 0.7713178 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparent>
+              <texture texture="HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256_p-sampler" texcoord="UVMap"/>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">1 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="_-mesh" name="1">
+      <mesh>
+        <source id="_-mesh-positions">
+          <float_array id="_-mesh-positions-array" count="24">0.146 -0.1045 0.134 0.146 -0.1045 0.000999987 0.146 0.1044999 0.000999987 0.146 0.1044999 0.134 -0.1629999 0.1045 0.134 -0.1629999 0.1045 0.000999987 -0.1630001 -0.1045 0.000999987 -0.1630001 -0.1045 0.134</float_array>
+          <technique_common>
+            <accessor source="#_-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
+        <source id="_-mesh-normals">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+        </source>
+        <source id="_-mesh-map-0">
+          <float_array id="_-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.987793 1.005233 -0.01220685 1.005233 -0.01220703 0.5777996 0.987793 1.005233 -0.01220703 0.5777996 0.9877928 0.5777994 0 0 0 0 0 0 0 0 0 0 0 0 -0.04008167 0.1574843 1.040081 0.1574843 1.040081 0.8788222 -0.04008167 0.1574843 1.040081 0.8788222 -0.04008179 0.8788222 1.032623 0.155876 -0.03856122 0.8712176 -0.03856122 0.1558762 1.032623 0.155876 1.032623 0.8712176 -0.03856122 0.8712176</float_array>
+          <technique_common>
+            <accessor source="#_-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="_-mesh-vertices">
+          <input semantic="POSITION" source="#_-mesh-positions"/>
+        </vertices>
+        <polylist material="Material2" count="12">
+          <input semantic="VERTEX" source="#_-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#_-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#_-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>7 0 0 0 0 1 3 0 2 7 1 3 3 1 4 4 1 5 4 2 6 6 2 7 7 2 8 5 3 9 1 3 10 6 3 11 3 4 12 0 4 13 1 4 14 3 5 15 1 5 16 2 5 17 1 6 18 5 6 19 2 6 20 6 7 21 4 7 22 5 7 23 2 8 24 5 8 25 4 8 26 2 9 27 4 9 28 3 9 29 1 10 30 7 10 31 6 10 32 1 11 33 0 11 34 7 11 35</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#_-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_0011" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Material2" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/ps_eye_simple.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/ps_eye_simple.dae
new file mode 100644
index 0000000..2d66702
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/meshes/vision_box/ps_eye_simple.dae	
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.70.0 commit date:2014-03-20, commit time:17:45, hash:dfa5ced</authoring_tool>
+    </contributor>
+    <created>2014-04-03T10:46:41</created>
+    <modified>2014-04-03T10:46:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">0.5 0.5 -0.5 0.5 -0.5 -0.5 -0.5000001 -0.4999999 -0.5 -0.4999998 0.5000001 -0.5 0.5000002 0.4999997 0.5 0.4999997 -0.5000004 0.5 -0.5000002 -0.4999998 0.5 -0.5 0.5 0.5</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.06639e-7 -1.78814e-7 -5.0664e-7 -1 -3.57628e-7 -1 2.68221e-7 -1.49012e-7 1.49012e-7 1 1.19209e-7 0 0 -1 0 0 1 1 0 3.27826e-7 0 -1 0 -1 2.98023e-7 -1.19209e-7 2.68221e-7 1 2.38419e-7</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1 0 2 0 3 0 7 1 6 1 5 1 0 2 4 2 5 2 1 3 5 3 6 3 6 4 7 4 3 4 0 5 3 5 7 5 0 6 1 6 3 6 4 7 7 7 5 7 1 8 0 8 5 8 2 9 1 9 6 9 2 10 6 10 3 10 4 11 0 11 7 11</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.02999997 0 0 0 0 0.08499998 0 0 0 0 0.06 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/package.xml
new file mode 100644
index 0000000..13d217a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/package.xml	
@@ -0,0 +1,26 @@
+<package>
+  <name>hector_components_description</name>
+  <version>0.3.2</version>
+  <description>hector_components_description contains URDF xacro macros for robot components, so they are easily attachable to robot models.</description>
+  <maintainer email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_components_description</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>xacro</run_depend>
+  <run_depend>hector_sensors_description</run_depend>
+  <run_depend>hector_xacro_tools</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_hokuyo_utm30lx.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_hokuyo_utm30lx.urdf.xacro
new file mode 100644
index 0000000..e484776
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_hokuyo_utm30lx.urdf.xacro	
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+  
+  <property name="M_PI" value="3.14159265359"/>
+  
+  <xacro:include filename="$(find hector_components_description)/urdf/spinning_lidar_mount.urdf.xacro"/>
+  <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro"/>
+  
+  <macro name="spinning_hokuyo_utm30lx_macro" params="parent name angle_deg *origin">
+    
+    <spinning_lidar_macro parent="${parent}" name="${name}" angle_deg="45">
+      <insert_block name="origin"/>
+    </spinning_lidar_macro>
+    
+    <xacro:hokuyo_utm30lx_gpu name="${name}_hokuyo_laser" parent="${name}_spinning_lidar_spin_link" ros_topic="${name}_spinning_lidar/scan" update_rate="40" ray_count="1040" min_angle="-130" max_angle="130">
+      <origin xyz="0.00 -0.0 0.055" rpy="0 ${angle_deg * M_PI/180.0} 0"/>
+    </xacro:hokuyo_utm30lx_gpu>
+    
+  </macro>
+  
+  <macro name="spinning_hokuyo_utm30lx_lidar_mount_offset_macro" params="parent name scan_topic_in_namespace angle_deg *origin">
+    
+    <spinning_lidar_macro parent="${parent}" name="${name}" angle_deg="45">
+      <insert_block name="origin"/>
+    </spinning_lidar_macro>
+    
+    <xacro:hokuyo_utm30lx_gpu name="${name}_hokuyo_laser" parent="${name}_spinning_lidar_spin_link" ros_topic="${name}_spinning_lidar/${scan_topic_in_namespace}" update_rate="40" ray_count="1040" min_angle="-130" max_angle="130">
+      <origin xyz="0.021 0.0  -0.0  " rpy="0 ${-angle_deg * M_PI/180.0} ${M_PI}"/>
+    </xacro:hokuyo_utm30lx_gpu>
+    
+  </macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_lidar_mount.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_lidar_mount.urdf.xacro
new file mode 100644
index 0000000..32a385a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/spinning_lidar_mount.urdf.xacro	
@@ -0,0 +1,89 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find hector_xacro_tools)/urdf/inertia_tensors.urdf.xacro" />
+
+  <property name="M_PI" value="3.14159265359"/>
+  
+  <macro name="spinning_lidar_macro" params="parent name angle_deg *origin">
+    
+    <joint name="${name}_spinning_lidar_root_joint" type="fixed">
+      <insert_block name="origin"/>
+      <axis xyz="0 1 0"/>
+      <parent link="${parent}"/>
+      <child link="${name}_spinning_lidar_root_link"/>
+    </joint>
+    
+    <link name="${name}_spinning_lidar_root_link">
+      <xacro:inertial_sphere_with_pose mass="0.01" diameter="0.03">
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      </xacro:inertial_sphere_with_pose>
+<!--      <collision name="collision">
+        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.05 0.05 0.015"/>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.05 0.05 0.015"/>
+        </geometry>
+        <material name="DarkGrey">
+          <color rgba="0.3 0.3 0.3 1"/>
+        </material>
+      </visual>-->
+    </link>
+    
+    <joint name="${name}_spinning_lidar_spin_joint" type="continuous">
+      <parent link="${name}_spinning_lidar_root_link"/>
+      <child link="${name}_spinning_lidar_spin_link"/>
+      <origin xyz="0 0 0.00" rpy="0 ${0 * M_PI/180.0} 0"/>
+      <axis xyz="0 0 1" rpy="0 0 0"/>
+      <limit effort="1000" velocity="100"/>
+      <joint_properties damping="0.0" friction="0.0"/>
+    </joint>
+    
+    <link name="${name}_spinning_lidar_spin_link">
+      <xacro:inertial_sphere_with_pose mass="0.01" diameter="0.03">
+        <origin xyz="0.0 0.0 -0.0" rpy="0 0 0"/>
+      </xacro:inertial_sphere_with_pose>
+<!--      <collision name="collision">
+        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.05 0.05 0.015"/>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.05 0.05 0.015"/>
+        </geometry>
+        <material name="DarkGrey">
+          <color rgba="0.3 0.3 0.3 1"/>
+        </material>
+      </visual>-->
+    </link>
+    
+    <transmission name="${name}_spinning_lidar_spin_joint_transmssion">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${name}_spinning_lidar_spin_joint">
+        <hardwareInterface>EffortJointInterface</hardwareInterface>
+      </joint>  
+      <actuator name="${name}_spinning_lidar_spin_joint_motor">
+        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission> 
+    
+    <gazebo reference="${name}_spinning_lidar_root_link">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+    
+    <gazebo reference="${name}_spinning_lidar_spin_link">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+    
+  </macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.gazebo.xacro
new file mode 100644
index 0000000..99a5826
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.gazebo.xacro	
@@ -0,0 +1,112 @@
+<?xml version="1.0"?>
+
+<robot name="vision_box_plugins" xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+  
+  <xacro:macro name="vision_box_common_gazebo_plugins">
+    
+    <gazebo>
+      <plugin name="camera_servo_controller" filename="libhector_servo_plugin.so">
+        <alwaysOn>true</alwaysOn>
+        <controlRate>50.0</controlRate>
+        <updateRate>0.0</updateRate>
+        <firstServoName>camera/z</firstServoName>
+        <firstServoAxis>0 0 1</firstServoAxis>
+        <secondServoName>camera/y</secondServoName>
+        <secondServoAxis>0 1 0</secondServoAxis>
+        <torque>0.5</torque>
+        <robotNamespace>/</robotNamespace>
+        <topicName>camera/command</topicName>
+        <jointStateName>joint_states</jointStateName>
+        <proportionalControllerGain>8.0</proportionalControllerGain>
+        <derivativeControllerGain>0.0</derivativeControllerGain>
+        <maxVelocity>2.0</maxVelocity>
+      </plugin>
+    
+      <plugin name="laser1_servo_controller" filename="libhector_servo_plugin.so">
+        <alwaysOn>true</alwaysOn>
+        <controlRate>50.0</controlRate>
+        <updateRate>0.0</updateRate>
+        <firstServoName>laser1/x</firstServoName>
+        <firstServoAxis>1 0 0</firstServoAxis>
+        <secondServoName>laser1/y</secondServoName>
+        <secondServoAxis>0 1 0</secondServoAxis>
+        <torque>0.5</torque>
+        <robotNamespace>/</robotNamespace>
+        <topicName>laser1/command</topicName>
+        <jointStateName>joint_states</jointStateName>
+        <proportionalControllerGain>8.0</proportionalControllerGain>
+        <derivativeControllerGain>0.0</derivativeControllerGain>
+        <maxVelocity>0.0</maxVelocity>
+      </plugin>
+    </gazebo>
+    
+    <gazebo reference="openni_depth_frame">
+      <sensor type="depth" name="kinect_camera">
+        <update_rate>10</update_rate>
+        
+        <camera>
+          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
+          <image>
+            <format>R8G8B8</format>
+            <width>320</width>
+            <height>240</height>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>3</far>
+          </clip>
+        </camera>
+        
+        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>10</updateRate>
+          <imageTopicName>openni/rgb/image_color</imageTopicName>
+          <cameraInfoTopicName>openni/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>openni/depth/image_raw</depthImageTopicName>
+          <depthImageCameraInfoTopicName>openni/depth/camera_info</depthImageCameraInfoTopicName>
+          <pointCloudTopicName>openni/depth/points</pointCloudTopicName>
+          <frameName>openni_depth_optical_frame</frameName>
+          <pointCloudCutoff>0.5</pointCloudCutoff>
+          <distortionK1>0</distortionK1>
+          <distortionK2>0</distortionK2>
+          <distortionK3>0</distortionK3>
+          <distortionT1>0</distortionT1>
+          <distortionT2>0</distortionT2>
+          <CxPrime>0</CxPrime>
+          <Cx>0</Cx>
+          <Cy>0</Cy>
+          <focalLength>0</focalLength>
+          <hackBaseline>0</hackBaseline>
+        </plugin>
+      </sensor>
+    </gazebo>
+    
+    <gazebo reference="infrared_frame">
+      <sensor type="camera" name="thermal_camera_sensor">
+        <update_rate>10</update_rate>
+        
+        <camera>
+          <horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
+          <image>
+            <format>R8G8B8</format>
+            <width>160</width>
+            <height>120</height>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        
+        <plugin name="thermal_camera_controller" filename="libgazebo_ros_thermal_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>10</updateRate>
+          <imageTopicName>/thermal/image</imageTopicName>
+          <cameraInfoTopicName>/thermal/camera_info</cameraInfoTopicName>
+          <frameName>infrared_optical_frame</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+    
+  </xacro:macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.urdf.xacro
new file mode 100644
index 0000000..f22c7f3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common.urdf.xacro	
@@ -0,0 +1,146 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+  
+  <xacro:include filename="$(find hector_xacro_tools)/urdf/inertia_tensors.urdf.xacro"/>
+  <xacro:include filename="$(find hector_xacro_tools)/urdf/sensor_macros.urdf.xacro"/>
+  <xacro:include filename="$(find hector_sensors_description)/urdf/thermaleye_camera.urdf.xacro"/>
+  <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro"/>
+  <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
+  <xacro:include filename="$(find hector_components_description)/urdf/vision_box_common.gazebo.xacro" />
+  <xacro:include filename="$(find hector_components_description)/urdf/vision_box_common_dimensions.urdf.xacro" />
+  
+  <!--<xacro:include filename="$(find hector_components_description)/urdf/vision_box_dimensions_hector2.urdf.xacro" />-->
+  <xacro:macro name="vision_box" params="box_type parent *origin">
+    
+    <joint name="top_box_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="top_box_link"/>
+    </joint>
+    
+    <link name="top_box_link">
+      <inertial_cuboid mass="0.1" x_length="0.3" y_length="0.15" z_length="0.2"/>
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://hector_components_description/meshes/vision_box/${box_type}_top_box$(optenv TEST_SELF_FILTER).dae"/>
+          <!--<box size="0.001 0.01 0.01" />-->
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="${top_box_pos_x} ${top_box_pos_y} ${top_box_pos_z}" rpy="0 0 0"/>
+        <geometry>
+          <!--<mesh filename="package://monstertruck_urdf/Media/meshes/$(env ROBOT)_top_box.stl"/>-->
+          <box size="${top_box_size_x} ${top_box_size_y} ${top_box_size_z}"/>
+          <!--<box size="0.001 0.01 0.01" />-->
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint name="laser1/x" type="revolute">
+      <origin xyz="${x_vision_box_front} 0 ${laser1RollServo_height}" rpy="0 0 0"/>
+      <parent link="top_box_link"/>
+      <child link="laser1RollServo"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="${-M_PI/2}" upper="${M_PI/2}" effort="100" velocity="100"/>
+    </joint>
+    
+    <link name="laser1RollServo">
+      <inertial_sphere mass="0.1" diameter="0.07"/>
+      <visual>
+        <origin xyz="${laser1RollServo_size_x/2} 0.0 0.0" rpy="0 0 0"/>
+        <geometry>
+          <box size="${laser1RollServo_size_x} ${laser1RollServo_size_y} ${laser1RollServo_size_z}"/>
+        </geometry>
+        <material name="Blue"/>
+      </visual>
+      <collision>
+        <origin xyz="${laser1RollServo_size_x/2} 0.0 0.0" rpy="0 0 0"/>
+        <geometry>
+          <box size="${laser1RollServo_size_x} ${laser1RollServo_size_y} ${laser1RollServo_size_z}"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint name="laser1/y" type="revolute">
+      <origin xyz="${laser1RollServo_size_x} 0 0" rpy="0 0 0"/>
+      <parent link="laser1RollServo"/>
+      <child link="laser1_link"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${-M_PI/2}" upper="${M_PI/2}" effort="100" velocity="100"/>
+    </joint>
+    
+    <link name="laser1_link">
+      <inertial_sphere mass="0.1" diameter="0.07"/>
+      <visual>
+        <origin xyz="0.0 0.0 ${laser1_size_z/2}" rpy="0 0 0"/>
+        <geometry>
+          <!--<box size="${laser1_size_x} ${laser1_size_y} ${laser1_size_z}" />-->
+          <box size="${laser1_size_x} ${laser1_size_y} 0.01"/>
+        </geometry>
+        <material name="Grey"/>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 ${laser1_size_z/2}" rpy="0 0 0"/>
+        <geometry>
+          <!--<box size="${laser1_size_x} ${laser1_size_y} ${laser1_size_z}" />-->
+          <box size="${laser1_size_x} ${laser1_size_y} 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint name="camera/z" type="revolute">
+      <origin xyz="${x_pos_sensor_head_rel_to_base_link} 0 0.137" rpy="0 0 0"/>
+      <parent link="top_box_link"/>
+      <child link="cameraYawServo"/>
+      <axis xyz="0 0 1"/>
+      <limit lower="${-M_PI*3/4}" upper="${M_PI*3/4}" effort="100" velocity="100"/>
+    </joint>
+    
+    <link name="cameraYawServo">
+      <inertial_sphere mass="0.1" diameter="0.07"/>
+      <visual>
+        <origin xyz="0.0 0.0 ${cameraYawServo_size_z/2}" rpy="0 0 0"/>
+        <geometry>
+          <box size="${cameraYawServo_size_x} ${cameraYawServo_size_y} ${cameraYawServo_size_z}"/>
+        </geometry>
+        <material name="Blue"/>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 ${cameraYawServo_size_z/2}" rpy="0 0 0"/>
+        <geometry>
+          <box size="${cameraYawServo_size_x} ${cameraYawServo_size_y} ${cameraYawServo_size_z}"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint name="camera/y" type="revolute">
+      <origin xyz="0 0 ${cameraYawServo_size_z}" rpy="0 0 0"/>
+      <parent link="cameraYawServo"/>
+      <child link="mounting_link"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${-M_PI/2}" upper="${M_PI/2}" effort="100" velocity="100"/>
+    </joint>
+    <link name="mounting_link">
+      <inertial_sphere mass="0.05" diameter="0.07"/>
+    </link>
+    
+    <xacro:thermaleye_camera_model name="infrared" parent="mounting_link">
+      <origin xyz="${infrared_x_position} ${infrared_y_position} ${infrared_z_position}" rpy="0 0 0"/>
+    </xacro:thermaleye_camera_model>
+    
+    <xacro:asus_camera_model name="openni" parent="mounting_link">
+      <origin xyz="${kinect_x_position} ${kinect_y_position}  ${kinect_z_position}" rpy="${kinect_roll_position} ${kinect_pitch_position} ${kinect_yaw_position}"/>
+    </xacro:asus_camera_model>
+    
+    <xacro:hokuyo_utm30lx name="laser1" parent="laser1_link" ros_topic="laser1/scan" update_rate="40" ray_count="1081" min_angle="135" max_angle="-135">
+      <origin xyz="${laser1_center_x_offset} 0 ${laser1_plane_height}" rpy="0 0 0"/>
+    </xacro:hokuyo_utm30lx>
+    
+    <xacro:vision_box_common_gazebo_plugins/>
+    
+    <!--   <xacro:include filename="$(find monstertruck_urdf)/hector/$(env ROBOT)_addons.urdf.xacro" />-->
+  </xacro:macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common_dimensions.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common_dimensions.urdf.xacro
new file mode 100644
index 0000000..a7e1aaa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_common_dimensions.urdf.xacro	
@@ -0,0 +1,77 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+         
+  <xacro:property name="socket_size_x" value="0.31" />
+  <xacro:property name="socket_size_y" value="0.14" />
+  <xacro:property name="socket_size_z" value="0.005" />
+  <xacro:property name="socket_height" value="0.185" /> <!--between ground and lower edge of socket-->
+
+  <xacro:property name="base_size_x" value="0.31" />
+  <xacro:property name="base_size_y" value="0.14" />
+  <xacro:property name="base_size_z" value="0.06" />
+
+  <xacro:property name="ultrasound_z_position" value="0.015" /> <!--between upper edge of socket and center of ultrasound sensor-->
+  <xacro:property name="middle_ultrasound_x_position" value="-0.068" /> <!--between rear edge of socket and middle ultrasound sensor-->
+  <xacro:property name="sideways_ultrasound_x_position" value="-0.055" /> <!--between rear edge of socket and left/rigth ultrasound sensor-->
+  <xacro:property name="sideways_ultrasound_y_position" value="0.085" /> <!--between x-axis of socket and left/rigth ultrasound sensor-->
+  <xacro:property name="sideways_ultrasound_theta" value="1" /> <!--angel between reverse x-axis and left/rigth ultrasound sensor z-axis-->
+
+  <xacro:property name="laser0PitchServo_size_x" value="0.05" />
+  <xacro:property name="laser0PitchServo_size_y" value="0.03" />
+  <xacro:property name="laser0PitchServo_size_z" value="0.03" />
+  <!--<xacro:property name="laser0PitchServo_x_offset" value="0.07" />--> <!--between front edge of base and laser0 pitch axis-->
+  <!--<xacro:property name="laser0PitchServo_z_offset" value="-0.03" />--> <!--between lower edge of base and laser0 pitch axis-->
+
+  <xacro:property name="laser0_size_x" value="0.05" />
+  <xacro:property name="laser0_size_y" value="0.05" />
+  <xacro:property name="laser0_size_z" value="0.08" />
+  <!--<xacro:property name="laser0_x_offset" value="0.023" />--> <!--between laser0 pitch axis and laser0 center-->
+  <xacro:property name="laser0_plane_height" value="0.08" /> <!--between laser0 pitch axis and laserscan plane-->
+
+  <!--<xacro:property name="top_size_x" value="0.185" />-->
+  <xacro:property name="top_size_y" value="0.21" />
+  <xacro:property name="top_size_z" value="0.135" />
+
+  <xacro:property name="laser1RollServo_size_x" value="0.064" /> <!--between front edge of top and laser1 pitch axis-->
+  <xacro:property name="laser1RollServo_size_y" value="0.03" />
+  <xacro:property name="laser1RollServo_size_z" value="0.04" />
+  <!--<xacro:property name="laser1RollServo_height" value="0.039" />--> <!--between lower edge of top and laser1 roll axis-->
+
+  <xacro:property name="laser1_size_x" value="0.05" />
+  <xacro:property name="laser1_size_y" value="0.05" />
+  <xacro:property name="laser1_size_z" value="0.09" />
+  <xacro:property name="laser1_plane_height" value="0.085" /> <!--between laser1 roll axis and laserscan plane-->
+  <xacro:property name="laser1_center_x_offset" value="0.03" /> <!-- between laser1 pitch axis and laser1 center-->
+
+  <xacro:property name="cameraYawServo_size_x" value="0.04" />
+  <xacro:property name="cameraYawServo_size_y" value="0.03" />
+  <!--<xacro:property name="cameraYawServo_size_z" value="0.091" />--> <!--between upper edge of top and camera pitch axis-->
+  <!--<xacro:property name="cameraYawServo_x_position" value="-0.027" />--> <!--between front edge of top and camera yaw axis-->
+
+  <xacro:property name="camera_size_x" value="0.05" />
+  <!--<xacro:property name="camera_size_y" value="0.02" />-->
+  <!--<xacro:property name="camera_size_z" value="0.02" />-->
+  <xacro:property name="camera_x_position" value="0.02" /> <!--between intersection point of yaw and pitch axis and center of camera lense-->
+  <!--<xacro:property name="camera_y_position" value="-0.049" />-->
+  <xacro:property name="camera_z_position" value="0.001" />
+
+<!--  <xacro:property name="infrared_size_x" value="0.09" />
+  <xacro:property name="infrared_radius" value="0.015" />
+  <xacro:property name="infrared_x_position" value="0.03" />--> <!--between intersection point of yaw and pitch axis and center of infrared lense-->
+  <!--<xacro:property name="infrared_y_position" value="0.04" />-->
+  <xacro:property name="infrared_x_position" value="0.0505" /> <!--5.8cm between front and servo axis-->
+  <xacro:property name="infrared_y_position" value="0.046" />
+  <xacro:property name="infrared_z_position" value="-0.0025" />
+
+  <xacro:property name="kinect_size_x" value="0.06" />
+  <xacro:property name="kinect_size_y" value="0.28" />
+  <xacro:property name="kinect_size_z" value="0.04" />
+  <xacro:property name="kinect_x_position" value="0.055" /> <!--between intersection point of yaw and pitch axis and center of camera lense-->
+  <xacro:property name="kinect_y_position" value="0.0" />
+  <xacro:property name="kinect_z_position" value="0.055" />
+  <xacro:property name="kinect_roll_position" value="0" />
+  <xacro:property name="kinect_pitch_position" value="0" />
+<!--   <xacro:property name="kinect_yaw_position" value="0" />/>-->
+
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector1.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector1.urdf.xacro
new file mode 100644
index 0000000..80ce47a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector1.urdf.xacro	
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+         
+  <xacro:property name="M_PI" value="3.14159" />
+
+  <xacro:property name="x_vision_box_front" value="0.084" />
+  <xacro:property name="x_pos_sensor_head_rel_to_base_link" value="${x_vision_box_front-0.027}" />
+
+  <xacro:property name="laser1RollServo_height" value="0.04" /> <!--between base_link and laser1 roll axis-->
+
+
+  <xacro:property name="cameraYawServo_size_z" value="0.082" /> <!--between upper edge of top and camera pitch axis-->
+  <xacro:property name="cameraYawServo_x_position" value="-0.027" /> <!--between front edge of top and camera yaw axis-->
+
+
+  <xacro:property name="camera_size_y" value="0.02" />
+  <xacro:property name="camera_size_z" value="0.02" />
+
+  <xacro:property name="camera_y_position" value="-0.049" />
+  
+  <xacro:property name="top_box_pos_x" value="-0.0085" />
+  <xacro:property name="top_box_pos_y" value="0.0" />
+  <xacro:property name="top_box_pos_z" value="0.0675" />
+  <xacro:property name="top_box_size_x" value="0.18100" />
+  <xacro:property name="top_box_size_y" value="0.21" />
+  <xacro:property name="top_box_size_z" value="0.133" />
+
+  <xacro:property name="kinect_yaw_position" value="0.0" /> 
+
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector2.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector2.urdf.xacro
new file mode 100644
index 0000000..d7b418d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_dimensions_hector2.urdf.xacro	
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+         
+  <xacro:property name="M_PI" value="3.14159" />
+
+  <xacro:property name="x_vision_box_front" value="0.146" />
+  <xacro:property name="x_pos_sensor_head_rel_to_base_link" value="${x_vision_box_front-0.052}" />
+  
+  <xacro:property name="laser1RollServo_height" value="0.04" /> <!--between base_link and laser1 roll axis-->
+
+
+  <xacro:property name="cameraYawServo_size_z" value="0.085" /> <!--between upper edge of top and camera pitch axis-->
+  <xacro:property name="cameraYawServo_x_position" value="-0.053" /> <!--between front edge of top and camera yaw axis-->
+
+
+  <xacro:property name="camera_size_y" value="0.032" />
+  <xacro:property name="camera_size_z" value="0.034" />
+
+  <xacro:property name="camera_y_position" value="-0.0425" />
+  
+  <xacro:property name="top_box_pos_x" value="-0.0085" />
+  <xacro:property name="top_box_pos_y" value="0.0" />
+  <xacro:property name="top_box_pos_z" value="0.0675" />
+  <xacro:property name="top_box_size_x" value="0.309" />
+  <xacro:property name="top_box_size_y" value="0.21" />
+  <xacro:property name="top_box_size_z" value="0.133" />
+
+  <xacro:property name="kinect_yaw_position" value="0.0" /> 
+
+
+
+
+
+  
+  </robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector1_addons.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector1_addons.urdf.xacro
new file mode 100644
index 0000000..6d93462
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector1_addons.urdf.xacro	
@@ -0,0 +1,151 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <joint name="vertical_laser_joint" type="fixed" >
+    <origin xyz="-0.18 0.0 0.173" rpy="0 ${-M_PI*0.5 + 0.0523598776} 0" />
+    <parent link="base_link" />
+    <child link="vertical_laser_frame" />
+  </joint>
+  
+  <link name="vertical_laser_frame">
+    <inertial_cuboid mass="0.1" x_length="0.1" y_length="0.1" z_length = "0.1"/>
+
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.01 0.01 0.01" />
+          </geometry>
+    </visual>
+
+    <collision>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <geometry>
+            <box size="0.01 0.01 0.01" />
+      </geometry>
+    </collision>
+  </link>
+  
+   <joint name="left_camera_joint" type="fixed">
+        <origin xyz="-0.075 0.075 0.245" rpy="0 -0.03524 2.35" />
+        <parent link="base_link"/>
+        <child link="left_camera_link"/>
+      </joint>
+      
+      <link name="left_camera_link">
+        <inertial>
+          <mass value="0.001" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+    <material name="Blue">
+      <color rgba="0.0 0.0 0.8 1"/>
+    </material>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+        </collision>
+      </link>
+      
+      
+    <joint name="left_camera_link_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="left_camera_link" />
+      <child link="left_camera_optical_frame"/>
+    </joint>
+    
+    <link name="left_camera_optical_frame">
+      <inertial>
+        <mass value="0.01" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
+                 iyy="0.001"  iyz="0.0"
+                 izz="0.001" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+    
+       <joint name="right_camera_joint" type="fixed">
+        <origin xyz="-0.075 -0.075 0.245" rpy="0 -0.184 -2.48" />
+        <parent link="base_link"/>
+        <child link="right_camera_link"/>
+      </joint>
+      
+      <link name="right_camera_link">
+        <inertial>
+          <mass value="0.001" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>             
+    <material name="Blue">
+      <color rgba="0.0 0.0 0.8 1"/>
+    </material>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+        </collision>
+      </link>
+      
+      
+    <joint name="right_camera_link_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="right_camera_link" />
+      <child link="right_camera_optical_frame"/>
+    </joint>
+    
+    <link name="right_camera_optical_frame">
+      <inertial>
+        <mass value="0.01" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
+                 iyy="0.001"  iyz="0.0"
+                 izz="0.001" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+
+  
+  </robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector2_addons.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector2_addons.urdf.xacro
new file mode 100644
index 0000000..20ed7d8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_components_description/urdf/vision_box_hector2_addons.urdf.xacro	
@@ -0,0 +1,151 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+<!--
+  <joint name="vertical_laser_joint" type="fixed" >
+    <origin xyz="-0.18 0.0 0.173" rpy="0 ${-M_PI*0.5 + 0.0523598776} 0" />
+    <parent link="base_link" />
+    <child link="vertical_laser_frame" />
+  </joint>
+  
+  <link name="vertical_laser_frame">
+    <inertial_cuboid mass="0.1" x_length="0.1" y_length="0.1" z_length = "0.1"/>
+
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.01 0.01 0.01" />
+          </geometry>
+    </visual>
+
+    <collision>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <geometry>
+            <box size="0.01 0.01 0.01" />
+      </geometry>
+    </collision>
+  </link>
+  -->
+   <joint name="left_camera_joint" type="fixed">
+        <origin xyz="-0.135 0.075 ${0.245 + 0.078 + 0.133}" rpy="0 -0.03524 2.35" />
+        <parent link="base_link"/>
+        <child link="left_camera_link"/>
+      </joint>
+      
+      <link name="left_camera_link">
+        <inertial>
+          <mass value="0.001" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+    <material name="Blue">
+      <color rgba="0.0 0.0 0.8 1"/>
+    </material>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+        </collision>
+      </link>
+      
+      
+    <joint name="left_camera_link_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="left_camera_link" />
+      <child link="left_camera_optical_frame"/>
+    </joint>
+    
+    <link name="left_camera_optical_frame">
+      <inertial>
+        <mass value="0.01" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
+                 iyy="0.001"  iyz="0.0"
+                 izz="0.001" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+    
+       <joint name="right_camera_joint" type="fixed">
+        <origin xyz="-0.135 -0.075 ${0.245 + 0.078 + 0.133}" rpy="0 -0.184 -2.48" />
+        <parent link="base_link"/>
+        <child link="right_camera_link"/>
+      </joint>
+      
+      <link name="right_camera_link">
+        <inertial>
+          <mass value="0.001" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>             
+    <material name="Blue">
+      <color rgba="0.0 0.0 0.8 1"/>
+    </material>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.03 0.08 0.06" />
+            <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
+          </geometry>
+        </collision>
+      </link>
+      
+      
+    <joint name="right_camera_link_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="right_camera_link" />
+      <child link="right_camera_optical_frame"/>
+    </joint>
+    
+    <link name="right_camera_optical_frame">
+      <inertial>
+        <mass value="0.01" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
+                 iyy="0.001"  iyz="0.0"
+                 izz="0.001" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+
+  
+  </robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models.rosinstall b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models.rosinstall
new file mode 100644
index 0000000..95c0aa2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models.rosinstall	
@@ -0,0 +1 @@
+- git: {local-name: src/hector_models, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_models.git', version: hydro-devel}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CHANGELOG.rst
new file mode 100644
index 0000000..3245533
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CHANGELOG.rst	
@@ -0,0 +1,16 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_models
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.2 (2014-09-01)
+------------------
+
+0.3.1 (2014-03-30)
+------------------
+* made hector_models a true metapackage
+* Moved package hector_sensors_gazebo to ../hector_gazebo
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-02)
+------------------
+* catkinized stack hector_models
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CMakeLists.txt
new file mode 100644
index 0000000..12ddbb5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_models)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/package.xml
new file mode 100644
index 0000000..6d78015
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_models/package.xml	
@@ -0,0 +1,25 @@
+<package>
+  <name>hector_models</name>
+  <version>0.3.2</version>
+  <description>hector_models contains (urdf) models of robots, sensors etc.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_models</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_sensors_description</run_depend>
+  <run_depend>hector_xacro_tools</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CHANGELOG.rst
new file mode 100644
index 0000000..b55ba93
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CHANGELOG.rst	
@@ -0,0 +1,18 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_sensors_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.2 (2014-09-01)
+------------------
+* Updated asus xtion pro live mesh to reflect actual sensor dimensions, add stl version
+* Contributors: Stefan Kohlbrecher
+
+0.3.1 (2014-03-30)
+------------------
+* added hokuyo_utm30lx_model and hokuyo_utm30lx_gpu macros and disabled gpu laser in default hokuyo_utm30lx macro
+* use gpu_ray sensor in hydro
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-02)
+------------------
+* catkinized stack hector_models
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CMakeLists.txt
new file mode 100644
index 0000000..c849eb6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/CMakeLists.txt	
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_sensors_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS
+    INCLUDE_DIRS
+    LIBRARIES
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(DIRECTORY meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae
new file mode 100644
index 0000000..404ad02
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae	
@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.70.5 commit date:2014-06-04, commit time:10:44, hash:fc1c763</authoring_tool>
+    </contributor>
+    <created>2014-06-11T13:30:44</created>
+    <modified>2014-06-11T13:30:44</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.007095437 0.007095437 0.007095437 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.4195 0.4195 0.4195 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">5</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material_002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="168">-0.9601472 1.38267 0.3078527 -0.9601472 1.38267 -0.3013365 -0.9601472 -3.015511 -0.3013365 -0.9601472 -3.015511 0.3078527 -0.02340704 1.382557 0.3078527 -0.02330875 1.382666 -0.3013365 -0.02331 -3.015507 -0.3013365 -0.02340704 -3.015511 0.3078527 -0.02340704 -1.737524 0 -0.02340704 0.1250084 -0.165674 -0.02340704 0.05638432 0 -0.02340704 -0.09674459 0 -0.02340704 -0.1653691 -0.1656743 -0.02340704 0.1250084 0.1656737 -0.02340704 -0.1653691 0.1656738 -0.02340704 -0.4967176 -0.165674 -0.02340704 -0.5653417 0 -0.02340704 -1.268926 0 -0.02340704 -0.4967176 0.1656737 -0.02340704 -1.337551 -0.1656743 -0.02340704 -1.337551 0.1656738 -0.02340704 -1.668899 0.1656737 -0.02340704 -1.668899 -0.165674 -0.02340704 -1.503225 -0.2342988 -0.02340704 -0.3310434 0.2342985 -0.02340704 -0.3310434 -0.2342988 -0.02340704 -1.503225 0.2342985 -0.02340704 0.2906828 -0.2342988 -0.02340704 0.2906827 0.2342985 -0.02340704 0.456357 0.1656738 -0.02340704 0.5249815 0 -0.02340704 0.456357 -0.1656743 -0.1343017 0.5249815 -1.34731e-7 -0.1343017 0.456357 0.1656738 -0.1343017 0.2906827 0.2342983 -0.1343017 0.456357 -0.1656745 -0.1343011 0.1250084 0.1656737 -0.1343011 0.2906827 -0.234299 -0.1343017 0.05638402 -1.21696e-7 -0.1343011 0.1250084 -0.165674 -0.1343017 -0.09674459 -1.34731e-7 -0.1343017 -0.1653691 0.1656738 -0.1343017 -0.3310434 0.2342983 -0.1343017 -0.1653691 -0.1656745 -0.1343011 -0.4967176 0.1656737 -0.1343011 -0.3310434 -0.234299 -0.1343017 -0.565342 -1.21696e-7 -0.1343011 -0.4967176 -0.165674 -0.1343017 -1.268926 -1.34731e-7 -0.1343017 -1.337551 0.1656738 -0.1343017 -1.503225 0.2342983 -0.1343017 -1.337551 -0.1656745 -0.1343011 -1.668899 0.1656737 -0.1343011 -1.503225 -0.234299 -0.1343017 -1.737524 -1.21696e-7 -0.1343011 -1.668899 -0.165674</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="56" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="321">-1 0 0 1.21024e-4 1 0 1 -7.84187e-5 1.8932e-4 1 -1.00075e-4 4.14522e-5 1 -1.34163e-4 -5.55722e-5 1 -2.47756e-5 1.61396e-4 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0.9999989 -2.84171e-7 0.001454412 1 5.79847e-5 1.39987e-4 1 3.83854e-5 1.59349e-4 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 -6.26192e-6 0 0 -1 0 0 1 2.48287e-7 -0.9238793 -0.3826841 -4.21495e-7 -0.9238796 0.3826832 -1.63916e-6 -0.3826835 0.9238796 0 0.3826856 0.9238786 -2.76314e-6 0.9238795 0.3826837 -1.90774e-6 0.9238794 -0.3826838 1.61387e-6 -0.3826832 -0.9238796 0 0.3826839 -0.9238793 0 -0.9238793 -0.3826841 -7.02491e-7 -0.9238796 0.3826833 -1.73282e-6 -0.3826835 0.9238796 0 0.3826858 0.9238786 -2.90364e-6 0.9238795 0.3826838 -2.06292e-6 0.9238793 -0.3826838 1.61387e-6 -0.3826834 -0.9238796 0 0.3826839 -0.9238793 -9.93149e-7 -0.9238784 -0.3826862 -1.68598e-6 -0.9238788 0.3826854 -1.73282e-6 -0.3826839 0.9238794 4.21498e-7 0.3826863 0.9238784 -3.74662e-7 0.9238781 0.3826869 4.19961e-7 0.9238781 -0.382687 1.61387e-6 -0.3826839 -0.9238794 4.1138e-7 0.3826843 -0.9238792 -1 0 0 4.70811e-6 1 1.78857e-4 1 0 0 0.9999989 0 0.001466631 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 6.91998e-5 2.86637e-5 1 0 0 1 0 0 1 0 0 1 0 0 4.07189e-6 -1 0 0 0 -1 0 0 1 4.64941e-7 -0.9238792 -0.3826842 -4.21495e-7 -0.9238796 0.3826832 -1.54548e-6 -0.3826834 0.9238796 -1.87332e-6 0.3826846 0.9238791 0 0.9238802 0.3826822 0 0.9238798 -0.3826827 0 -0.3826841 -0.9238793 1.61387e-6 0.3826848 -0.923879 5.89085e-7 -0.9238792 -0.3826845 -3.27829e-7 -0.9238796 0.3826835 -1.63915e-6 -0.3826834 0.9238796 -1.73282e-6 0.3826848 0.923879 2.34166e-7 0.9238802 0.382682 2.48289e-7 0.9238799 -0.3826826 0 -0.3826843 -0.9238792 1.61387e-6 0.3826847 -0.923879 4.64944e-7 -0.923878 -0.382687 -4.21494e-7 -0.9238785 0.3826861 -2.01381e-6 -0.3826841 0.9238792 -1.73282e-6 0.3826851 0.9238789 9.83494e-7 0.9238784 0.3826861 9.93154e-7 0.9238782 -0.3826867 -4.11378e-7 -0.382685 -0.9238789 1.61387e-6 0.382685 -0.9238789 1 0 0 1 0 0 1 3.1476e-6 1.30378e-6 1 5.40047e-7 1.30378e-6 1 3.68764e-6 0 1 -8.90277e-6 0 1 0 0 1 0 0 1 3.1476e-6 1.30378e-6 1 5.40047e-7 1.30378e-6 1 3.68764e-6 0 1 -8.90277e-6 0 1 0 0 1 0 0 1 3.14761e-6 1.30378e-6 1 3.14761e-6 1.30378e-6 1 0 0 1 -8.90269e-6 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="107" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_001-material" count="89">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>2 0 0 0 1 0 1 1 0 1 4 1 31 2 27 2 5 2 5 3 30 3 31 3 5 4 29 4 30 4 4 5 29 5 5 5 23 6 27 6 25 6 7 7 28 7 4 7 7 8 21 8 26 8 9 9 25 9 27 9 28 10 14 10 13 10 19 11 25 11 15 11 24 12 20 12 18 12 23 13 6 13 5 13 23 14 22 14 6 14 6 15 8 15 7 15 18 16 17 16 16 16 17 17 15 17 16 17 13 18 11 18 10 18 11 19 9 19 10 19 7 20 8 20 21 20 3 21 6 21 7 21 6 22 1 22 5 22 7 23 0 23 3 23 32 24 29 24 33 24 31 25 32 25 35 25 27 26 35 26 37 26 9 27 37 27 39 27 10 28 39 28 38 28 36 29 10 29 38 29 33 30 28 30 34 30 34 31 13 31 36 31 40 32 14 32 41 32 12 33 40 33 43 33 25 34 43 34 45 34 15 35 45 35 47 35 16 36 47 36 46 36 44 37 16 37 46 37 41 38 24 38 42 38 42 39 18 39 44 39 48 40 20 40 49 40 19 41 48 41 51 41 23 42 51 42 53 42 22 43 53 43 55 43 8 44 55 44 54 44 52 45 8 45 54 45 49 46 26 46 50 46 50 47 21 47 52 47 0 48 2 48 3 48 1 49 4 49 5 49 29 50 4 50 28 50 27 51 23 51 5 51 28 52 7 52 26 52 25 53 9 53 12 53 14 54 28 54 24 54 25 55 19 55 23 55 20 56 24 56 26 56 8 57 6 57 22 57 17 58 18 58 20 58 15 59 17 59 19 59 11 60 13 60 14 60 9 61 11 61 12 61 6 62 3 62 2 62 1 63 6 63 2 63 0 64 7 64 4 64 29 65 32 65 30 65 32 66 31 66 30 66 35 67 27 67 31 67 37 68 9 68 27 68 39 69 10 69 9 69 10 70 36 70 13 70 28 71 33 71 29 71 13 72 34 72 28 72 14 73 40 73 11 73 40 74 12 74 11 74 43 75 25 75 12 75 45 76 15 76 25 76 47 77 16 77 15 77 16 78 44 78 18 78 24 79 41 79 14 79 18 80 42 80 24 80 20 81 48 81 17 81 48 82 19 82 17 82 51 83 23 83 19 83 53 84 22 84 23 84 55 85 8 85 22 85 8 86 52 86 21 86 26 87 49 87 20 87 21 88 50 88 26 88</p>
+        </polylist>
+        <polylist material="Material_002-material" count="18">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>32 89 33 89 35 89 33 90 34 90 35 90 34 91 37 91 35 91 34 92 39 92 37 92 34 93 36 93 39 93 36 94 38 94 39 94 40 95 41 95 43 95 41 96 42 96 43 96 42 97 45 97 43 97 42 98 47 98 45 98 42 99 44 99 47 99 44 100 46 100 47 100 48 101 49 101 51 101 49 102 50 102 51 102 50 103 53 103 51 103 50 104 52 104 53 104 52 105 55 105 53 105 52 106 54 106 55 106</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.04101324 0 0 0 0 0.04101324 0 0.03664687 0 0 0.04101324 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/asus_camera/asus_camera_simple.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/asus_camera/asus_camera_simple.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bef4a40071b6f9e1cb73b6fd827516fc0fd49b12
GIT binary patch
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/blender/hokuyo_utm30lx.blend b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/blender/hokuyo_utm30lx.blend
new file mode 100644
index 0000000000000000000000000000000000000000..f549faf30ad40e9eeaf7b5994c6b4bac8415185d
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae
new file mode 100644
index 0000000..c77d778
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae	
@@ -0,0 +1,155 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.61.4 r43797</authoring_tool>
+    </contributor>
+    <created>2012-02-01T14:19:57</created>
+    <modified>2012-02-01T14:19:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Hokuyo_Orange-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.05 0.016 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.2668543 0.007142973 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.1875294 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="BodyDark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05496641 0.05496641 0.05496641 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Hokuyo_Orange-material" name="Hokuyo_Orange">
+      <instance_effect url="#Hokuyo_Orange-effect"/>
+    </material>
+    <material id="BodyDark-material" name="BodyDark">
+      <instance_effect url="#BodyDark-effect"/>
+    </material>
+    <material id="Scanner_Window-material" name="Scanner_Window">
+      <instance_effect url="#Scanner_Window-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="108">-0.24321 -0.149432 -0.2432097 -0.2789493 0.13143 -0.2789489 -0.216749 0.1250717 -0.2167486 -0.2950419 -0.1794006 -0.2950711 -0.3010078 -0.5353779 -0.3010077 -0.2789748 0.3114927 -0.2789742 -0.2789744 0.3114926 0.278975 -0.3010077 -0.5353779 0.3010079 -0.2950711 -0.1794006 0.2950715 -0.2167487 0.1250717 0.2167492 -0.278949 0.13143 0.2789495 -0.2432098 -0.1494321 0.2432101 0.2432101 -0.1494321 0.2432098 0.2789494 0.1314299 0.2789492 0.216749 0.1250717 0.2167488 0.2950714 -0.1794006 0.2950712 0.3010079 -0.5353779 0.3010077 0.2789748 0.3114926 0.2789746 0.2789744 0.3114926 -0.2789747 0.3010076 -0.5353779 -0.3010079 0.2950711 -0.1794006 -0.2950714 0.2167487 0.1250717 -0.2167489 0.2789489 0.13143 -0.2789493 0.2432097 -0.149432 -0.24321 -0.2789642 0.2364665 -0.2789637 -0.2789638 0.2364665 0.2789644 0.2789642 0.2364664 0.278964 0.2789638 0.2364665 -0.2789641 -0.2950713 -0.1794006 0.08274024 -0.2950419 -0.1794006 -0.08274018 -0.2789492 0.13143 0.08274024 -0.2789492 0.13143 -0.08274024 -0.2432099 -0.149432 0.08274024 -0.24321 -0.149432 -0.08274018 -0.2167488 0.1250717 -0.08274024 -0.2167488 0.1250717 0.08274018</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="36" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="210">1 -1.41412e-4 -9.08054e-7 1 -1.41015e-4 -8.54687e-7 1 -1.41299e-4 -8.54687e-7 1 -1.41299e-4 -8.54718e-7 7.47781e-7 -1.4181e-4 1 6.94379e-7 -1.41413e-4 1 6.94379e-7 -1.41583e-4 1 6.41012e-7 -1.41299e-4 1 -1 -1.41412e-4 6.40993e-7 -1 -1.41015e-4 6.94367e-7 -1 -1.41583e-4 6.40993e-7 -8.01226e-7 -1.41412e-4 -1 -7.47825e-7 -1.41015e-4 -1 -7.47825e-7 -1.41299e-4 -1 -6.94461e-7 -1.41015e-4 -1 0 1 0 0 1 0 0 -1 0 0 -1 0 0.5003311 0.8658341 -2.41019e-7 0.5003312 0.8658342 -2.43736e-7 0.4644612 0.7539903 0.4644612 0.3705252 -0.85168 -0.3705252 0.3705252 -0.85168 0.3705252 0.4644612 0.7539903 -0.4644612 0.1016917 -0.994816 -1.92734e-7 0.1016924 -0.9948158 0 0.999861 0.01667422 -5.44471e-7 0.999861 0.01667439 -6.5492e-7 3.95979e-7 0.0166741 0.999861 5.05319e-7 0.01667428 0.999861 0 -0.9948158 0.1016926 0 -0.994816 0.1016916 -0.4644612 0.7539903 0.4644612 -0.3705252 -0.85168 0.3705252 2.52668e-7 0.8658339 0.5003315 3.07667e-7 0.8658342 0.5003311 -0.9998596 0.01675677 2.47486e-7 -3.95979e-7 0.01667451 -0.999861 -5.04236e-7 0.01667469 -0.999861 0 -0.9948158 -0.1016925 -1.76881e-7 -0.9948158 -0.1016933 -0.4645833 0.7539293 -0.4644612 -0.3705252 -0.85168 -0.3705252 -3.06546e-7 0.8658342 -0.5003308 -2.50311e-7 0.8658341 -0.5003314 -0.999861 0.01667445 5.63693e-7 -0.9998628 0.01656538 -1.77368e-4 -0.9998595 0.01675683 2.81852e-7 -1 -1.41299e-4 7.59431e-7 -1 -1.40598e-4 4.55662e-7 -1 -1.4089e-4 5.40274e-7 -0.1016935 -0.9948158 0 -0.101693 -0.9948158 0 -0.500544 0.8657112 2.01265e-7 -0.5005439 0.8657111 2.18105e-7 -0.6313974 -0.5173193 0.5776544 -0.6618244 0.4255501 0.6171453 -0.5003309 0.8658343 4.02754e-7 -0.5003311 0.8658342 4.86025e-7 -0.1016926 -0.9948158 0 -0.1016929 -0.9948158 0 -0.6618549 0.4254586 -0.6171453 -0.6313974 -0.5173193 -0.5776239 0 0 1 3.64087e-7 0 1 -0.9986576 0.05179816 -1.77158e-4 -0.9986625 0.05170381 5.4422e-7 0 0 -1 2.31735e-7 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="70" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <polylist material="Hokuyo_Orange1" count="20">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>13 2 27 2 26 2 13 3 22 3 27 3 10 6 26 6 25 6 10 7 13 7 26 7 1 10 25 10 24 10 22 13 24 13 27 13 22 14 1 14 24 14 13 25 14 25 22 25 14 26 21 26 22 26 10 31 9 31 14 31 10 32 14 32 13 32 22 40 21 40 2 40 22 41 2 41 1 41 30 49 10 49 25 49 1 50 31 50 25 50 31 51 30 51 25 51 2 52 34 52 1 52 1 53 34 53 31 53 9 60 10 60 30 60 9 61 30 61 35 61</p>
+        </polylist>
+        <polylist material="BodyDark2" count="48">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>26 0 18 0 17 0 26 1 27 1 18 1 25 4 17 4 6 4 25 5 26 5 17 5 24 8 25 8 5 8 5 9 25 9 6 9 27 11 5 11 18 11 27 12 24 12 5 12 5 15 6 15 17 15 5 16 17 16 18 16 4 17 19 17 16 17 4 18 16 18 7 18 12 19 15 19 20 19 12 20 20 20 23 20 12 21 21 22 14 23 12 21 23 24 21 22 15 27 16 27 19 27 15 28 19 28 20 28 8 29 7 29 16 29 8 30 16 30 15 30 11 33 12 21 9 34 9 34 12 21 14 23 11 35 8 35 15 35 11 36 15 36 12 36 3 37 4 37 7 37 20 38 19 38 4 38 20 39 4 39 3 39 21 22 0 42 2 43 0 42 21 22 23 24 3 44 0 44 23 44 3 45 23 45 20 45 8 46 28 46 7 46 28 47 29 47 7 47 29 48 3 48 7 48 0 54 3 54 29 54 0 55 29 55 33 55 9 34 35 56 32 57 9 34 32 57 11 33 8 58 11 58 28 58 11 59 32 59 28 59 0 42 33 62 2 43 33 62 34 63 2 43 28 64 32 64 30 64 32 65 35 65 30 65 28 66 30 66 29 66 30 67 31 67 29 67 29 68 31 68 33 68 33 69 31 69 34 69</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 1.27222e-14</rotate>
+        <rotate sid="rotationY">0 1 0 1.27222e-14</rotate>
+        <rotate sid="rotationX">1 0 0 90</rotate>
+        <scale sid="scale">0.1027312 0.1027312 0.1027312</scale>
+        <instance_geometry url="#Plane-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Hokuyo_Orange1" target="#Hokuyo_Orange-material"/>
+              <instance_material symbol="BodyDark2" target="#BodyDark-material"/>
+              <instance_material symbol="Scanner_Window3" target="#Scanner_Window-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl
new file mode 100644
index 0000000000000000000000000000000000000000..783a70b31080726f4015b31272026ad84df109b2
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lxTEST_SELF_FILTER.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lxTEST_SELF_FILTER.dae
new file mode 100644
index 0000000..2fdc448
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lxTEST_SELF_FILTER.dae	
@@ -0,0 +1,181 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.62.2 r45133</authoring_tool>
+    </contributor>
+    <created>2012-03-29T08:37:49</created>
+    <modified>2012-03-29T08:37:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Hokuyo_Orange-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">1 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="BodyDark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05496641 0.05496641 0.05496641 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Scanner_Window-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.06970959 0.06970959 0.06970959 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Hokuyo_Orange-material" name="Hokuyo_Orange">
+      <instance_effect url="#Hokuyo_Orange-effect"/>
+    </material>
+    <material id="BodyDark-material" name="BodyDark">
+      <instance_effect url="#BodyDark-effect"/>
+    </material>
+    <material id="Scanner_Window-material" name="Scanner_Window">
+      <instance_effect url="#Scanner_Window-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae
new file mode 100644
index 0000000..ebcfb13
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae	
@@ -0,0 +1,151 @@
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+        <scale sid="scale">0.04101324 0.04101324 0.04101324</scale>
+        <instance_geometry url="#Cube_001-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material1" target="#Material-material"/>
+              <instance_material symbol="Material_0012" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c37614073a8d20351416d539c8c615811e83de05
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/sonar_sensor/blender/max_sonar_ez4.blend b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/sonar_sensor/blender/max_sonar_ez4.blend
new file mode 100644
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae
new file mode 100644
index 0000000..3b4789f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae	
@@ -0,0 +1,252 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.61.4 r43995</authoring_tool>
+    </contributor>
+    <created>2012-02-09T09:19:02</created>
+    <modified>2012-02-09T09:19:02</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>0</area_shape>
+          <area_size>1</area_size>
+          <area_sizey>1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <shadspotsize>45</shadspotsize>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="PCB_Green-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.05536731 0.2029368 0.01810702 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05536731 0.2029368 0.01810702 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Sonar_Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.02484926 0.02484926 0.02484926 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.02484926 0.02484926 0.02484926 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="PCB_Green-material" name="PCB Green">
+      <instance_effect url="#PCB_Green-effect"/>
+    </material>
+    <material id="Sonar_Black-material" name="Sonar_Black">
+      <instance_effect url="#Sonar_Black-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="75">0.01099997 0.01099979 0 0.01099991 -0.01100003 0 -0.01100021 -0.01099991 0 -0.01099973 0.01100021 0 -0.01099973 0.01100021 0.002601444 -0.01100021 -0.01099991 0.002601444 0.01099991 -0.01100003 0.002601444 0.01099997 0.01099979 0.002601444 0 0.007999956 0.003145456 0.005656838 0.005656838 0.003145456 0.007999956 0 0.003145456 0.005656838 -0.005656838 0.003145456 0 -0.007999956 0.003145456 -0.005656838 -0.005656838 0.003145456 -0.007999956 0 0.003145456 -0.005656838 0.005656838 0.003145456 0 0.007999956 0.01499998 0.005656838 0.005656838 0.01499998 0.007999956 0 0.01499998 0.005656838 -0.005656838 0.01499998 0 -0.007999956 0.01499998 -0.005656838 -0.005656838 0.01499998 -0.007999956 0 0.01499998 -0.005656838 0.005656838 0.01499998 0 0 0.01499998</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="25" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="108">0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0.7070834 0.7070834 0 -0.548967 0.548967 0.6302378 0 0.7763603 0.6302378 0 1 0 -1 0 0 -0.7763603 0 0.6302378 -0.7070834 -0.7070834 0 -0.548967 -0.548967 0.6302378 0 -1 0 0 -0.7763603 0.6302378 0.7070834 -0.7070834 0 0.548967 -0.548967 0.6302378 1 0 0 0.7763603 0 0.6302378 0.7070834 0.7070834 0 0.548967 0.548967 0.6302378 0 0 1 0 0 1 -5.41857e-6 -1 0 -5.41857e-6 -1 0 1 -2.70932e-6 0 1 -2.70932e-6 0 1.89654e-5 1 0 1.89654e-5 1 0 -1 2.16743e-5 0 -1 2.16743e-5 0 0 0 -1 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="36" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <polylist material="PCB_Green1" count="12">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>5 24 7 24 4 24 5 25 6 25 7 25 1 26 5 26 2 26 1 27 6 27 5 27 0 28 6 28 1 28 0 29 7 29 6 29 7 30 0 30 3 30 3 31 4 31 7 31 2 32 4 32 3 32 2 33 5 33 4 33 0 34 2 34 3 34 0 35 1 35 2 35</p>
+        </polylist>
+        <polylist material="Sonar_Black2" count="24">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>24 0 17 0 16 0 24 1 18 1 17 1 24 2 19 2 18 2 24 3 20 3 19 3 24 4 21 4 20 4 24 5 22 5 21 5 24 6 23 6 22 6 24 7 16 7 23 7 15 8 23 9 16 10 15 8 16 10 8 11 14 12 22 13 23 9 14 12 23 9 15 8 13 14 21 15 22 13 13 14 22 13 14 12 12 16 20 17 21 15 12 16 21 15 13 14 11 18 19 19 20 17 11 18 20 17 12 16 10 20 18 21 19 19 10 20 19 19 11 18 9 22 17 23 18 21 9 22 18 21 10 20 8 11 16 10 17 23 8 11 17 23 9 22</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 89.99999</rotate>
+        <rotate sid="rotationX">1 0 0 -7.69819e-6</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Plane-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="PCB_Green1" target="#PCB_Green-material"/>
+              <instance_material symbol="Sonar_Black2" target="#Sonar_Black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Lamp" type="NODE">
+        <translate sid="location">5.903862 1.005455 -4.076244</translate>
+        <rotate sid="rotationZ">0 0 1 93.30684</rotate>
+        <rotate sid="rotationY">0 1 0 -16.90973</rotate>
+        <rotate sid="rotationX">1 0 0 126.2982</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Camera" type="NODE">
+        <translate sid="location">5.343667 -6.507638 -7.481132</translate>
+        <rotate sid="rotationZ">0 0 1 90.85168</rotate>
+        <rotate sid="rotationY">0 1 0 43.30489</rotate>
+        <rotate sid="rotationX">1 0 0 154.1435</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v1.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v1.dae
new file mode 100644
index 0000000..8ff1537
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v1.dae	
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.62.1 r44749</authoring_tool>
+    </contributor>
+    <created>2012-03-09T20:09:09</created>
+    <modified>2012-03-09T20:09:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05597978 0.05597978 0.05597978 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="__Resave-mesh" name="7 Resave">
+      <mesh>
+        <source id="__Resave-mesh-positions">
+          <float_array id="__Resave-mesh-positions-array" count="150">0.0169999 0.02078455 -0.01199996 -0.1149998 0.02399992 0 0.0169999 0.02399992 0 0.0169999 0.01082527 -0.006249964 0.0169999 0.01249998 0 0.02399992 0.01082527 -0.006249964 0.02399992 0.01249998 0 0.02399992 0.006249964 -0.01082527 0.0169999 0.01199996 -0.02078455 -0.1149998 0.02078455 -0.01199996 0.0169999 0.006249964 -0.01082527 0.02399992 0 -0.01249998 0.0169999 0 -0.02399992 -0.1149998 0.01199996 -0.02078455 0.0169999 0 -0.01249998 0.02399992 -0.006249964 -0.01082527 0.0169999 -0.01199996 -0.02078455 -0.1149998 0 -0.02399992 0.0169999 -0.006249964 -0.01082527 0.02399992 -0.01082527 -0.006249964 0.0169999 -0.02078455 -0.01199996 -0.1149998 -0.01199996 -0.02078455 0.0169999 -0.01082527 -0.006249964 0.02399992 -0.01249998 0 0.0169999 -0.02399992 0 -0.1149998 -0.02078455 -0.01199996 0.0169999 -0.01249998 0 0.02399992 -0.01082527 0.006249964 0.0169999 -0.02078455 0.01199996 -0.1149998 -0.02399992 0 0.0169999 -0.01082527 0.006249964 0.02399992 -0.006249964 0.01082527 0.0169999 -0.01199996 0.02078455 -0.1149998 -0.02078455 0.01199996 0.0169999 -0.006249964 0.01082527 0.02399992 0 0.01249998 0.0169999 0 0.02399992 -0.1149998 -0.01199996 0.02078455 0.0169999 0 0.01249998 0.02399992 0.006249964 0.01082527 0.0169999 0.01199996 0.02078455 -0.1149998 0 0.02399992 0.0169999 0.006249964 0.01082527 0.02399992 0.01082527 0.006249964 0.0169999 0.02078455 0.01199996 -0.1149998 0.01199996 0.02078455 0.0169999 0.01082527 0.006249964 -0.1149998 0 0 0.02399992 0 0 -0.1149998 0.02078455 0.01199996</float_array>
+          <technique_common>
+            <accessor source="#__Resave-mesh-positions-array" count="50" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="__Resave-mesh-normals">
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+          <technique_common>
+            <accessor source="#__Resave-mesh-normals-array" count="96" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="__Resave-mesh-vertices">
+          <input semantic="POSITION" source="#__Resave-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_0011" count="60">
+          <input semantic="VERTEX" source="#__Resave-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#__Resave-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 1 1 2 2 3 3 2 3 4 3 9 9 0 0 8 10 10 11 0 11 3 11 12 14 13 15 8 10 14 16 8 16 10 16 16 19 17 20 12 14 18 21 12 21 14 21 20 24 21 25 16 19 22 26 16 26 18 26 24 29 25 30 20 24 26 31 20 31 22 31 28 34 29 35 24 29 30 36 24 36 26 36 32 39 33 40 28 34 34 41 28 41 30 41 36 44 37 45 32 39 38 46 32 46 34 46 40 49 41 50 36 44 42 51 36 51 38 51 44 54 45 55 40 49 46 56 40 56 42 56 47 57 1 57 9 57 47 60 9 60 13 60 47 62 13 62 17 62 47 64 17 64 21 64 47 66 21 66 25 66 47 68 25 68 29 68 47 70 29 70 33 70 47 72 33 72 37 72 47 74 37 74 41 74 47 76 41 76 45 76 47 78 45 78 49 78 2 2 49 81 44 54 47 82 49 82 1 82 4 83 44 83 46 83 1 1 0 0 9 9 3 84 0 84 2 84 9 9 8 10 13 15 0 85 10 85 8 85 13 15 12 14 17 20 8 86 14 86 12 86 17 20 16 19 21 25 12 87 18 87 16 87 21 25 20 24 25 30 16 88 22 88 20 88 25 30 24 29 29 35 20 89 26 89 24 89 29 35 28 34 33 40 24 90 30 90 28 90 33 40 32 39 37 45 28 91 34 91 32 91 37 45 36 44 41 50 32 92 38 92 36 92 41 50 40 49 45 55 36 93 42 93 40 93 45 55 44 54 49 81 40 94 46 94 44 94 49 81 2 2 1 1 44 95 4 95 2 95</p>
+        </polylist>
+        <polylist material="Material_0022" count="36">
+          <input semantic="VERTEX" source="#__Resave-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#__Resave-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>5 4 4 5 6 6 7 7 3 8 5 4 11 12 10 13 7 7 15 17 14 18 11 12 19 22 18 23 15 17 23 27 22 28 19 22 27 32 26 33 23 27 31 37 30 38 27 32 35 42 34 43 31 37 39 47 38 48 35 42 43 52 42 53 39 47 5 58 6 58 48 58 7 59 5 59 48 59 11 61 7 61 48 61 15 63 11 63 48 63 48 65 19 65 15 65 19 67 48 67 23 67 27 69 23 69 48 69 31 71 27 71 48 71 35 73 31 73 48 73 39 75 35 75 48 75 43 77 39 77 48 77 6 79 43 79 48 79 6 6 46 80 43 52 4 5 5 4 3 8 3 8 7 7 10 13 10 13 11 12 14 18 14 18 15 17 18 23 18 23 19 22 22 28 22 28 23 27 26 33 26 33 27 32 30 38 30 38 31 37 34 43 34 43 35 42 38 48 38 48 39 47 42 53 42 53 43 52 46 80 46 80 6 6 4 5</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="__Resave" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#__Resave-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_0011" target="#Material_001-material"/>
+              <instance_material symbol="Material_0022" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v1.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7e73b5cc2ade46f218448ac1718d48c408f817c7
GIT binary patch
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HcmV?d00001

diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.dae b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.dae
new file mode 100644
index 0000000..78fc506
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.dae	
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.62.2 r45133</authoring_tool>
+    </contributor>
+    <created>2012-03-27T13:57:29</created>
+    <modified>2012-03-27T13:57:29</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05597978 0.05597978 0.05597978 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="__Resave-mesh" name="7 Resave">
+      <mesh>
+        <source id="__Resave-mesh-positions">
+          <float_array id="__Resave-mesh-positions-array" count="102">0.0169999 0.01082527 -0.006249964 0.0169999 0.01249998 0 0.02399992 0.01082527 -0.006249964 0.02399992 0.01249998 0 0.02399992 0.006249964 -0.01082527 0.0169999 0.006249964 -0.01082527 0.02399992 0 -0.01249998 0.0169999 0 -0.01249998 0.02399992 -0.006249964 -0.01082527 0.0169999 -0.006249964 -0.01082527 0.02399992 -0.01082527 -0.006249964 0.0169999 -0.01082527 -0.006249964 0.02399992 -0.01249998 0 0.0169999 -0.01249998 0 0.02399992 -0.01082527 0.006249964 0.0169999 -0.01082527 0.006249964 0.02399992 -0.006249964 0.01082527 -0.118 0.0205 -0.0205 0.0169999 -0.006249964 0.01082527 0.02399992 0 0.01249998 -0.118 -0.0205 -0.0205 0.0169 -0.0205 -0.0205 0.0169999 0 0.01249998 0.02399992 0.006249964 0.01082527 0.0169 0.0205 -0.0205 -0.118 0.0205 0.0205 0.0169999 0.006249964 0.01082527 0.02399992 0.01082527 0.006249964 -0.118 -0.0205 0.0205 0.0169 -0.0205 0.0205 0.0169999 0.01082527 0.006249964 -0.1149998 0 0 0.02399992 0 0 0.0169 0.0205 0.0205</float_array>
+          <technique_common>
+            <accessor source="#__Resave-mesh-positions-array" count="34" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="__Resave-mesh-normals">
+          <float_array id="__Resave-mesh-normals-array" count="144">0.6532182 0.6557207 -0.3785516 0 1 0 0.6532182 0.7571337 0 0.6532182 0.3785516 -0.6557207 0 0.8660237 -0.4999848 0.6532182 0 -0.7571337 0 0.4999848 -0.8660237 0.6532182 -0.3785516 -0.6557207 0 0 -1 0.6532182 -0.6557207 -0.3785516 0 -0.4999848 -0.8660237 0.6532182 -0.7571337 0 0 -0.8660237 -0.4999848 0.6532182 -0.6557207 0.3785516 0 -1 0 0.6532182 -0.3785516 0.6557207 0 -0.8660237 0.4999848 0.6532182 0 0.7571337 0 -0.4999848 0.8660237 0.6532182 0.3785516 0.6557207 0 0 1 0.6532182 0.6557207 0.3785516 0 0.4999848 0.8660237 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0.8660237 0.4999848 0 0 -1 0 0 1 0 1 0 -1 0 0 0 -1 0 1 0 0 0 0 -1 0 0 1 0 1 0 -1 0 0 0 -1 0 1 0 0</float_array>
+          <technique_common>
+            <accessor source="#__Resave-mesh-normals-array" count="48" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="__Resave-mesh-vertices">
+          <input semantic="POSITION" source="#__Resave-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_0011" count="12">
+          <input semantic="VERTEX" source="#__Resave-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#__Resave-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>21 36 17 36 24 36 28 37 33 37 25 37 33 38 17 38 25 38 25 39 20 39 28 39 28 40 21 40 29 40 29 41 24 41 33 41 17 42 21 42 20 42 33 43 28 43 29 43 17 44 33 44 24 44 20 45 25 45 17 45 21 46 28 46 20 46 24 47 29 47 21 47</p>
+        </polylist>
+        <polylist material="Material_0022" count="36">
+          <input semantic="VERTEX" source="#__Resave-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#__Resave-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>2 0 1 1 3 2 4 3 0 4 2 0 6 5 5 6 4 3 8 7 7 8 6 5 10 9 9 10 8 7 12 11 11 12 10 9 14 13 13 14 12 11 16 15 15 16 14 13 19 17 18 18 16 15 23 19 22 20 19 17 27 21 26 22 23 19 2 23 3 23 32 23 4 24 2 24 32 24 6 25 4 25 32 25 8 26 6 26 32 26 32 27 10 27 8 27 10 28 32 28 12 28 14 29 12 29 32 29 16 30 14 30 32 30 19 31 16 31 32 31 23 32 19 32 32 32 27 33 23 33 32 33 3 34 27 34 32 34 3 2 30 35 27 21 2 0 0 4 1 1 0 4 4 3 5 6 5 6 6 5 7 8 7 8 8 7 9 10 9 10 10 9 11 12 11 12 12 11 13 14 13 14 14 13 15 16 15 16 16 15 18 18 18 18 19 17 22 20 22 20 23 19 26 22 26 22 27 21 30 35 30 35 3 2 1 1</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="__Resave" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#__Resave-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_0011" target="#Material_001-material"/>
+              <instance_material symbol="Material_0022" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.stl b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..fc39b30fcb45cf80c6af4af31e6138d179a21ecf
GIT binary patch
literal 684
zcmZ>*D9A4=Nlj5mE6UGRNXkjgOGzzaARq9cY5lYE<KB7im)ijGo_mE|AR3vy2PBTF
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zM)Nt649xAw_JRC?T?beO*-ywOq51>Kx3KsC>4w<{W~1uBVlLP|WRp;JAo~`H4GUc?
Pb|9IBtP18r8;H*VafmAi

literal 0
HcmV?d00001

diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/package.xml
new file mode 100644
index 0000000..1eb4554
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/package.xml	
@@ -0,0 +1,24 @@
+<package>
+  <name>hector_sensors_description</name>
+  <version>0.3.2</version>
+  <description>hector_sensors_description contains URDF xacro macros for sensors, so they are easily attachable to robot models and usable in gazebo.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_sensors_description</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>xacro</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/asus_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/asus_camera.urdf.xacro
new file mode 100644
index 0000000..2e924d4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/asus_camera.urdf.xacro	
@@ -0,0 +1,115 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+  
+    <xacro:macro name="asus_camera_model" params="name parent *origin">
+      <joint name="${name}_joint" type="fixed">
+        <xacro:insert_block name="origin" />
+        <parent link="${parent}"/>
+        <child link="${name}_link"/>
+      </joint>
+      
+      <link name="${name}_link">
+        <inertial>
+          <mass value="0.200" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
+          </geometry>
+        </visual>
+       <!--        
+       <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <box size="0.035 0.185 0.025"/>
+          </geometry>
+        </collision>
+        -->
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
+          </geometry>
+        </collision>
+
+      </link>
+
+      <joint name="${name}_depth_joint" type="fixed">
+        <origin xyz="-0.03 0.049 0.0" rpy="0 0 0" />
+        <parent link="${name}_link" />
+        <child link="${name}_depth_frame"/>
+      </joint>
+
+      <link name="${name}_depth_frame"/>
+
+      <joint name="${name}_depth_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+        <parent link="${name}_depth_frame" />
+        <child link="${name}_depth_optical_frame"/>
+      </joint>
+
+      <link name="${name}_depth_optical_frame"/>
+
+      <joint name="${name}_rgb_joint" type="fixed">
+        <origin xyz="0.0 0.022 0.0" rpy="0 0 0" />
+        <parent link="${name}_link" />
+        <child link="${name}_rgb_frame"/>
+      </joint>
+
+      <link name="${name}_rgb_frame"/>
+
+      <joint name="${name}_rgb_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+        <parent link="${name}_rgb_frame" />
+        <child link="${name}_rgb_optical_frame"/>
+      </joint>
+
+      <link name="${name}_rgb_optical_frame"/>
+    </xacro:macro>
+
+    <xacro:macro name="asus_camera" params="name parent *origin">
+      <xacro:asus_camera_model name="${name}" parent="${parent}">
+        <xacro:insert_block name="origin" />
+      </xacro:asus_camera_model>
+  
+      <!-- ASUS Xtion PRO camera for simulation -->
+      <gazebo reference="${name}_depth_frame">
+        <sensor type="depth" name="${name}">
+          <update_rate>20</update_rate>
+          <camera>
+            <horizontal_fov>${62.8 * M_PI/180.0}</horizontal_fov>
+            <image>
+              <format>R8G8B8</format>
+              <width>640</width>
+              <height>480</height>
+            </image>
+            <clip>
+              <near>0.5</near>
+              <far>9</far>
+            </clip>
+          </camera>
+          <plugin name="${name}_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+            <alwaysOn>true</alwaysOn>
+            <updateRate>20</updateRate>
+            <imageTopicName>${name}/rgb/image_raw</imageTopicName>
+            <cameraInfoTopicName>${name}/rgb/camera_info</cameraInfoTopicName>
+            <depthImageTopicName>${name}/depth/image_raw</depthImageTopicName>
+            <depthImageCameraInfoTopicName>${name}/depth/camera_info</depthImageCameraInfoTopicName>
+            <pointCloudTopicName>${name}/depth/points</pointCloudTopicName>
+            <frameName>${name}_depth_optical_frame</frameName>
+            <distortion_k1>0.0</distortion_k1>
+            <distortion_k2>0.0</distortion_k2>
+            <distortion_k3>0.0</distortion_k3>
+            <distortion_t1>0.0</distortion_t1>
+            <distortion_t2>0.0</distortion_t2>
+          </plugin>
+        </sensor>
+      </gazebo>
+    </xacro:macro>
+  </robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_camera.urdf.xacro
new file mode 100644
index 0000000..4761be9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_camera.urdf.xacro	
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="generic_camera" params="name parent *origin ros_topic cam_info_topic update_rate res_x res_y image_format hfov">
+    <joint name="${name}_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+    
+    <link name="${name}_link">
+<!--      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+        <material name="Blue">
+          <color rgba="0.0 0.0 0.8 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+      </collision>-->
+    </link>
+    
+    <joint name="${name}_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="${name}_link" />
+      <child link="${name}_optical_frame"/>
+    </joint>
+  
+    <link name="${name}_optical_frame"/>
+    
+    <gazebo reference="${name}_link">
+      <sensor type="camera" name="${name}_camera_sensor">
+        <update_rate>${update_rate}</update_rate>
+        <camera>
+          <horizontal_fov>${hfov * M_PI/180.0}</horizontal_fov>
+          <image>
+            <format>${image_format}</format>
+            <width>${res_x}</width>
+            <height>${res_y}</height>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>100</far>
+          </clip>
+        </camera>
+
+        <plugin name="${name}_camera_controller" filename="libgazebo_ros_camera.so">
+          <cameraName>${name}</cameraName>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>${update_rate}</updateRate>
+          <imageTopicName>${ros_topic}</imageTopicName>
+          <cameraInfoTopicName>${cam_info_topic}</cameraInfoTopicName>
+          <frameName>${name}_optical_frame</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_stereo_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_stereo_camera.urdf.xacro
new file mode 100644
index 0000000..dad2451
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_stereo_camera.urdf.xacro	
@@ -0,0 +1,124 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="generic_stereo_camera" params="name parent *origin ros_topic cam_info_topic update_rate res_x res_y image_format hfov baseline">
+    
+  <!-- Stereo Camera -->
+  <joint name="${name}_left_camera_frame_joint" type="fixed">
+    <!-- optical frame collocated with tilting DOF -->
+    <xacro:insert_block name="origin" />
+    <parent link="${parent}"/>
+    <child link="${name}_left_camera_frame"/>
+  </joint>
+  <link name="${name}_left_camera_frame">
+<!--    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="-0.075493 0.035033383 0.02574"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>-->
+  </link>
+  <joint name="${name}_left_camera_optical_frame_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.5708 0.0 -1.5708" />
+    <parent link="${name}_left_camera_frame" />
+    <child link="${name}_left_camera_optical_frame"/>
+  </joint>
+  <link name="${name}_left_camera_optical_frame"/>
+  <gazebo reference="${name}_left_camera_frame">
+    <sensor type="multicamera" name="stereo_camera">
+      <!-- see MultiSenseSLPlugin.h for available modes -->
+      <update_rate>30.0</update_rate>
+      <camera name="left">
+        <!-- Spec sheet says 80deg X 45deg @ 1024x544pix.  Based on feedback
+             from teams, we're instead doing 80deg X 80deg @ 800x800pix. -->
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise is sampled independently per pixel on each frame.  
+               That pixel's noise value is added to each of its color
+               channels, which at that point lie in the range [0,1].
+               The stddev value of 0.007 is based on experimental data 
+               from a camera in a Sandia hand pointed at a static scene
+               in a couple of different lighting conditions.  -->
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <camera name="right">
+        <pose>0 ${-baseline} 0 0 0 0</pose>
+        <!-- Spec sheet says 80deg X 45deg @ 1024x544pix.  Based on feedback
+             from teams, we're instead doing 80deg X 80deg @ 800x800pix. -->
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise is sampled independently per pixel on each frame.  
+               That pixel's noise value is added to each of its color
+               channels, which at that point lie in the range [0,1].
+               The stddev value of 0.007 is based on experimental data 
+               from a camera in a Sandia hand pointed at a static scene
+               in a couple of different lighting conditions.  -->
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>${name}</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>${name}_left_camera_optical_frame</frameName>
+        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
+        <hackBaseline>${baseline}</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+
+  <joint name="${name}_right_camera_frame_joint" type="fixed">
+    <origin xyz="0.0 ${-baseline} -0.0"/>
+    <parent link="${name}_left_camera_frame"/>
+    <child link="${name}_right_camera_frame"/>
+  </joint>
+  <link name="${name}_right_camera_frame">
+<!--    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="-0.075493 -0.034966617 0.02574"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>-->
+  </link>
+  <joint name="${name}_right_camera_optical_frame_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.5708 0.0 -1.5708" />
+    <parent link="${name}_right_camera_frame" />
+    <child link="${name}_right_camera_optical_frame"/>
+  </joint>
+  <link name="${name}_right_camera_optical_frame"/>
+  
+  </xacro:macro>
+
+</robot>  
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_thermal_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_thermal_camera.urdf.xacro
new file mode 100644
index 0000000..e36ff0f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/generic_thermal_camera.urdf.xacro	
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find hector_xacro_tools)/urdf/sensor_macros.urdf.xacro" />
+  
+  <xacro:macro name="generic_thermal_camera" params="name parent *origin">
+    <joint name="${name}_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_frame"/>
+    </joint>
+    
+    <link name="${name}_frame">
+      <!--        <inertial_sphere mass="0.01" diameter="0.07" />
+      <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+      <mesh filename="package://hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.dae"/>
+      </geometry>
+      </visual>
+      <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+      <mesh filename="package://hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.stl"/>
+      </geometry>
+      </collision>-->
+    </link>
+    
+    <xacro:add_optical_frame name="${name}" />
+    
+    <gazebo reference="${name}_frame">
+      <sensor type="camera" name="thermal_camera_sensor">
+        <update_rate>10</update_rate>
+        
+        <camera>
+          <horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
+          <image>
+            <format>R8G8B8</format>
+            <width>160</width>
+            <height>120</height>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        
+        <plugin name="thermal_camera_controller" filename="libgazebo_ros_thermal_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>10</updateRate>
+          <imageTopicName>/${name}/image</imageTopicName>
+          <cameraInfoTopicName>/${name}/camera_info</cameraInfoTopicName>
+          <frameName>${name}_optical_frame</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+    
+  </xacro:macro>
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/hokuyo_utm30lx.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/hokuyo_utm30lx.urdf.xacro
new file mode 100644
index 0000000..564298f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/hokuyo_utm30lx.urdf.xacro	
@@ -0,0 +1,112 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+
+    <xacro:macro name="hokuyo_utm30lx_model" params="name parent *origin">
+      <joint name="${name}_joint" type="fixed">
+        <xacro:insert_block name="origin" />
+        <parent link="${parent}"/>
+        <child link="${name}_frame"/>
+      </joint>
+
+      <link name="${name}_frame">
+        <inertial>
+          <mass value="0.270" />
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+          <mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx$(optenv TEST_SELF_FILTER).dae"/>
+        </geometry>
+        </visual>
+        <collision>
+          <origin xyz="0 0 -0.0115" rpy="0 0 0" />
+          <geometry>
+          <box size="0.058 0.058 0.087" />
+          <!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
+        </geometry>
+        </collision>
+      </link>
+    </xacro:macro>
+
+    <xacro:macro name="hokuyo_utm30lx" params="name parent *origin ros_topic update_rate ray_count min_angle max_angle">
+      <xacro:hokuyo_utm30lx_model name="${name}" parent="${parent}">
+        <xacro:insert_block name="origin" />
+      </xacro:hokuyo_utm30lx_model>
+
+      <gazebo reference="${name}_frame">
+        <sensor type="ray" name="${name}">
+          <always_on>true</always_on>
+          <update_rate>${update_rate}</update_rate>
+          <pose>0 0 0 0 0 0</pose>
+          <visualize>false</visualize>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>${ray_count}</samples>
+                <resolution>1</resolution>
+                <min_angle>${min_angle * M_PI/180}</min_angle>
+                <max_angle>${max_angle * M_PI/180}</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.08</min>
+              <max>30.0</max>
+              <resolution>0.01</resolution>
+            </range>
+          </ray>
+          <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
+            <gaussianNoise>0.005</gaussianNoise>
+            <hokuyoMinIntensity>2000</hokuyoMinIntensity>
+            <alwaysOn>true</alwaysOn>
+            <updateRate>${update_rate}</updateRate>
+            <topicName>${ros_topic}</topicName>
+            <frameName>${name}_frame</frameName>
+          </plugin>
+        </sensor>
+      </gazebo>
+    </xacro:macro>
+  
+    <xacro:macro name="hokuyo_utm30lx_gpu" params="name parent *origin ros_topic update_rate ray_count min_angle max_angle">
+      <xacro:hokuyo_utm30lx_model name="${name}" parent="${parent}">
+        <xacro:insert_block name="origin" />
+      </xacro:hokuyo_utm30lx_model>
+
+      <gazebo reference="${name}_frame">
+        <sensor type="gpu_ray" name="${name}">          
+          <update_rate>${update_rate}</update_rate>
+          <pose>0 0 0 0 0 0</pose>
+          <visualize>false</visualize>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>${ray_count}</samples>
+                <resolution>1</resolution>
+                <min_angle>${min_angle * M_PI/180}</min_angle>
+                <max_angle>${max_angle * M_PI/180}</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.08</min>
+              <max>30.0</max>
+              <resolution>0.01</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.004</stddev>
+            </noise>
+          </ray>
+          <plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_gpu_laser.so">
+            <gaussianNoise>0.005</gaussianNoise>
+            <topicName>${ros_topic}</topicName>
+            <frameName>${name}_frame</frameName>
+          </plugin>
+        </sensor>
+      </gazebo>
+    </xacro:macro>
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/kinect_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/kinect_camera.urdf.xacro
new file mode 100644
index 0000000..b96fc7e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/kinect_camera.urdf.xacro	
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+  
+    <xacro:macro name="kinect_camera_model" params="name parent *origin">
+      <joint name="${name}_joint" type="fixed">
+        <xacro:insert_block name="origin" />
+        <parent link="${parent}"/>
+        <child link="${name}_link"/>
+      </joint>
+      
+      <link name="${name}_link">
+        <inertial_sphere mass="0.01" diameter="0.07" />
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae"/>
+          </geometry>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl"/>
+          </geometry>
+        </collision>
+      </link>
+
+      <joint name="${name}_depth_joint" type="fixed">
+        <origin xyz="0.0 -0.02 0.0" rpy="0 0 0" />
+        <parent link="${name}_link" />
+        <child link="${name}_depth_frame"/>
+      </joint>
+
+      <link name="${name}_depth_frame"/>
+
+      <joint name="${name}_depth_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+        <parent link="${name}_depth_frame" />
+        <child link="${name}_depth_optical_frame"/>
+      </joint>
+
+      <link name="${name}_depth_optical_frame"/>
+
+      <joint name="${name}_rgb_joint" type="fixed">
+        <origin xyz="0.0 -0.0125 0.0" rpy="0 0 0" />
+        <parent link="${name}_link" />
+        <child link="${name}_rgb_frame"/>
+      </joint>
+
+      <link name="${name}_rgb_frame"/>
+
+      <joint name="${name}_rgb_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+        <parent link="${name}_rgb_frame" />
+        <child link="${name}_rgb_optical_frame"/>
+      </joint>
+
+      <link name="${name}_rgb_optical_frame"/>
+
+    </xacro:macro>
+
+    <xacro:macro name="kinect_camera" params="name parent *origin">
+      <xacro:kinect_camera_model name="${name}" parent="${parent}">
+        <xacro:insert_block name="origin" />
+      </xacro:kinect_camera_model>
+      
+      <gazebo reference="${name}_depth_frame">
+        <sensor type="depth" name="${name}">
+          <update_rate>20</update_rate>
+          <camera>
+            <horizontal_fov>${60 * M_PI/180.0}</horizontal_fov>
+            <image>
+              <format>R8G8B8</format>
+              <width>640</width>
+              <height>480</height>
+            </image>
+            <clip>
+              <near>0.05</near>
+              <far>3</far>
+            </clip>
+          </camera>
+          <plugin name="${name}_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+            <alwaysOn>true</alwaysOn>
+            <updateRate>20</updateRate>
+            <imageTopicName>${name}/rgb/image_raw</imageTopicName>
+            <cameraInfoTopicName>${name}/rgb/camera_info</cameraInfoTopicName>
+            <depthImageTopicName>${name}/depth/image_raw</depthImageTopicName>
+            <depthImageCameraInfoTopicName>${name}/depth/camera_info</depthImageCameraInfoTopicName>
+            <pointCloudTopicName>${name}/depth/points</pointCloudTopicName>
+            <frameName>${name}_depth_optical_frame</frameName>
+            <distortion_k1>0.0</distortion_k1>
+            <distortion_k2>0.0</distortion_k2>
+            <distortion_k3>0.0</distortion_k3>
+            <distortion_t1>0.0</distortion_t1>
+            <distortion_t2>0.0</distortion_t2>
+          </plugin>
+        </sensor>
+      </gazebo>
+    </xacro:macro>
+  </robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/sonar_sensor.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/sonar_sensor.urdf.xacro
new file mode 100644
index 0000000..db765af
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/sonar_sensor.urdf.xacro	
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="sonar_sensor" params="name parent *origin ros_topic update_rate min_range max_range field_of_view ray_count">
+    <joint name="${name}_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+
+    <link name="${name}_link">
+      <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0" izz="0.000000017" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <!--<box size="0.01 0.01 0.01" /> -->
+          <mesh filename="package://hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+      </collision>
+    </link>
+
+    <gazebo reference="${name}_link">
+      <sensor type="ray" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>${ray_count}</samples>
+              <resolution>1</resolution>
+              <min_angle>-${field_of_view/2}</min_angle>
+              <max_angle> ${field_of_view/2}</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>${ray_count}</samples>
+              <resolution>1</resolution>
+              <min_angle>-${field_of_view/2}</min_angle>
+              <max_angle> ${field_of_view/2}</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>${min_range}</min>
+            <max>${max_range}</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+
+        <plugin name="gazebo_ros_${name}_controller" filename="libhector_gazebo_ros_sonar.so">
+          <gaussianNoise>0.005</gaussianNoise>
+          <topicName>${ros_topic}</topicName>
+          <frameId>${name}_link</frameId>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/thermaleye_camera.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/thermaleye_camera.urdf.xacro
new file mode 100644
index 0000000..88e917b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_sensors_description/urdf/thermaleye_camera.urdf.xacro	
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_xacro_tools)/urdf/sensor_macros.urdf.xacro" />
+  
+    <xacro:macro name="thermaleye_camera_model" params="name parent *origin">
+      <joint name="${name}_joint" type="fixed">
+        <xacro:insert_block name="origin" />
+        <parent link="${parent}"/>
+        <child link="${name}_frame"/>
+      </joint>
+      
+      <link name="${name}_frame">
+        <inertial_sphere mass="0.01" diameter="0.07" />
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.dae"/>
+          </geometry>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://hector_sensors_description/meshes/thermaleye_camera/thermaleye_camera_hector_v2.stl"/>
+          </geometry>
+        </collision>
+      </link>
+      
+      <xacro:add_optical_frame name="${name}" />
+    </xacro:macro>
+  </robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CHANGELOG.rst
new file mode 100644
index 0000000..23fc56b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CHANGELOG.rst	
@@ -0,0 +1,13 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_xacro_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.2 (2014-09-01)
+------------------
+
+0.3.1 (2014-03-30)
+------------------
+
+0.3.0 (2013-09-02)
+------------------
+* catkinized stack hector_models
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CMakeLists.txt
new file mode 100644
index 0000000..04cf7b5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/CMakeLists.txt	
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_xacro_tools)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS
+    INCLUDE_DIRS
+    LIBRARIES
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(DIRECTORY urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/package.xml
new file mode 100644
index 0000000..f155730
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/package.xml	
@@ -0,0 +1,24 @@
+<package>
+  <name>hector_xacro_tools</name>
+  <version>0.3.2</version>
+  <description>hector_xacro_tools</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_xacro_tools</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>xacro</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/inertia_tensors.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/inertia_tensors.urdf.xacro
new file mode 100644
index 0000000..612b336
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/inertia_tensors.urdf.xacro	
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="inertial_cuboid" params="mass x_length y_length z_length">
+    <inertial>
+      <mass value="${mass}" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="${(1/12) * mass* (y_length*y_length+ z_length*z_length)}" ixy="0.0" ixz="0.0"
+               iyy="${(1/12) * mass* (x_length*x_length+ z_length*z_length)}" iyz="0.0"
+               izz="${(1/12) * mass* (x_length*x_length+ y_length*y_length)}" />
+    </inertial>
+  </xacro:macro>
+  
+  <xacro:macro name="inertial_cuboid_with_pose" params="mass x_length y_length z_length *origin">
+    <inertial>
+      <insert_block name="origin"/>
+      <mass value="${mass}" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="${(1/12) * mass* (y_length*y_length+ z_length*z_length)}" ixy="0.0" ixz="0.0"
+               iyy="${(1/12) * mass* (x_length*x_length+ z_length*z_length)}" iyz="0.0"
+               izz="${(1/12) * mass* (x_length*x_length+ y_length*y_length)}" />
+    </inertial>
+  </xacro:macro>
+
+  <xacro:macro name="inertial_sphere" params="mass diameter">
+    <inertial>
+      <mass value="${mass}" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" ixy="0.0" ixz="0.0"
+               iyy="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" iyz="0.0"
+               izz="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" />
+    </inertial>
+  </xacro:macro>
+  
+  <xacro:macro name="inertial_sphere_with_pose" params="mass diameter *origin">
+    <inertial>
+      <insert_block name="origin"/>
+      <mass value="${mass}" />
+      <inertia ixx="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" ixy="0.0" ixz="0.0"
+               iyy="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" iyz="0.0"
+               izz="${(2/5) * mass* ( (diameter*0.5)) * (diameter*0.5))}" />
+    </inertial>
+  </xacro:macro>  
+
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/sensor_macros.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/sensor_macros.urdf.xacro
new file mode 100644
index 0000000..fc7e0c5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_models/hector_xacro_tools/urdf/sensor_macros.urdf.xacro	
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="add_optical_frame" params="name">
+    <joint name="${name}_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+      <parent link="${name}_frame" />
+      <child link="${name}_optical_frame"/>
+    </joint>
+    
+    <link name="${name}_optical_frame" />
+  </xacro:macro>
+
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor.rosinstall b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor.rosinstall
new file mode 100644
index 0000000..3a8f23f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor.rosinstall	
@@ -0,0 +1,4 @@
+- git: {local-name: hector_quadrotor, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git', version: hydro-devel}
+- git: {local-name: hector_localization, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_localization.git', version: catkin}
+- git: {local-name: hector_gazebo, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git', version: hydro-devel}
+- git: {local-name: hector_models, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_models.git', version: hydro-devel}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CHANGELOG.rst
new file mode 100644
index 0000000..b1514ca
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CHANGELOG.rst	
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+
+0.3.3 (2014-09-01)
+------------------
+* moved simulation package dependencies from hector_quadrotor metapackage to hector_quadrotor_gazebo
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+* added packages hector_quadrotor_controller and hector_quadrotor_controller_gazebo to meta-package
+* Contributors: Johannes Meyer
+
+0.3.1 (2013-12-26)
+------------------
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CMakeLists.txt
new file mode 100644
index 0000000..a4e0651
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/package.xml
new file mode 100644
index 0000000..6278fbd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor/package.xml	
@@ -0,0 +1,30 @@
+<package>
+  <name>hector_quadrotor</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_quadrotor_controller</run_depend>
+  <run_depend>hector_quadrotor_description</run_depend>
+  <run_depend>hector_quadrotor_model</run_depend>
+  <run_depend>hector_quadrotor_teleop</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CHANGELOG.rst
new file mode 100644
index 0000000..b502c46
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CHANGELOG.rst	
@@ -0,0 +1,46 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+* updated angular/z controller parameters
+* Remove redundant callback queue in twist_controller, use root_nh queue as per ros_control API
+* Add controller timeout to allow faster shutdown of spawner
+* Contributors: Johannes Meyer, Paul Bovbel
+
+0.3.4 (2015-02-22)
+------------------
+* improved automatic landing detection and shutdown on rollovers
+* slightly updated velocity controller limits and gains
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-09-01)
+------------------
+* fixed some compiler warnings and missing return values
+* increased integral gain for attitude stabilization (fix #12)
+* make a copy of the root NodeHandle in all controllers
+  For some reason deconstructing the TwistController resulted in a pure virtual function call without this patch.
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+* Fix boost 1.53 issues
+  changed boost::shared_dynamic_cast to boost::dynamic_pointer_cast and
+  boost::shared_static_cast to boost::static_pointer_cast
+* use a separate callback queue thread for the TwistController
+* added optional twist limit in pose controller
+* Contributors: Christopher Hrabia, Johannes Meyer
+
+0.3.1 (2013-12-26)
+------------------
+* New controller implementation using ros_control
+* Added pose controller
+* Added motor controller that controls motor voltages from wrench commands
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
+* Propulsion and aerodynamics models are in hector_quadrotor_model package now.
+* Gazebo plugins are in hector_quadrotor_gazebo_plugins package now.
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt
new file mode 100644
index 0000000..c3fca45
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt	
@@ -0,0 +1,78 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_controller)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs sensor_msgs nav_msgs hector_uav_msgs std_srvs hardware_interface controller_interface)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS system)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES hector_quadrotor_controller
+    CATKIN_DEPENDS roscpp geometry_msgs sensor_msgs nav_msgs hector_uav_msgs std_srvs hardware_interface controller_interface
+    DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+add_library(hector_quadrotor_controller src/quadrotor_interface.cpp src/pid.cpp)
+target_link_libraries(hector_quadrotor_controller ${catkin_LIBRARIES})
+add_dependencies(hector_quadrotor_controller hector_uav_msgs_generate_messages_cpp)
+
+add_library(hector_quadrotor_pose_controller src/pose_controller.cpp)
+target_link_libraries(hector_quadrotor_pose_controller hector_quadrotor_controller)
+
+add_library(hector_quadrotor_twist_controller src/twist_controller.cpp)
+target_link_libraries(hector_quadrotor_twist_controller hector_quadrotor_controller ${BOOST_LIBRARIES})
+
+add_library(hector_quadrotor_motor_controller src/motor_controller.cpp)
+target_link_libraries(hector_quadrotor_motor_controller hector_quadrotor_controller)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_quadrotor_controller hector_quadrotor_pose_controller hector_quadrotor_twist_controller hector_quadrotor_motor_controller
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY launch params DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES
+  plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/handles.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/handles.h
new file mode 100644
index 0000000..641ad18
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/handles.h	
@@ -0,0 +1,536 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_CONTROLLER_HANDLES_H
+#define HECTOR_QUADROTOR_CONTROLLER_HANDLES_H
+
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/Twist.h>
+#include <geometry_msgs/Wrench.h>
+#include <sensor_msgs/Imu.h>
+#include <hector_uav_msgs/MotorStatus.h>
+#include <hector_uav_msgs/MotorCommand.h>
+#include <hector_uav_msgs/AttitudeCommand.h>
+#include <hector_uav_msgs/YawrateCommand.h>
+#include <hector_uav_msgs/ThrustCommand.h>
+
+namespace hector_quadrotor_controller {
+
+class QuadrotorInterface;
+
+using geometry_msgs::Pose;
+using geometry_msgs::Point;
+using geometry_msgs::Quaternion;
+using geometry_msgs::Twist;
+using geometry_msgs::Vector3;
+using geometry_msgs::Wrench;
+using sensor_msgs::Imu;
+using hector_uav_msgs::MotorStatus;
+using hector_uav_msgs::MotorCommand;
+using hector_uav_msgs::AttitudeCommand;
+using hector_uav_msgs::YawrateCommand;
+using hector_uav_msgs::ThrustCommand;
+
+template <class Derived, typename T>
+class Handle_
+{
+public:
+  typedef T ValueType;
+  typedef Handle_<Derived, T> Base;
+
+  Handle_(const std::string& name, const std::string& field = std::string()) : interface_(0), name_(name), field_(field), value_(0) {}
+  Handle_(QuadrotorInterface *interface, const std::string& name, const std::string& field = std::string()) : interface_(interface), name_(name), field_(field), value_(0) {}
+  Handle_(QuadrotorInterface *interface, const ValueType *source, const std::string& name, const std::string& field = std::string()) : interface_(interface), name_(name), field_(field) { *this = source; }
+  virtual ~Handle_() {}
+
+  virtual const std::string& getName() const { return name_; }
+  virtual const std::string& getField() const { return field_; }
+
+  virtual bool connected() const { return get(); }
+  virtual void reset() { value_ = 0; }
+
+  Derived& operator=(const ValueType *source) { value_ = source; return static_cast<Derived &>(*this); }
+  const ValueType *get() const { return value_; }
+  const ValueType &operator*() const { return *value_; }
+
+protected:
+  QuadrotorInterface *interface_;
+  const std::string name_;
+  const std::string field_;
+  const ValueType *value_;
+};
+
+class PoseHandle : public Handle_<PoseHandle, Pose>
+{
+public:
+  using Base::operator=;
+
+  PoseHandle() : Base("pose") {}
+  PoseHandle(QuadrotorInterface *interface) : Base(interface, "pose") {}
+  PoseHandle(QuadrotorInterface *interface, const Pose *pose) : Base(interface, pose, "pose") {}
+  virtual ~PoseHandle() {}
+
+  const ValueType& pose() const { return *get(); }
+
+  void getEulerRPY(double &roll, double &pitch, double &yaw) const;
+  double getYaw() const;
+  Vector3 toBody(const Vector3& nav) const;
+  Vector3 fromBody(const Vector3& nav) const;
+};
+typedef boost::shared_ptr<PoseHandle> PoseHandlePtr;
+
+class TwistHandle : public Handle_<TwistHandle, Twist>
+{
+public:
+  using Base::operator=;
+
+  TwistHandle() : Base("twist") {}
+  TwistHandle(QuadrotorInterface *interface) : Base(interface, "twist") {}
+  TwistHandle(QuadrotorInterface *interface, const Twist *twist) : Base(interface, twist, "twist") {}
+  virtual ~TwistHandle() {}
+
+  const ValueType& twist() const { return *get(); }
+};
+typedef boost::shared_ptr<TwistHandle> TwistHandlePtr;
+
+class AccelerationHandle : public Handle_<AccelerationHandle, Vector3>
+{
+public:
+  using Base::operator=;
+
+  AccelerationHandle(QuadrotorInterface *interface, const Vector3 *acceleration) : Base(interface, acceleration, "acceleration") {}
+  virtual ~AccelerationHandle() {}
+
+  const ValueType& acceleration() const { return *get(); }
+};
+typedef boost::shared_ptr<AccelerationHandle> AccelerationHandlePtr;
+
+class StateHandle : public PoseHandle, public TwistHandle
+{
+public:
+  StateHandle() {}
+  StateHandle(QuadrotorInterface *interface, const Pose *pose, const Twist *twist) : PoseHandle(interface, pose), TwistHandle(interface, twist) {}
+  virtual ~StateHandle() {}
+
+  virtual bool connected() const { return PoseHandle::connected() && TwistHandle::connected(); }
+};
+typedef boost::shared_ptr<PoseHandle> PoseHandlePtr;
+
+class ImuHandle : public Handle_<ImuHandle, Imu>
+{
+public:
+  using Base::operator=;
+
+  ImuHandle() : Base("imu") {}
+  ImuHandle(QuadrotorInterface *interface, const Imu *imu) : Base(interface, imu, "imu") {}
+  virtual ~ImuHandle() {}
+
+  const ValueType& imu() const { return *get(); }
+};
+typedef boost::shared_ptr<ImuHandle> ImuHandlePtr;
+
+class MotorStatusHandle : public Handle_<MotorStatusHandle, MotorStatus>
+{
+public:
+  using Base::operator=;
+
+  MotorStatusHandle() : Base("motor_status") {}
+  MotorStatusHandle(QuadrotorInterface *interface, const MotorStatus *motor_status) : Base(interface, motor_status, "motor_status") {}
+  virtual ~MotorStatusHandle() {}
+
+  const ValueType& motorStatus() const { return *get(); }
+};
+typedef boost::shared_ptr<MotorStatusHandle> MotorStatusHandlePtr;
+
+class CommandHandle
+{
+public:
+  CommandHandle() : interface_(0), new_value_(false) {}
+  CommandHandle(QuadrotorInterface *interface, const std::string& name, const std::string& field) : interface_(interface), name_(name), field_(field), new_value_(false) {}
+  virtual ~CommandHandle() {}
+
+  virtual const std::string& getName() const { return name_; }
+  virtual const std::string& getField() const { return field_; }
+  virtual bool connected() const = 0;
+  virtual void reset() {}
+
+  void *get() const { return 0; }
+
+  bool enabled();
+  bool start();
+  void stop();
+  void disconnect();
+
+  template <typename T> T* ownData(T* data) { my_.reset(data); return data; }
+
+  template <typename Derived> bool connectFrom(const Derived& output) {
+    Derived *me = dynamic_cast<Derived *>(this);
+    if (!me) return false;
+    ROS_DEBUG("Connected output port '%s (%p)' to input port '%s (%p)'", output.getName().c_str(), &output, me->getName().c_str(), me);
+    return (*me = output.get()).connected();
+  }
+
+  template <typename Derived> bool connectTo(Derived& input) const {
+    const Derived *me = dynamic_cast<const Derived *>(this);
+    if (!me) return false;
+    ROS_DEBUG("Connected output port '%s (%p)' to input port '%s (%p)'", me->getName().c_str(), me, input.getName().c_str(), &input);
+    return (input = me->get()).connected();
+  }
+
+private:
+  QuadrotorInterface *interface_;
+  const std::string name_;
+  const std::string field_;
+  boost::shared_ptr<void> my_;
+
+protected:
+  mutable bool new_value_;
+  bool wasNew() const { bool old = new_value_; new_value_ = false; return old; }
+};
+typedef boost::shared_ptr<CommandHandle> CommandHandlePtr;
+
+namespace internal {
+  template <class Derived> struct FieldAccessor {
+    static typename Derived::ValueType *get(void *) { return 0; }
+  };
+}
+
+template <class Derived, typename T, class Parent = CommandHandle>
+class CommandHandle_ : public Parent
+{
+public:
+  typedef T ValueType;
+  typedef CommandHandle_<Derived, T, Parent> Base;
+
+  CommandHandle_() : command_(0) {}
+  CommandHandle_(const Parent &other) : Parent(other), command_(0) {}
+  CommandHandle_(QuadrotorInterface *interface, const std::string& name, const std::string& field = std::string()) : Parent(interface, name, field), command_(0) {}
+  virtual ~CommandHandle_() {}
+
+  virtual bool connected() const { return get(); }
+  virtual void reset() { command_ = 0; Parent::reset(); }
+
+  using Parent::operator=;
+  Derived& operator=(ValueType *source) { command_ = source; return static_cast<Derived &>(*this); }
+  ValueType *get() const { return command_ ? command_ : internal::FieldAccessor<Derived>::get(Parent::get()); }
+  ValueType &operator*() const { return *command_; }
+
+  ValueType& command() { return *get(); }
+  const ValueType& getCommand() const { this->new_value_ = false; return *get(); }
+  void setCommand(const ValueType& command) { this->new_value_ = true; *get() = command; }
+  bool getCommand(ValueType& command) const { command = *get(); return this->wasNew(); }
+
+  bool update(ValueType& command) const {
+    if (!connected()) return false;
+    command = getCommand();
+    return true;
+  }
+
+protected:
+  ValueType *command_;
+};
+
+class PoseCommandHandle : public CommandHandle_<PoseCommandHandle, Pose>
+{
+public:
+  using Base::operator=;
+
+  PoseCommandHandle() {}
+  PoseCommandHandle(QuadrotorInterface *interface, const std::string& name, const std::string& field = std::string()) : Base(interface, name, field) {}
+  PoseCommandHandle(Pose* command) { *this = command; }
+  virtual ~PoseCommandHandle() {}
+};
+typedef boost::shared_ptr<PoseCommandHandle> PoseCommandHandlePtr;
+
+class HorizontalPositionCommandHandle : public CommandHandle_<HorizontalPositionCommandHandle, Point, PoseCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  HorizontalPositionCommandHandle() {}
+  HorizontalPositionCommandHandle(const PoseCommandHandle& other) : Base(other) {}
+  HorizontalPositionCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "position.xy") {}
+  HorizontalPositionCommandHandle(Point* command) { *this = command; }
+  virtual ~HorizontalPositionCommandHandle() {}
+
+  using Base::getCommand;
+  virtual bool getCommand(double &x, double &y) const {
+    x = get()->x;
+    y = get()->y;
+    return wasNew();
+  }
+
+  using Base::setCommand;
+  virtual void setCommand(double x, double y)
+  {
+    this->new_value_ = true;
+    get()->x = x;
+    get()->y = y;
+  }
+
+  using Base::update;
+  bool update(Pose& command) const {
+    if (!connected()) return false;
+    getCommand(command.position.x, command.position.y);
+    return true;
+  }
+
+  void getError(const PoseHandle &pose, double &x, double &y) const;
+};
+typedef boost::shared_ptr<HorizontalPositionCommandHandle> HorizontalPositionCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<HorizontalPositionCommandHandle> {
+    static Point *get(Pose *pose) { return &(pose->position); }
+  };
+}
+
+class HeightCommandHandle : public CommandHandle_<HeightCommandHandle, double, PoseCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  HeightCommandHandle() {}
+  HeightCommandHandle(const PoseCommandHandle& other) : Base(other) {}
+  HeightCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "position.z") {}
+  HeightCommandHandle(double *command) { *this = command; }
+  virtual ~HeightCommandHandle() {}
+
+  using Base::update;
+  bool update(Pose& command) const {
+    if (!connected()) return false;
+    command.position.z = getCommand();
+    return true;
+  }
+
+  double getError(const PoseHandle &pose) const;
+};
+typedef boost::shared_ptr<HeightCommandHandle> HeightCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<HeightCommandHandle> {
+    static double *get(Pose *pose) { return &(pose->position.z); }
+  };
+}
+
+class HeadingCommandHandle : public CommandHandle_<HeadingCommandHandle, Quaternion, PoseCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  HeadingCommandHandle() {}
+  HeadingCommandHandle(const PoseCommandHandle& other) : Base(other), scalar_(0) {}
+  HeadingCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "orientation.yaw"), scalar_(0) {}
+  HeadingCommandHandle(Quaternion *command) { *this = command; }
+  virtual ~HeadingCommandHandle() {}
+
+  using Base::getCommand;
+  double getCommand() const;
+
+  using Base::setCommand;
+  void setCommand(double command);
+
+  using Base::update;
+  bool update(Pose& command) const;
+
+  double getError(const PoseHandle &pose) const;
+
+protected:
+  double *scalar_;
+};
+typedef boost::shared_ptr<HeadingCommandHandle> HeadingCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<HeadingCommandHandle> {
+    static Quaternion *get(Pose *pose) { return &(pose->orientation); }
+  };
+}
+
+class TwistCommandHandle : public CommandHandle_<TwistCommandHandle, Twist>
+{
+public:
+
+  using Base::operator=;
+
+  TwistCommandHandle() {}
+  TwistCommandHandle(QuadrotorInterface *interface, const std::string& name, const std::string& field = std::string()) : Base(interface, name, field) {}
+  TwistCommandHandle(Twist* command) { *this = command; }
+  virtual ~TwistCommandHandle() {}
+};
+typedef boost::shared_ptr<TwistCommandHandle> TwistCommandHandlePtr;
+
+class HorizontalVelocityCommandHandle : public CommandHandle_<HorizontalVelocityCommandHandle, Vector3, TwistCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  HorizontalVelocityCommandHandle() {}
+  HorizontalVelocityCommandHandle(const TwistCommandHandle& other) : Base(other) {}
+  HorizontalVelocityCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "linear.xy") {}
+  HorizontalVelocityCommandHandle(Vector3* command) { *this = command; }
+  virtual ~HorizontalVelocityCommandHandle() {}
+
+  using Base::getCommand;
+  bool getCommand(double &x, double &y) const {
+    x = get()->x;
+    y = get()->y;
+    return true;
+  }
+
+  using Base::setCommand;
+  void setCommand(double x, double y)
+  {
+    get()->x = x;
+    get()->y = y;
+  }
+
+  using Base::update;
+  bool update(Twist& command) const {
+    if (!connected()) return false;
+    getCommand(command.linear.x, command.linear.y);
+    return true;
+  }
+};
+typedef boost::shared_ptr<HorizontalVelocityCommandHandle> HorizontalVelocityCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<HorizontalVelocityCommandHandle> {
+    static Vector3 *get(Twist *twist) { return &(twist->linear); }
+  };
+}
+
+class VerticalVelocityCommandHandle : public CommandHandle_<VerticalVelocityCommandHandle, double, TwistCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  VerticalVelocityCommandHandle() {}
+  VerticalVelocityCommandHandle(const TwistCommandHandle& other) : Base(other) {}
+  VerticalVelocityCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "linear.z") {}
+  VerticalVelocityCommandHandle(double* command) { *this = command; }
+  virtual ~VerticalVelocityCommandHandle() {}
+
+  using Base::update;
+  bool update(Twist& command) const {
+    if (!connected()) return false;
+    command.linear.z = *get();
+    return true;
+  }
+};
+typedef boost::shared_ptr<VerticalVelocityCommandHandle> VerticalVelocityCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<VerticalVelocityCommandHandle> {
+    static double *get(Twist *twist) { return &(twist->linear.z); }
+  };
+}
+
+class AngularVelocityCommandHandle : public CommandHandle_<AngularVelocityCommandHandle, double, TwistCommandHandle>
+{
+public:
+  using Base::operator=;
+
+  AngularVelocityCommandHandle() {}
+  AngularVelocityCommandHandle(const TwistCommandHandle& other) : Base(other) {}
+  AngularVelocityCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name, "angular.z") {}
+  AngularVelocityCommandHandle(double* command) { *this = command; }
+  virtual ~AngularVelocityCommandHandle() {}
+
+  using Base::update;
+  bool update(Twist& command) const {
+    if (!connected()) return false;
+    command.linear.z = *get();
+    return true;
+  }
+};
+typedef boost::shared_ptr<AngularVelocityCommandHandle> AngularVelocityCommandHandlePtr;
+
+namespace internal {
+  template <> struct FieldAccessor<AngularVelocityCommandHandle> {
+    static double *get(Twist *twist) { return &(twist->angular.z); }
+  };
+}
+
+class WrenchCommandHandle : public CommandHandle_<WrenchCommandHandle, Wrench>
+{
+public:
+  using Base::operator=;
+
+  WrenchCommandHandle() {}
+  WrenchCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name) {}
+  virtual ~WrenchCommandHandle() {}
+};
+typedef boost::shared_ptr<WrenchCommandHandle> WrenchCommandHandlePtr;
+
+class MotorCommandHandle : public CommandHandle_<MotorCommandHandle, MotorCommand>
+{
+public:
+  using Base::operator=;
+
+  MotorCommandHandle() {}
+  MotorCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name) {}
+  virtual ~MotorCommandHandle() {}
+};
+typedef boost::shared_ptr<MotorCommandHandle> MotorCommandHandlePtr;
+
+class AttitudeCommandHandle : public CommandHandle_<AttitudeCommandHandle, AttitudeCommand>
+{
+public:
+  using Base::operator=;
+
+  AttitudeCommandHandle() {}
+  AttitudeCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name) {}
+  virtual ~AttitudeCommandHandle() {}
+};
+typedef boost::shared_ptr<AttitudeCommandHandle> AttitudeCommandHandlePtr;
+
+class YawrateCommandHandle : public CommandHandle_<YawrateCommandHandle, YawrateCommand>
+{
+public:
+  using Base::operator=;
+
+  YawrateCommandHandle() {}
+  YawrateCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name) {}
+  virtual ~YawrateCommandHandle() {}
+};
+typedef boost::shared_ptr<YawrateCommandHandle> YawrateCommandHandlePtr;
+
+class ThrustCommandHandle : public CommandHandle_<ThrustCommandHandle, ThrustCommand>
+{
+public:
+  using Base::operator=;
+
+  ThrustCommandHandle() {}
+  ThrustCommandHandle(QuadrotorInterface *interface, const std::string& name) : Base(interface, name) {}
+  virtual ~ThrustCommandHandle() {}
+};
+typedef boost::shared_ptr<ThrustCommandHandle> ThrustCommandHandlePtr;
+
+} // namespace hector_quadrotor_controller
+
+#endif // HECTOR_QUADROTOR_CONTROLLER_HANDLES_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/pid.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/pid.h
new file mode 100644
index 0000000..f7601c3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/pid.h	
@@ -0,0 +1,45 @@
+#ifndef HECTOR_QUADROTOR_CONTROLLER_PID_H
+#define HECTOR_QUADROTOR_CONTROLLER_PID_H
+
+#include <ros/node_handle.h>
+
+namespace hector_quadrotor_controller {
+
+class PID
+{
+public:
+  struct parameters {
+    parameters();
+    bool enabled;
+    double time_constant;
+    double k_p;
+    double k_i;
+    double k_d;
+    double limit_i;
+    double limit_output;
+  } parameters_;
+
+  struct state {
+    state();
+    double p, i, d;
+    double input, dinput;
+    double dx;
+  } state_;
+
+public:
+  PID();
+  PID(const parameters& parameters);
+  ~PID();
+
+  void init(const ros::NodeHandle &param_nh);
+  void reset();
+
+  double update(double input, double x, double dx, const ros::Duration& dt);
+  double update(double error, double dx, const ros::Duration& dt);
+
+  double getFilteredControlError(double& filtered_error, double time_constant, const ros::Duration& dt);
+};
+
+} // namespace hector_quadrotor_controller
+
+#endif // HECTOR_QUADROTOR_CONTROLLER_PID_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_interface.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_interface.h
new file mode 100644
index 0000000..e077e66
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_interface.h	
@@ -0,0 +1,143 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_INTERFACE_H
+#define HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_INTERFACE_H
+
+#include <hardware_interface/internal/hardware_resource_manager.h>
+
+#include <hector_quadrotor_controller/handles.h>
+
+#include <map>
+#include <list>
+
+namespace hector_quadrotor_controller {
+
+using namespace hardware_interface;
+
+class QuadrotorInterface : public HardwareInterface
+{
+public:
+  QuadrotorInterface();
+  virtual ~QuadrotorInterface();
+
+  virtual PoseHandlePtr getPose()                 { return PoseHandlePtr(); }
+  virtual TwistHandlePtr getTwist()               { return TwistHandlePtr(); }
+  virtual AccelerationHandlePtr getAcceleration() { return AccelerationHandlePtr(); }
+  virtual ImuHandlePtr getSensorImu()             { return ImuHandlePtr(); }
+  virtual MotorStatusHandlePtr getMotorStatus()   { return MotorStatusHandlePtr(); }
+
+  virtual bool getMassAndInertia(double &mass, double inertia[3]) { return false; }
+
+  template <typename HandleType> boost::shared_ptr<HandleType> getHandle()
+  {
+    return boost::shared_ptr<HandleType>(new HandleType(this));
+  }
+
+  template <typename HandleType> boost::shared_ptr<HandleType> addInput(const std::string& name)
+  {
+    boost::shared_ptr<HandleType> input = getInput<HandleType>(name);
+    if (input) return input;
+
+    // create new input handle
+    input.reset(new HandleType(this, name));
+    inputs_[name] = input;
+
+    // connect to output of same name
+    if (outputs_.count(name)) {
+      boost::shared_ptr<HandleType> output = boost::dynamic_pointer_cast<HandleType>(outputs_.at(name));
+      output->connectTo(*input);
+    }
+
+    return input;
+  }
+
+  template <typename HandleType> boost::shared_ptr<HandleType> addOutput(const std::string& name)
+  {
+    boost::shared_ptr<HandleType> output = getOutput<HandleType>(name);
+    if (output) return output;
+
+    // create new output handle
+    output.reset(new HandleType(this, name));
+    outputs_[name] = output;
+    *output = output->ownData(new typename HandleType::ValueType());
+
+    //claim resource
+    claim(name);
+
+    // connect to output of same name
+    if (inputs_.count(name)) {
+      boost::shared_ptr<HandleType> input = boost::dynamic_pointer_cast<HandleType>(inputs_.at(name));
+      output->connectTo(*input);
+    }
+
+    return output;
+  }
+
+  template <typename HandleType> boost::shared_ptr<HandleType> getOutput(const std::string& name) const
+  {
+    if (!outputs_.count(name)) return boost::shared_ptr<HandleType>();
+    return boost::static_pointer_cast<HandleType>(outputs_.at(name));
+  }
+
+  template <typename HandleType> boost::shared_ptr<HandleType> getInput(const std::string& name) const
+  {
+    if (!inputs_.count(name)) return boost::shared_ptr<HandleType>();
+    return boost::static_pointer_cast<HandleType>(inputs_.at(name));
+  }
+
+  template <typename HandleType> typename HandleType::ValueType const* getCommand(const std::string& name) const
+  {
+    boost::shared_ptr<HandleType> output = getOutput<HandleType>(name);
+    if (!output || !output->connected()) return 0;
+    return &(output->command());
+  }
+
+  virtual const Pose *getPoseCommand() const;
+  virtual const Twist *getTwistCommand() const;
+  virtual const Wrench *getWrenchCommand() const;
+  virtual const MotorCommand *getMotorCommand() const;
+
+  bool enabled(const CommandHandle *handle) const;
+  bool start(const CommandHandle *handle);
+  void stop(const CommandHandle *handle);
+
+  void disconnect(const CommandHandle *handle);
+
+private:
+//  typedef std::list< CommandHandlePtr > HandleList;
+//  std::map<const std::type_info *, HandleList> inputs_;
+//  std::map<const std::type_info *, HandleList> outputs_;
+  std::map<std::string, CommandHandlePtr> inputs_;
+  std::map<std::string, CommandHandlePtr> outputs_;
+  std::map<std::string, const CommandHandle *> enabled_;
+};
+
+} // namespace hector_quadrotor_controller
+
+#endif // HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_INTERFACE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/launch/controller.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/launch/controller.launch
new file mode 100644
index 0000000..e239ce4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/launch/controller.launch	
@@ -0,0 +1,7 @@
+<launch>
+  <rosparam file="$(find hector_quadrotor_controller)/params/controller.yaml" />
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
+    controller/twist
+     --shutdown-timeout 3"/>
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/package.xml
new file mode 100644
index 0000000..6c43842
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/package.xml	
@@ -0,0 +1,42 @@
+<package>
+  <name>hector_quadrotor_controller</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_controller provides libraries and a node for quadrotor control using <a href="http://wiki.ros.org/ros_control">ros_control</a>.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_controller</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>hector_uav_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>hardware_interface</build_depend>
+  <build_depend>controller_interface</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>hardware_interface</run_depend>
+  <run_depend>controller_interface</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+  <export>
+    <controller_interface plugin="${prefix}/plugin.xml"/>
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/params/controller.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/params/controller.yaml
new file mode 100644
index 0000000..981e152
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/params/controller.yaml	
@@ -0,0 +1,50 @@
+controller:
+    pose:
+        type: hector_quadrotor_controller/PoseController
+        xy:
+            k_p: 2.0
+            k_i: 0.0
+            k_d: 0.0
+            limit_output: 5.0
+        z:
+            k_p: 2.0
+            k_i: 0.0
+            k_d: 0.0
+            limit_output: 5.0
+        yaw:
+            k_p: 2.0
+            k_i: 0.0
+            k_d: 0.0
+            limit_output: 1.0
+    twist:
+        type: hector_quadrotor_controller/TwistController
+        linear/xy:
+            k_p: 5.0
+            k_i: 1.0
+            k_d: 0.0
+            limit_output: 10.0
+            time_constant: 0.05
+        linear/z:
+            k_p: 5.0
+            k_i: 1.0
+            k_d: 0.0
+            limit_output: 10.0
+            time_constant: 0.05
+        angular/xy:
+            k_p: 10.0
+            k_i: 5.0
+            k_d: 5.0
+            time_constant: 0.01
+        angular/z:
+            k_p: 5.0
+            k_i: 2.5
+            k_d: 0.0
+            limit_output: 3.0
+            time_constant: 0.1
+        limits:
+            load_factor: 1.5
+            force/z: 30.0
+            torque/xy: 10.0
+            torque/z: 1.0
+    motor:
+        type: hector_quadrotor_controller/MotorController
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/plugin.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/plugin.xml
new file mode 100644
index 0000000..954de2b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/plugin.xml	
@@ -0,0 +1,23 @@
+<class_libraries>
+  <library path="lib/libhector_quadrotor_pose_controller">
+    <class name="hector_quadrotor_controller/PoseController" type="hector_quadrotor_controller::PoseController" base_class_type="controller_interface::ControllerBase">
+    <description>
+      The PoseController controls the quadrotor's pose and outputs velocity commands.
+    </description>
+    </class>
+  </library>
+  <library path="lib/libhector_quadrotor_twist_controller">
+    <class name="hector_quadrotor_controller/TwistController" type="hector_quadrotor_controller::TwistController" base_class_type="controller_interface::ControllerBase">
+    <description>
+      The TwistController controls the quadrotor's twist (linear and angular velocity) by applying torque and thrust similar to a real quadrotor.
+    </description>
+    </class>
+  </library>
+  <library path="lib/libhector_quadrotor_motor_controller">
+    <class name="hector_quadrotor_controller/MotorController" type="hector_quadrotor_controller::MotorController" base_class_type="controller_interface::ControllerBase">
+    <description>
+      The MotorController calculates the output voltages of the four motors from the commanded thrust and torque using a simple linearized model.
+    </description>
+    </class>
+  </library>
+</class_libraries>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/motor_controller.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/motor_controller.cpp
new file mode 100644
index 0000000..68bba5b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/motor_controller.cpp	
@@ -0,0 +1,186 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/quadrotor_interface.h>
+#include <controller_interface/controller.h>
+
+#include <geometry_msgs/WrenchStamped.h>
+#include <std_srvs/Empty.h>
+
+#include <ros/subscriber.h>
+#include <ros/callback_queue.h>
+
+namespace hector_quadrotor_controller {
+
+using namespace controller_interface;
+
+class MotorController : public controller_interface::Controller<QuadrotorInterface>
+{
+public:
+  MotorController()
+    : node_handle_(0)
+  {}
+
+  ~MotorController()
+  {
+    if (node_handle_) {
+      node_handle_->shutdown();
+      delete node_handle_;
+      node_handle_ = 0;
+    }
+  }
+
+  bool init(QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
+  {
+    // get interface handles
+    wrench_input_  = interface->addInput<WrenchCommandHandle>("wrench");
+    motor_output_  = interface->addOutput<MotorCommandHandle>("motor");
+
+    // initialize NodeHandle
+    delete node_handle_;
+    node_handle_ = new ros::NodeHandle(root_nh);
+
+    // load parameters
+    controller_nh.getParam("force_per_voltage", parameters_.force_per_voltage = 0.559966216);
+    controller_nh.getParam("torque_per_voltage", parameters_.torque_per_voltage = 7.98598e-3);
+    controller_nh.getParam("lever", parameters_.lever = 0.275);
+    root_nh.param<std::string>("base_link_frame", base_link_frame_, "base_link");
+
+    // TODO: calculate these parameters from the quadrotor_propulsion parameters
+//    quadrotor_propulsion:
+//            k_t: 0.015336864714397
+//            k_m: -7.011631909766668e-5
+
+//            CT2s: -1.3077e-2
+//            CT1s: -2.5224e-4
+//            CT0s:  1.538190483976698e-5
+
+    return true;
+  }
+
+  void reset()
+  {
+    wrench_.wrench.force.x  = 0.0;
+    wrench_.wrench.force.y  = 0.0;
+    wrench_.wrench.force.z  = 0.0;
+    wrench_.wrench.torque.x = 0.0;
+    wrench_.wrench.torque.y = 0.0;
+    wrench_.wrench.torque.z = 0.0;
+
+    motor_.force.assign(4, 0.0);
+    motor_.torque.assign(4, 0.0);
+    motor_.frequency.clear();
+    motor_.voltage.assign(4, 0.0);
+  }
+
+  void wrenchCommandCallback(const geometry_msgs::WrenchStampedConstPtr& command)
+  {
+    wrench_ = *command;
+    if (wrench_.header.stamp.isZero()) wrench_.header.stamp = ros::Time::now();
+
+    // start controller if it not running
+    if (!isRunning()) this->startRequest(wrench_.header.stamp);
+  }
+
+  void starting(const ros::Time &time)
+  {
+    reset();
+    motor_output_->start();
+  }
+
+  void stopping(const ros::Time &time)
+  {
+    motor_output_->stop();
+  }
+
+  void update(const ros::Time& time, const ros::Duration& period)
+  {
+    // Get wrench command input
+    if (wrench_input_->connected() && wrench_input_->enabled()) {
+      wrench_.wrench = wrench_input_->getCommand();
+    }
+
+    // Update output
+    if (wrench_.wrench.force.z > 0.0) {
+
+      double nominal_thrust_per_motor = wrench_.wrench.force.z / 4.0;
+      motor_.force[0] =  nominal_thrust_per_motor - wrench_.wrench.torque.y / 2.0 / parameters_.lever;
+      motor_.force[1] =  nominal_thrust_per_motor - wrench_.wrench.torque.x / 2.0 / parameters_.lever;
+      motor_.force[2] =  nominal_thrust_per_motor + wrench_.wrench.torque.y / 2.0 / parameters_.lever;
+      motor_.force[3] =  nominal_thrust_per_motor + wrench_.wrench.torque.x / 2.0 / parameters_.lever;
+
+      double nominal_torque_per_motor = wrench_.wrench.torque.z / 4.0;
+      motor_.voltage[0] = motor_.force[0] / parameters_.force_per_voltage + nominal_torque_per_motor / parameters_.torque_per_voltage;
+      motor_.voltage[1] = motor_.force[1] / parameters_.force_per_voltage - nominal_torque_per_motor / parameters_.torque_per_voltage;
+      motor_.voltage[2] = motor_.force[2] / parameters_.force_per_voltage + nominal_torque_per_motor / parameters_.torque_per_voltage;
+      motor_.voltage[3] = motor_.force[3] / parameters_.force_per_voltage - nominal_torque_per_motor / parameters_.torque_per_voltage;
+
+      motor_.torque[0] = motor_.voltage[0] * parameters_.torque_per_voltage;
+      motor_.torque[1] = motor_.voltage[1] * parameters_.torque_per_voltage;
+      motor_.torque[2] = motor_.voltage[2] * parameters_.torque_per_voltage;
+      motor_.torque[3] = motor_.voltage[3] * parameters_.torque_per_voltage;
+
+      if (motor_.voltage[0] < 0.0) motor_.voltage[0] = 0.0;
+      if (motor_.voltage[1] < 0.0) motor_.voltage[1] = 0.0;
+      if (motor_.voltage[2] < 0.0) motor_.voltage[2] = 0.0;
+      if (motor_.voltage[3] < 0.0) motor_.voltage[3] = 0.0;
+
+    } else {
+      reset();
+    }
+
+    // set wrench output
+    motor_.header.stamp = time;
+    motor_.header.frame_id = "base_link";
+    motor_output_->setCommand(motor_);
+  }
+
+private:
+  WrenchCommandHandlePtr wrench_input_;
+  MotorCommandHandlePtr motor_output_;
+
+  ros::NodeHandle *node_handle_;
+  ros::Subscriber wrench_subscriber_;
+  ros::ServiceServer engage_service_server_;
+  ros::ServiceServer shutdown_service_server_;
+
+  geometry_msgs::WrenchStamped wrench_;
+  hector_uav_msgs::MotorCommand motor_;
+  std::string base_link_frame_;
+
+  struct {
+    double force_per_voltage;     // coefficient for linearized volts to force conversion for a single motor [N / V]
+    double torque_per_voltage;    // coefficient for linearized volts to force conversion for a single motor [Nm / V]
+    double lever;                 // the lever arm from origin to the motor axes (symmetry assumption) [m]
+  } parameters_;
+};
+
+} // namespace hector_quadrotor_controller
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(hector_quadrotor_controller::MotorController, controller_interface::ControllerBase)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pid.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pid.cpp
new file mode 100644
index 0000000..bc8e3e5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pid.cpp	
@@ -0,0 +1,152 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/pid.h>
+#include <limits>
+
+namespace hector_quadrotor_controller {
+
+PID::state::state()
+  : p(std::numeric_limits<double>::quiet_NaN())
+  , i(0.0)
+  , d(std::numeric_limits<double>::quiet_NaN())
+  , input(std::numeric_limits<double>::quiet_NaN())
+  , dinput(0.0)
+  , dx(std::numeric_limits<double>::quiet_NaN())
+{
+}
+
+PID::parameters::parameters()
+  : enabled(true)
+  , time_constant(0.0)
+  , k_p(0.0)
+  , k_i(0.0)
+  , k_d(0.0)
+  , limit_i(std::numeric_limits<double>::quiet_NaN())
+  , limit_output(std::numeric_limits<double>::quiet_NaN())
+{
+}
+
+PID::PID()
+{}
+
+PID::PID(const parameters& params)
+  : parameters_(params)
+{}
+
+PID::~PID()
+{}
+
+void PID::init(const ros::NodeHandle &param_nh)
+{
+  param_nh.getParam("enabled", parameters_.enabled);
+  param_nh.getParam("k_p", parameters_.k_p);
+  param_nh.getParam("k_i", parameters_.k_i);
+  param_nh.getParam("k_d", parameters_.k_d);
+  param_nh.getParam("limit_i", parameters_.limit_i);
+  param_nh.getParam("limit_output", parameters_.limit_output);
+  param_nh.getParam("time_constant", parameters_.time_constant);
+}
+
+void PID::reset()
+{
+  state_ = state();
+}
+
+template <typename T> static inline T& checknan(T& value)
+{
+  if (std::isnan(value)) value = T();
+  return value;
+}
+
+double PID::update(double input, double x, double dx, const ros::Duration& dt)
+{
+  if (!parameters_.enabled) return 0.0;
+  double dt_sec = dt.toSec();
+
+  // low-pass filter input
+  if (std::isnan(state_.input)) state_.input = input;
+  if (dt_sec + parameters_.time_constant > 0.0) {
+    state_.dinput = (input - state_.input) / (dt_sec + parameters_.time_constant);
+    state_.input  = (dt_sec * input + parameters_.time_constant * state_.input) / (dt_sec + parameters_.time_constant);
+  }
+
+  return update(state_.input - x, dx, dt);
+}
+
+double PID::update(double error, double dx, const ros::Duration& dt)
+{
+  if (!parameters_.enabled) return 0.0;
+  if (std::isnan(error)) return 0.0;
+  double dt_sec = dt.toSec();
+
+  // integral error
+  state_.i += error * dt_sec;
+  if (parameters_.limit_i > 0.0)
+  {
+    if (state_.i >  parameters_.limit_i) state_.i =  parameters_.limit_i;
+    if (state_.i < -parameters_.limit_i) state_.i = -parameters_.limit_i;
+  }
+
+  // differential error
+  if (dt_sec > 0.0 && !std::isnan(state_.p) && !std::isnan(state_.dx)) {
+    state_.d = (error - state_.p) / dt_sec + state_.dx - dx;
+  } else {
+    state_.d = -dx;
+  }
+  state_.dx = dx;
+
+  // proportional error
+  state_.p = error;
+
+  // calculate output...
+  double output = parameters_.k_p * state_.p + parameters_.k_i * state_.i + parameters_.k_d * state_.d;
+  int antiwindup = 0;
+  if (parameters_.limit_output > 0.0)
+  {
+    if (output >  parameters_.limit_output) { output =  parameters_.limit_output; antiwindup =  1; }
+    if (output < -parameters_.limit_output) { output = -parameters_.limit_output; antiwindup = -1; }
+  }
+  if (antiwindup && (error * dt_sec * antiwindup > 0.0)) state_.i -= error * dt_sec;
+
+  checknan(output);
+  return output;
+}
+
+double PID::getFilteredControlError(double& filtered_error, double time_constant, const ros::Duration& dt)
+{
+  double dt_sec = dt.toSec();
+  filtered_error = checknan(filtered_error);
+  if (dt_sec + time_constant > 0.0) {
+    filtered_error = (time_constant * filtered_error + dt_sec * state_.p) / (dt_sec + time_constant);
+  }
+  return filtered_error;
+}
+
+} // namespace hector_quadrotor_controller
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pose_controller.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pose_controller.cpp
new file mode 100644
index 0000000..73a0ec4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/pose_controller.cpp	
@@ -0,0 +1,204 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/quadrotor_interface.h>
+#include <hector_quadrotor_controller/pid.h>
+
+#include <controller_interface/controller.h>
+
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+
+#include <ros/subscriber.h>
+#include <ros/callback_queue.h>
+
+namespace hector_quadrotor_controller {
+
+using namespace controller_interface;
+
+class PoseController : public controller_interface::Controller<QuadrotorInterface>
+{
+public:
+  PoseController() {}
+
+  ~PoseController() {}
+
+  bool init(QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
+  {
+    // get interface handles
+    pose_         = interface->getPose();
+    twist_        = interface->getTwist();
+
+    pose_input_   = interface->addInput<PoseCommandHandle>("pose");
+    twist_input_  = interface->addInput<TwistCommandHandle>("pose/twist");
+    twist_limit_  = interface->addInput<TwistCommandHandle>("pose/twist_limit");
+    twist_output_ = interface->addOutput<TwistCommandHandle>("twist");
+
+    node_handle_ = root_nh;
+
+    // subscribe to commanded pose and velocity
+    pose_subscriber_ = node_handle_.subscribe<geometry_msgs::PoseStamped>("command/pose", 1, boost::bind(&PoseController::poseCommandCallback, this, _1));
+    twist_subscriber_ = node_handle_.subscribe<geometry_msgs::TwistStamped>("command/twist", 1, boost::bind(&PoseController::twistCommandCallback, this, _1));
+
+    // initialize PID controllers
+    pid_.x.init(ros::NodeHandle(controller_nh, "xy"));
+    pid_.y.init(ros::NodeHandle(controller_nh, "xy"));
+    pid_.z.init(ros::NodeHandle(controller_nh, "z"));
+    pid_.yaw.init(ros::NodeHandle(controller_nh, "yaw"));
+
+    return true;
+  }
+
+  void reset()
+  {
+    pid_.x.reset();
+    pid_.y.reset();
+    pid_.x.reset();
+    pid_.yaw.reset();
+  }
+
+  void poseCommandCallback(const geometry_msgs::PoseStampedConstPtr& command)
+  {
+    pose_command_ = *command;
+    if (!(pose_input_->connected())) *pose_input_ = &(pose_command_.pose);
+    pose_input_->start();
+
+    ros::Time start_time = command->header.stamp;
+    if (start_time.isZero()) start_time = ros::Time::now();
+    if (!isRunning()) this->startRequest(start_time);
+  }
+
+  void twistCommandCallback(const geometry_msgs::TwistStampedConstPtr& command)
+  {
+    twist_command_ = *command;
+    if (!(twist_input_->connected())) *twist_input_ = &(twist_command_.twist);
+    twist_input_->start();
+
+    ros::Time start_time = command->header.stamp;
+    if (start_time.isZero()) start_time = ros::Time::now();
+    if (!isRunning()) this->startRequest(start_time);
+  }
+
+  void starting(const ros::Time &time)
+  {
+    reset();
+    twist_output_->start();
+  }
+
+  void stopping(const ros::Time &time)
+  {
+    twist_output_->stop();
+  }
+
+  void update(const ros::Time& time, const ros::Duration& period)
+  {
+    Twist output;
+
+    // check command timeout
+    // TODO
+
+    // return if no pose command is available
+    if (pose_input_->enabled()) {
+      // control horizontal position
+      double error_n, error_w;
+      HorizontalPositionCommandHandle(*pose_input_).getError(*pose_, error_n, error_w);
+      output.linear.x = pid_.x.update(error_n, twist_->twist().linear.x, period);
+      output.linear.y = pid_.y.update(error_w, twist_->twist().linear.y, period);
+
+      // control height
+      output.linear.z = pid_.z.update(HeightCommandHandle(*pose_input_).getError(*pose_), twist_->twist().linear.z, period);
+
+      // control yaw angle
+      output.angular.z = pid_.yaw.update(HeadingCommandHandle(*pose_input_).getError(*pose_), twist_->twist().angular.z, period);
+    }
+
+    // add twist command if available
+    if (twist_input_->enabled())
+    {
+      output.linear.x  += twist_input_->getCommand().linear.x;
+      output.linear.y  += twist_input_->getCommand().linear.y;
+      output.linear.z  += twist_input_->getCommand().linear.z;
+      output.angular.x += twist_input_->getCommand().angular.x;
+      output.angular.y += twist_input_->getCommand().angular.y;
+      output.angular.z += twist_input_->getCommand().angular.z;
+    }
+
+    // limit twist
+    if (twist_limit_->enabled())
+    {
+      double linear_xy = sqrt(output.linear.x*output.linear.x + output.linear.y*output.linear.y);
+      double limit_linear_xy  = std::max(twist_limit_->get()->linear.x, twist_limit_->get()->linear.y);
+      if (limit_linear_xy > 0.0 && linear_xy > limit_linear_xy) {
+        output.linear.x *= limit_linear_xy / linear_xy;
+        output.linear.y *= limit_linear_xy / linear_xy;
+      }
+      if (twist_limit_->get()->linear.z > 0.0 && fabs(output.linear.z) > twist_limit_->get()->linear.z) {
+        output.linear.z *= twist_limit_->get()->linear.z / fabs(output.linear.z);
+      }
+      double angular_xy = sqrt(output.angular.x*output.angular.x + output.angular.y*output.angular.y);
+      double limit_angular_xy  = std::max(twist_limit_->get()->angular.x, twist_limit_->get()->angular.y);
+      if (limit_angular_xy > 0.0 && angular_xy > limit_angular_xy) {
+        output.angular.x *= limit_angular_xy / angular_xy;
+        output.angular.y *= limit_angular_xy / angular_xy;
+      }
+      if (twist_limit_->get()->angular.z > 0.0 && fabs(output.angular.z) > twist_limit_->get()->angular.z) {
+        output.angular.z *= twist_limit_->get()->angular.z / fabs(output.angular.z);
+      }
+    }
+
+    // set twist output
+    twist_output_->setCommand(output);
+  }
+
+private:
+  PoseHandlePtr pose_;
+  PoseCommandHandlePtr pose_input_;
+  TwistHandlePtr twist_;
+  TwistCommandHandlePtr twist_input_;
+  TwistCommandHandlePtr twist_limit_;
+  TwistCommandHandlePtr twist_output_;
+
+  geometry_msgs::PoseStamped pose_command_;
+  geometry_msgs::TwistStamped twist_command_;
+
+  ros::NodeHandle node_handle_;
+  ros::Subscriber pose_subscriber_;
+  ros::Subscriber twist_subscriber_;
+
+  struct {
+    PID x;
+    PID y;
+    PID z;
+    PID yaw;
+  } pid_;
+};
+
+} // namespace hector_quadrotor_controller
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(hector_quadrotor_controller::PoseController, controller_interface::ControllerBase)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_interface.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_interface.cpp
new file mode 100644
index 0000000..4cdef65
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_interface.cpp	
@@ -0,0 +1,195 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/quadrotor_interface.h>
+
+#include <cmath>
+
+namespace hector_quadrotor_controller {
+
+QuadrotorInterface::QuadrotorInterface()
+{}
+
+QuadrotorInterface::~QuadrotorInterface()
+{}
+
+bool QuadrotorInterface::enabled(const CommandHandle *handle) const
+{
+  if (!handle || !handle->connected()) return false;
+  std::string resource = handle->getName();
+  return enabled_.count(resource) > 0;
+}
+
+bool QuadrotorInterface::start(const CommandHandle *handle)
+{
+  if (!handle || !handle->connected()) return false;
+  if (enabled(handle)) return true;
+  std::string resource = handle->getName();
+  enabled_[resource] = handle;
+  ROS_DEBUG_NAMED("quadrotor_interface", "Enabled %s control", resource.c_str());
+  return true;
+}
+
+void QuadrotorInterface::stop(const CommandHandle *handle)
+{
+  if (!handle) return;
+  if (!enabled(handle)) return;
+  std::string resource = handle->getName();
+  std::map<std::string, const CommandHandle *>::iterator it = enabled_.lower_bound(resource);
+  if (it != enabled_.end() && it->second == handle) enabled_.erase(it);
+  ROS_DEBUG_NAMED("quadrotor_interface", "Disabled %s control", resource.c_str());
+}
+
+void QuadrotorInterface::disconnect(const CommandHandle *handle)
+{
+  if (!handle) return;
+  std::string resource = handle->getName();
+  if (inputs_.count(resource)) {
+    const CommandHandlePtr& input = inputs_.at(resource);
+    if (input.get() != handle) input->reset();
+  }
+  if (outputs_.count(resource)) {
+    const CommandHandlePtr& output = outputs_.at(resource);
+    if (output.get() != handle) output->reset();
+  }
+}
+
+const Pose *QuadrotorInterface::getPoseCommand()          const { return getCommand<PoseCommandHandle>("pose"); }
+const Twist *QuadrotorInterface::getTwistCommand()        const { return getCommand<TwistCommandHandle>("twist"); }
+const Wrench *QuadrotorInterface::getWrenchCommand()      const { return getCommand<WrenchCommandHandle>("wrench"); }
+const MotorCommand *QuadrotorInterface::getMotorCommand() const { return getCommand<MotorCommandHandle>("motor"); }
+
+void PoseHandle::getEulerRPY(double &roll, double &pitch, double &yaw) const
+{
+  const Quaternion::_w_type& w = pose().orientation.w;
+  const Quaternion::_x_type& x = pose().orientation.x;
+  const Quaternion::_y_type& y = pose().orientation.y;
+  const Quaternion::_z_type& z = pose().orientation.z;
+  roll  =  atan2(2.*y*z + 2.*w*x, z*z - y*y - x*x + w*w);
+  pitch = -asin(2.*x*z - 2.*w*y);
+  yaw   =  atan2(2.*x*y + 2.*w*z, x*x + w*w - z*z - y*y);
+}
+
+double PoseHandle::getYaw() const
+{
+  const Quaternion::_w_type& w = pose().orientation.w;
+  const Quaternion::_x_type& x = pose().orientation.x;
+  const Quaternion::_y_type& y = pose().orientation.y;
+  const Quaternion::_z_type& z = pose().orientation.z;
+  return atan2(2.*x*y + 2.*w*z, x*x + w*w - z*z - y*y);
+}
+
+Vector3 PoseHandle::toBody(const Vector3& nav) const
+{
+  const Quaternion::_w_type& w = pose().orientation.w;
+  const Quaternion::_x_type& x = pose().orientation.x;
+  const Quaternion::_y_type& y = pose().orientation.y;
+  const Quaternion::_z_type& z = pose().orientation.z;
+  Vector3 body;
+  body.x = (w*w+x*x-y*y-z*z) * nav.x + (2.*x*y + 2.*w*z) * nav.y + (2.*x*z - 2.*w*y) * nav.z;
+  body.y = (2.*x*y - 2.*w*z) * nav.x + (w*w-x*x+y*y-z*z) * nav.y + (2.*y*z + 2.*w*x) * nav.z;
+  body.z = (2.*x*z + 2.*w*y) * nav.x + (2.*y*z - 2.*w*x) * nav.y + (w*w-x*x-y*y+z*z) * nav.z;
+  return body;
+}
+
+Vector3 PoseHandle::fromBody(const Vector3& body) const
+{
+  const Quaternion::_w_type& w = pose().orientation.w;
+  const Quaternion::_x_type& x = pose().orientation.x;
+  const Quaternion::_y_type& y = pose().orientation.y;
+  const Quaternion::_z_type& z = pose().orientation.z;
+  Vector3 nav;
+  nav.x = (w*w+x*x-y*y-z*z) * body.x + (2.*x*y - 2.*w*z) * body.y + (2.*x*z + 2.*w*y) * body.z;
+  nav.y = (2.*x*y + 2.*w*z) * body.x + (w*w-x*x+y*y-z*z) * body.y + (2.*y*z - 2.*w*x) * body.z;
+  nav.z = (2.*x*z - 2.*w*y) * body.x + (2.*y*z + 2.*w*x) * body.y + (w*w-x*x-y*y+z*z) * body.z;
+  return nav;
+}
+
+void HorizontalPositionCommandHandle::getError(const PoseHandle &pose, double &x, double &y) const
+{
+  getCommand(x, y);
+  x -= pose.get()->position.x;
+  y -= pose.get()->position.y;
+}
+
+double HeightCommandHandle::getError(const PoseHandle &pose) const
+{
+  return getCommand() - pose.get()->position.z;
+}
+
+void HeadingCommandHandle::setCommand(double command)
+{
+  if (get()) {
+    get()->x = 0.0;
+    get()->y = 0.0;
+    get()->z = sin(command / 2.);
+    get()->w = cos(command / 2.);
+  }
+
+  if (scalar_) {
+    *scalar_ = command;
+  }
+}
+
+double HeadingCommandHandle::getCommand() const {
+  if (scalar_) return *scalar_;
+  const Quaternion::_w_type& w = get()->w;
+  const Quaternion::_x_type& x = get()->x;
+  const Quaternion::_y_type& y = get()->y;
+  const Quaternion::_z_type& z = get()->z;
+  return atan2(2.*x*y + 2.*w*z, x*x + w*w - z*z - y*y);
+}
+
+bool HeadingCommandHandle::update(Pose& command) const {
+  if (get()) {
+    command.orientation = *get();
+    return true;
+  }
+  if (scalar_) {
+    command.orientation.x = 0.0;
+    command.orientation.y = 0.0;
+    command.orientation.z = sin(*scalar_ / 2.);
+    command.orientation.x = cos(*scalar_ / 2.);
+    return true;
+  }
+  return false;
+}
+
+double HeadingCommandHandle::getError(const PoseHandle &pose) const {
+  static const double M_2PI = 2.0 * M_PI;
+  double error = getCommand() - pose.getYaw() + M_PI;
+  error -= floor(error / M_2PI) * M_2PI;
+  return error - M_PI;
+}
+
+bool CommandHandle::enabled()    { return interface_->enabled(this); }
+bool CommandHandle::start()      { return interface_->start(this); }
+void CommandHandle::stop()       { interface_->stop(this); }
+void CommandHandle::disconnect() { interface_->disconnect(this); }
+
+} // namespace hector_quadrotor_controller
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/twist_controller.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/twist_controller.cpp
new file mode 100644
index 0000000..7f2037f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller/src/twist_controller.cpp	
@@ -0,0 +1,328 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/quadrotor_interface.h>
+#include <hector_quadrotor_controller/pid.h>
+
+#include <controller_interface/controller.h>
+
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/WrenchStamped.h>
+#include <std_srvs/Empty.h>
+
+#include <ros/subscriber.h>
+#include <ros/callback_queue.h>
+
+#include <boost/thread.hpp>
+
+#include <limits>
+
+namespace hector_quadrotor_controller {
+
+using namespace controller_interface;
+
+class TwistController : public controller_interface::Controller<QuadrotorInterface>
+{
+public:
+  TwistController()
+  {}
+
+  ~TwistController()
+  {}
+
+  bool init(QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
+  {
+    // get interface handles
+    pose_          = interface->getPose();
+    twist_         = interface->getTwist();
+    acceleration_  = interface->getAcceleration();
+    twist_input_   = interface->addInput<TwistCommandHandle>("twist");
+    wrench_output_ = interface->addOutput<WrenchCommandHandle>("wrench");
+    node_handle_ = root_nh;
+
+    // subscribe to commanded twist (geometry_msgs/TwistStamped) and cmd_vel (geometry_msgs/Twist)
+    twist_subscriber_ = node_handle_.subscribe<geometry_msgs::TwistStamped>("command/twist", 1, boost::bind(&TwistController::twistCommandCallback, this, _1));
+    cmd_vel_subscriber_ = node_handle_.subscribe<geometry_msgs::Twist>("cmd_vel", 1, boost::bind(&TwistController::cmd_velCommandCallback, this, _1));
+
+    // engage/shutdown service servers
+    engage_service_server_ = node_handle_.advertiseService<std_srvs::Empty::Request, std_srvs::Empty::Response>("engage", boost::bind(&TwistController::engageCallback, this, _1, _2));
+    shutdown_service_server_ = node_handle_.advertiseService<std_srvs::Empty::Request, std_srvs::Empty::Response>("shutdown", boost::bind(&TwistController::shutdownCallback, this, _1, _2));
+
+    // initialize PID controllers
+    pid_.linear.x.init(ros::NodeHandle(controller_nh, "linear/xy"));
+    pid_.linear.y.init(ros::NodeHandle(controller_nh, "linear/xy"));
+    pid_.linear.z.init(ros::NodeHandle(controller_nh, "linear/z"));
+    pid_.angular.x.init(ros::NodeHandle(controller_nh, "angular/xy"));
+    pid_.angular.y.init(ros::NodeHandle(controller_nh, "angular/xy"));
+    pid_.angular.z.init(ros::NodeHandle(controller_nh, "angular/z"));
+
+    // load other parameters
+    controller_nh.getParam("auto_engage", auto_engage_ = true);
+    controller_nh.getParam("limits/load_factor", load_factor_limit = 1.5);
+    controller_nh.getParam("limits/force/z", limits_.force.z);
+    controller_nh.getParam("limits/torque/xy", limits_.torque.x);
+    controller_nh.getParam("limits/torque/xy", limits_.torque.y);
+    controller_nh.getParam("limits/torque/z", limits_.torque.z);
+    root_nh.param<std::string>("base_link_frame", base_link_frame_, "base_link");
+
+    // get mass and inertia from QuadrotorInterface
+    interface->getMassAndInertia(mass_, inertia_);
+
+    command_given_in_stabilized_frame_ = false;
+
+    return true;
+  }
+
+  void reset()
+  {
+    pid_.linear.x.reset();
+    pid_.linear.y.reset();
+    pid_.linear.z.reset();
+    pid_.angular.x.reset();
+    pid_.angular.y.reset();
+    pid_.angular.z.reset();
+
+    wrench_.wrench.force.x  = 0.0;
+    wrench_.wrench.force.y  = 0.0;
+    wrench_.wrench.force.z  = 0.0;
+    wrench_.wrench.torque.x = 0.0;
+    wrench_.wrench.torque.y = 0.0;
+    wrench_.wrench.torque.z = 0.0;
+
+    linear_z_control_error_ = 0.0;
+    motors_running_ = false;
+  }
+
+  void twistCommandCallback(const geometry_msgs::TwistStampedConstPtr& command)
+  {
+    boost::mutex::scoped_lock lock(command_mutex_);
+
+    command_ = *command;
+    if (command_.header.stamp.isZero()) command_.header.stamp = ros::Time::now();
+    command_given_in_stabilized_frame_ = false;
+
+    // start controller if it not running
+    if (!isRunning()) this->startRequest(command_.header.stamp);
+  }
+
+  void cmd_velCommandCallback(const geometry_msgs::TwistConstPtr& command)
+  {
+    boost::mutex::scoped_lock lock(command_mutex_);
+
+    command_.twist = *command;
+    command_.header.stamp = ros::Time::now();
+    command_given_in_stabilized_frame_ = true;
+
+    // start controller if it not running
+    if (!isRunning()) this->startRequest(command_.header.stamp);
+  }
+
+  bool engageCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
+  {
+    boost::mutex::scoped_lock lock(command_mutex_);
+
+    ROS_INFO_NAMED("twist_controller", "Engaging motors!");
+    motors_running_ = true;
+    return true;
+  }
+
+  bool shutdownCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
+  {
+    boost::mutex::scoped_lock lock(command_mutex_);
+
+    ROS_INFO_NAMED("twist_controller", "Shutting down motors!");
+    motors_running_ = false;
+    return true;
+  }
+
+  void starting(const ros::Time &time)
+  {
+    reset();
+    wrench_output_->start();
+  }
+
+  void stopping(const ros::Time &time)
+  {
+    wrench_output_->stop();
+  }
+
+  void update(const ros::Time& time, const ros::Duration& period)
+  {
+    boost::mutex::scoped_lock lock(command_mutex_);
+
+    // Get twist command input
+    if (twist_input_->connected() && twist_input_->enabled()) {
+      command_.twist = twist_input_->getCommand();
+      command_given_in_stabilized_frame_ = false;
+    }
+
+    // Get current state and command
+    Twist command = command_.twist;
+    Twist twist = twist_->twist();
+    Twist twist_body;
+    twist_body.linear =  pose_->toBody(twist.linear);
+    twist_body.angular = pose_->toBody(twist.angular);
+
+    // Transform to world coordinates if necessary (yaw only)
+    if (command_given_in_stabilized_frame_) {
+      double yaw = pose_->getYaw();
+      Twist transformed = command;
+      transformed.linear.x  = cos(yaw) * command.linear.x  - sin(yaw) * command.linear.y;
+      transformed.linear.y  = sin(yaw) * command.linear.x  + cos(yaw) * command.linear.y;
+      transformed.angular.x = cos(yaw) * command.angular.x - sin(yaw) * command.angular.y;
+      transformed.angular.y = sin(yaw) * command.angular.x + cos(yaw) * command.angular.y;
+      command = transformed;
+    }
+
+    // Get gravity and load factor
+    const double gravity = 9.8065;
+    double load_factor = 1. / (  pose_->pose().orientation.w * pose_->pose().orientation.w
+                                 - pose_->pose().orientation.x * pose_->pose().orientation.x
+                                 - pose_->pose().orientation.y * pose_->pose().orientation.y
+                                 + pose_->pose().orientation.z * pose_->pose().orientation.z );
+    // Note: load_factor could be NaN or Inf...?
+    if (load_factor_limit > 0.0 && !(load_factor < load_factor_limit)) load_factor = load_factor_limit;
+
+    // Auto engage/shutdown
+    if (auto_engage_) {
+      if (!motors_running_ && command.linear.z > 0.1 && load_factor > 0.0) {
+        motors_running_ = true;
+        ROS_INFO_NAMED("twist_controller", "Engaging motors!");
+      } else if (motors_running_ && command.linear.z < -0.1 /* && (twist.linear.z > -0.1 && twist.linear.z < 0.1) */) {
+        double shutdown_limit = 0.25 * std::min(command.linear.z, -0.5);
+        if (linear_z_control_error_ > 0.0) linear_z_control_error_ = 0.0; // positive control errors should not affect shutdown
+        if (pid_.linear.z.getFilteredControlError(linear_z_control_error_, 5.0, period) < shutdown_limit) {
+          motors_running_ = false;
+          ROS_INFO_NAMED("twist_controller", "Shutting down motors!");
+        } else {
+          ROS_DEBUG_STREAM_NAMED("twist_controller", "z control error = " << linear_z_control_error_ << " >= " << shutdown_limit);
+        }
+      } else {
+        linear_z_control_error_ = 0.0;
+      }
+
+      // flip over?
+      if (motors_running_ && load_factor < 0.0) {
+        motors_running_ = false;
+        ROS_WARN_NAMED("twist_controller", "Shutting down motors due to flip over!");
+      }
+    }
+
+    // Update output
+    if (motors_running_) {
+      Vector3 acceleration_command;
+      acceleration_command.x = pid_.linear.x.update(command.linear.x, twist.linear.x, acceleration_->acceleration().x, period);
+      acceleration_command.y = pid_.linear.y.update(command.linear.y, twist.linear.y, acceleration_->acceleration().y, period);
+      acceleration_command.z = pid_.linear.z.update(command.linear.z, twist.linear.z, acceleration_->acceleration().z, period) + gravity;
+      Vector3 acceleration_command_body = pose_->toBody(acceleration_command);
+
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "twist.linear:               [" << twist.linear.x << " " << twist.linear.y << " " << twist.linear.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "twist_body.angular:         [" << twist_body.angular.x << " " << twist_body.angular.y << " " << twist_body.angular.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "twist_command.linear:       [" << command.linear.x << " " << command.linear.y << " " << command.linear.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "twist_command.angular:      [" << command.angular.x << " " << command.angular.y << " " << command.angular.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "acceleration:               [" << acceleration_->acceleration().x << " " << acceleration_->acceleration().y << " " << acceleration_->acceleration().z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "acceleration_command_world: [" << acceleration_command.x << " " << acceleration_command.y << " " << acceleration_command.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "acceleration_command_body:  [" << acceleration_command_body.x << " " << acceleration_command_body.y << " " << acceleration_command_body.z << "]");
+
+      wrench_.wrench.torque.x = inertia_[0] * pid_.angular.x.update(-acceleration_command_body.y / gravity, 0.0, twist_body.angular.x, period);
+      wrench_.wrench.torque.y = inertia_[1] * pid_.angular.y.update( acceleration_command_body.x / gravity, 0.0, twist_body.angular.y, period);
+      wrench_.wrench.torque.z = inertia_[2] * pid_.angular.z.update( command.angular.z, twist.angular.z, 0.0, period);
+      wrench_.wrench.force.x  = 0.0;
+      wrench_.wrench.force.y  = 0.0;
+      wrench_.wrench.force.z  = mass_ * ((acceleration_command.z - gravity) * load_factor + gravity);
+
+      if (limits_.force.z > 0.0 && wrench_.wrench.force.z > limits_.force.z) wrench_.wrench.force.z = limits_.force.z;
+      if (wrench_.wrench.force.z <= std::numeric_limits<double>::min()) wrench_.wrench.force.z = std::numeric_limits<double>::min();
+      if (limits_.torque.x > 0.0) {
+        if (wrench_.wrench.torque.x >  limits_.torque.x) wrench_.wrench.torque.x =  limits_.torque.x;
+        if (wrench_.wrench.torque.x < -limits_.torque.x) wrench_.wrench.torque.x = -limits_.torque.x;
+      }
+      if (limits_.torque.y > 0.0) {
+        if (wrench_.wrench.torque.y >  limits_.torque.y) wrench_.wrench.torque.y =  limits_.torque.y;
+        if (wrench_.wrench.torque.y < -limits_.torque.y) wrench_.wrench.torque.y = -limits_.torque.y;
+      }
+      if (limits_.torque.z > 0.0) {
+        if (wrench_.wrench.torque.z >  limits_.torque.z) wrench_.wrench.torque.z =  limits_.torque.z;
+        if (wrench_.wrench.torque.z < -limits_.torque.z) wrench_.wrench.torque.z = -limits_.torque.z;
+      }
+
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "wrench_command.force:       [" << wrench_.wrench.force.x << " " << wrench_.wrench.force.y << " " << wrench_.wrench.force.z << "]");
+      ROS_DEBUG_STREAM_NAMED("twist_controller", "wrench_command.torque:      [" << wrench_.wrench.torque.x << " " << wrench_.wrench.torque.y << " " << wrench_.wrench.torque.z << "]");
+
+    } else {
+      reset();
+    }
+
+    // set wrench output
+    wrench_.header.stamp = time;
+    wrench_.header.frame_id = base_link_frame_;
+    wrench_output_->setCommand(wrench_.wrench);
+  }
+
+private:
+  PoseHandlePtr pose_;
+  TwistHandlePtr twist_;
+  AccelerationHandlePtr acceleration_;
+  TwistCommandHandlePtr twist_input_;
+  WrenchCommandHandlePtr wrench_output_;
+
+  ros::NodeHandle node_handle_;
+  ros::Subscriber twist_subscriber_;
+  ros::Subscriber cmd_vel_subscriber_;
+  ros::ServiceServer engage_service_server_;
+  ros::ServiceServer shutdown_service_server_;
+
+  geometry_msgs::TwistStamped command_;
+  geometry_msgs::WrenchStamped wrench_;
+  bool command_given_in_stabilized_frame_;
+  std::string base_link_frame_;
+
+  struct {
+    struct {
+      PID x;
+      PID y;
+      PID z;
+    } linear, angular;
+  } pid_;
+
+  geometry_msgs::Wrench limits_;
+  bool auto_engage_;
+  double load_factor_limit;
+  double mass_;
+  double inertia_[3];
+
+  bool motors_running_;
+  double linear_z_control_error_;
+  boost::mutex command_mutex_;
+
+};
+
+} // namespace hector_quadrotor_controller
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(hector_quadrotor_controller::TwistController, controller_interface::ControllerBase)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CHANGELOG.rst
new file mode 100644
index 0000000..790bab8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CHANGELOG.rst	
@@ -0,0 +1,20 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_controller_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+
+0.3.3 (2014-09-01)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* New controller implementation using ros_control
+* Contributors: Johannes Meyer
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..83a799c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/CMakeLists.txt	
@@ -0,0 +1,121 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_controller_gazebo)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros_control
+  hector_quadrotor_controller
+)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# Depend on system install of Gazebo
+find_package(gazebo REQUIRED)
+link_directories(${GAZEBO_LIBRARY_DIRS})
+include_directories(${GAZEBO_INCLUDE_DIRS})
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES hector_quadrotor_controller_gazebo
+  CATKIN_DEPENDS gazebo_ros_control hector_quadrotor_controller
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+add_library(hector_quadrotor_controller_gazebo
+  src/quadrotor_hardware_gazebo.cpp
+)
+target_link_libraries(hector_quadrotor_controller_gazebo
+  ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_quadrotor_controller_gazebo
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(FILES
+  quadrotor_controller_gazebo.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_quadrotor_controller_gazebo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/include/hector_quadrotor_controller/quadrotor_hardware_gazebo.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/include/hector_quadrotor_controller/quadrotor_hardware_gazebo.h
new file mode 100644
index 0000000..94b763a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/include/hector_quadrotor_controller/quadrotor_hardware_gazebo.h	
@@ -0,0 +1,109 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_HARDWARE_GAZEBO_H
+#define HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_HARDWARE_GAZEBO_H
+
+#include <gazebo_ros_control/robot_hw_sim.h>
+#include <hector_quadrotor_controller/quadrotor_interface.h>
+
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/Imu.h>
+#include <hector_uav_msgs/MotorStatus.h>
+
+#include <ros/node_handle.h>
+#include <ros/callback_queue.h>
+
+namespace hector_quadrotor_controller_gazebo {
+
+using namespace hector_quadrotor_controller;
+using namespace hardware_interface;
+using namespace gazebo_ros_control;
+
+class QuadrotorHardwareSim : public RobotHWSim, public QuadrotorInterface
+{
+public:
+  QuadrotorHardwareSim();
+  virtual ~QuadrotorHardwareSim();
+
+  virtual const ros::Time &getTimestamp() { return header_.stamp; }
+
+  virtual PoseHandlePtr getPose()                 { return PoseHandlePtr(new PoseHandle(this, &pose_)); }
+  virtual TwistHandlePtr getTwist()               { return TwistHandlePtr(new TwistHandle(this, &twist_)); }
+  virtual AccelerationHandlePtr getAcceleration() { return AccelerationHandlePtr(new AccelerationHandle(this, &acceleration_)); }
+  virtual ImuHandlePtr getSensorImu()             { return ImuHandlePtr(new ImuHandle(this, &imu_)); }
+  virtual MotorStatusHandlePtr getMotorStatus()   { return MotorStatusHandlePtr(new MotorStatusHandle(this, &motor_status_)); }
+
+  virtual bool getMassAndInertia(double &mass, double inertia[3]);
+
+  virtual bool initSim(
+      const std::string& robot_namespace,
+      ros::NodeHandle model_nh,
+      gazebo::physics::ModelPtr parent_model,
+      const urdf::Model *const urdf_model,
+      std::vector<transmission_interface::TransmissionInfo> transmissions);
+
+  virtual void readSim(ros::Time time, ros::Duration period);
+
+  virtual void writeSim(ros::Time time, ros::Duration period);
+
+private:
+  void stateCallback(const nav_msgs::OdometryConstPtr &state);
+  void imuCallback(const sensor_msgs::ImuConstPtr &imu);
+  void motorStatusCallback(const hector_uav_msgs::MotorStatusConstPtr &motor_status);
+
+protected:
+  std_msgs::Header header_;
+  Pose pose_;
+  Twist twist_;
+  Vector3 acceleration_;
+  Imu imu_;
+  MotorStatus motor_status_;
+  std::string base_link_frame_, world_frame_;
+
+  WrenchCommandHandlePtr wrench_output_;
+  MotorCommandHandlePtr motor_output_;
+
+  gazebo::physics::ModelPtr model_;
+  gazebo::physics::LinkPtr link_;
+  gazebo::physics::PhysicsEnginePtr physics_;
+
+  gazebo::math::Pose gz_pose_;
+  gazebo::math::Vector3 gz_velocity_, gz_acceleration_, gz_angular_velocity_;
+
+  ros::CallbackQueue callback_queue_;
+  ros::Subscriber subscriber_state_;
+  ros::Subscriber subscriber_imu_;
+  ros::Subscriber subscriber_motor_status_;
+  ros::Publisher publisher_wrench_command_;
+  ros::Publisher publisher_motor_command_;
+};
+
+} // namespace hector_quadrotor_controller_gazebo
+
+#endif // HECTOR_QUADROTOR_CONTROLLER_QUADROTOR_HARDWARE_GAZEBO_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/package.xml
new file mode 100644
index 0000000..dbefdfb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/package.xml	
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_quadrotor_controller_gazebo</name>
+  <version>0.3.5</version>
+  <description>The hector_quadrotor_controller_gazebo package implements the ros_control RobotHWSim interface for the quadrotor controller in package hector_quadrotor_controller.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_controller_gazebo</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend version_gte="2.3.4">gazebo_ros_control</build_depend>
+  <build_depend>hector_quadrotor_controller</build_depend>
+  <run_depend version_gte="2.3.4">gazebo_ros_control</run_depend>
+  <run_depend>hector_quadrotor_controller</run_depend>
+
+  <export>
+    <gazebo_ros_control plugin="${prefix}/quadrotor_controller_gazebo.xml"/>
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/quadrotor_controller_gazebo.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/quadrotor_controller_gazebo.xml
new file mode 100644
index 0000000..b621e3c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/quadrotor_controller_gazebo.xml	
@@ -0,0 +1,7 @@
+<library path="lib/libhector_quadrotor_controller_gazebo">
+  <class name="hector_quadrotor_controller_gazebo/QuadrotorHardwareSim" type="hector_quadrotor_controller_gazebo::QuadrotorHardwareSim" base_class_type="gazebo_ros_control::RobotHWSim">
+  <description>
+    This class represents the quadrotor hardware in Gazebo for the gazebo_ros_control plugin.
+  </description>
+  </class>
+</library>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/src/quadrotor_hardware_gazebo.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/src/quadrotor_hardware_gazebo.cpp
new file mode 100644
index 0000000..1ad4654
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_controller_gazebo/src/quadrotor_hardware_gazebo.cpp	
@@ -0,0 +1,223 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_controller/quadrotor_hardware_gazebo.h>
+
+#include <geometry_msgs/WrenchStamped.h>
+
+namespace hector_quadrotor_controller_gazebo {
+
+QuadrotorHardwareSim::QuadrotorHardwareSim()
+{
+  this->registerInterface(static_cast<QuadrotorInterface *>(this));
+
+  wrench_output_ = addInput<WrenchCommandHandle>("wrench");
+  motor_output_ = addInput<MotorCommandHandle>("motor");
+}
+
+QuadrotorHardwareSim::~QuadrotorHardwareSim()
+{
+
+}
+
+bool QuadrotorHardwareSim::initSim(
+    const std::string& robot_namespace,
+    ros::NodeHandle model_nh,
+    gazebo::physics::ModelPtr parent_model,
+    const urdf::Model *const urdf_model,
+    std::vector<transmission_interface::TransmissionInfo> transmissions)
+{
+  ros::NodeHandle param_nh(model_nh, "controller");
+
+  // store parent model pointer
+  model_ = parent_model;
+  link_ = model_->GetLink();
+  physics_ = model_->GetWorld()->GetPhysicsEngine();
+
+  model_nh.param<std::string>("world_frame", world_frame_, "world");
+  model_nh.param<std::string>("base_link_frame", base_link_frame_, "base_link");
+
+  // subscribe state
+  std::string state_topic;
+  param_nh.getParam("state_topic", state_topic);
+  if (!state_topic.empty()) {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<nav_msgs::Odometry>(state_topic, 1, boost::bind(&QuadrotorHardwareSim::stateCallback, this, _1), ros::VoidConstPtr(), &callback_queue_);
+    subscriber_state_ = model_nh.subscribe(ops);
+
+    gzlog << "[hector_quadrotor_controller_gazebo] Using topic '" << subscriber_state_.getTopic() << "' as state input for control" << std::endl;
+  } else {
+    gzlog << "[hector_quadrotor_controller_gazebo] Using ground truth from Gazebo as state input for control" << std::endl;
+  }
+
+  // subscribe imu
+  std::string imu_topic;
+  param_nh.getParam("imu_topic", imu_topic);
+  if (!imu_topic.empty()) {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Imu>(imu_topic, 1, boost::bind(&QuadrotorHardwareSim::imuCallback, this, _1), ros::VoidConstPtr(), &callback_queue_);
+    subscriber_imu_ = model_nh.subscribe(ops);
+    gzlog << "[hector_quadrotor_controller_gazebo] Using topic '" << subscriber_imu_.getTopic() << "' as imu input for control" << std::endl;
+  } else {
+    gzlog << "[hector_quadrotor_controller_gazebo] Using ground truth from Gazebo as imu input for control" << std::endl;
+  }
+
+  // subscribe motor_status
+  {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<hector_uav_msgs::MotorStatus>("motor_status", 1, boost::bind(&QuadrotorHardwareSim::motorStatusCallback, this, _1), ros::VoidConstPtr(), &callback_queue_);
+    subscriber_motor_status_ = model_nh.subscribe(ops);
+  }
+
+  // publish wrench
+  {
+    ros::AdvertiseOptions ops = ros::AdvertiseOptions::create<geometry_msgs::WrenchStamped>("command/wrench", 1, ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), ros::VoidConstPtr(), &callback_queue_);
+    publisher_wrench_command_ = model_nh.advertise(ops);
+  }
+
+  // publish motor command
+  {
+    ros::AdvertiseOptions ops = ros::AdvertiseOptions::create<hector_uav_msgs::MotorCommand>("command/motor", 1, ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), ros::VoidConstPtr(), &callback_queue_);
+    publisher_motor_command_ = model_nh.advertise(ops);
+  }
+
+  return true;
+}
+
+bool QuadrotorHardwareSim::getMassAndInertia(double &mass, double inertia[3]) {
+  if (!link_) return false;
+  mass = link_->GetInertial()->GetMass();
+  gazebo::math::Vector3 Inertia = link_->GetInertial()->GetPrincipalMoments();
+  inertia[0] = Inertia.x;
+  inertia[1] = Inertia.y;
+  inertia[2] = Inertia.z;
+  return true;
+}
+
+void QuadrotorHardwareSim::stateCallback(const nav_msgs::OdometryConstPtr &state) {
+  // calculate acceleration
+  if (!header_.stamp.isZero() && !state->header.stamp.isZero()) {
+    const double acceleration_time_constant = 0.1;
+    double dt((state->header.stamp - header_.stamp).toSec());
+    if (dt > 0.0) {
+      acceleration_.x = ((state->twist.twist.linear.x - twist_.linear.x) + acceleration_time_constant * acceleration_.x) / (dt + acceleration_time_constant);
+      acceleration_.y = ((state->twist.twist.linear.y - twist_.linear.y) + acceleration_time_constant * acceleration_.y) / (dt + acceleration_time_constant);
+      acceleration_.z = ((state->twist.twist.linear.z - twist_.linear.z) + acceleration_time_constant * acceleration_.z) / (dt + acceleration_time_constant);
+    }
+  }
+
+  header_ = state->header;
+  pose_ = state->pose.pose;
+  twist_ = state->twist.twist;
+}
+
+void QuadrotorHardwareSim::imuCallback(const sensor_msgs::ImuConstPtr &imu) {
+  imu_ = *imu;
+}
+
+void QuadrotorHardwareSim::motorStatusCallback(const hector_uav_msgs::MotorStatusConstPtr &motor_status) {
+  motor_status_ = *motor_status;
+}
+
+void QuadrotorHardwareSim::readSim(ros::Time time, ros::Duration period)
+{
+  // call all available subscriber callbacks now
+  callback_queue_.callAvailable();
+
+  // read state from Gazebo
+  const double acceleration_time_constant = 0.1;
+  gz_pose_             =  link_->GetWorldPose();
+  gz_acceleration_     = ((link_->GetWorldLinearVel() - gz_velocity_) + acceleration_time_constant * gz_acceleration_) / (period.toSec() + acceleration_time_constant);
+  gz_velocity_         =  link_->GetWorldLinearVel();
+  gz_angular_velocity_ =  link_->GetWorldAngularVel();
+
+  if (!subscriber_state_) {
+    header_.frame_id = world_frame_;
+    header_.stamp = time;
+    pose_.position.x = gz_pose_.pos.x;
+    pose_.position.y = gz_pose_.pos.y;
+    pose_.position.z = gz_pose_.pos.z;
+    pose_.orientation.w = gz_pose_.rot.w;
+    pose_.orientation.x = gz_pose_.rot.x;
+    pose_.orientation.y = gz_pose_.rot.y;
+    pose_.orientation.z = gz_pose_.rot.z;
+    twist_.linear.x = gz_velocity_.x;
+    twist_.linear.y = gz_velocity_.y;
+    twist_.linear.z = gz_velocity_.z;
+    twist_.angular.x = gz_angular_velocity_.x;
+    twist_.angular.y = gz_angular_velocity_.y;
+    twist_.angular.z = gz_angular_velocity_.z;
+    acceleration_.x = gz_acceleration_.x;
+    acceleration_.y = gz_acceleration_.y;
+    acceleration_.z = gz_acceleration_.z;
+  }
+
+  if (!subscriber_imu_) {
+    imu_.orientation.w = gz_pose_.rot.w;
+    imu_.orientation.x = gz_pose_.rot.x;
+    imu_.orientation.y = gz_pose_.rot.y;
+    imu_.orientation.z = gz_pose_.rot.z;
+
+    gazebo::math::Vector3 gz_angular_velocity_body = gz_pose_.rot.RotateVectorReverse(gz_angular_velocity_);
+    imu_.angular_velocity.x = gz_angular_velocity_body.x;
+    imu_.angular_velocity.y = gz_angular_velocity_body.y;
+    imu_.angular_velocity.z = gz_angular_velocity_body.z;
+
+    gazebo::math::Vector3 gz_linear_acceleration_body = gz_pose_.rot.RotateVectorReverse(gz_acceleration_ - physics_->GetGravity());
+    imu_.linear_acceleration.x = gz_linear_acceleration_body.x;
+    imu_.linear_acceleration.y = gz_linear_acceleration_body.y;
+    imu_.linear_acceleration.z = gz_linear_acceleration_body.z;
+  }
+}
+
+void QuadrotorHardwareSim::writeSim(ros::Time time, ros::Duration period)
+{
+  bool result_written = false;
+
+  if (motor_output_->connected() && motor_output_->enabled()) {
+    publisher_motor_command_.publish(motor_output_->getCommand());
+    result_written = true;
+  }
+
+  if (wrench_output_->connected() && wrench_output_->enabled()) {
+    geometry_msgs::WrenchStamped wrench;
+    wrench.header.stamp = time;
+    wrench.header.frame_id = base_link_frame_;
+    wrench.wrench = wrench_output_->getCommand();
+    publisher_wrench_command_.publish(wrench);
+
+    if (!result_written) {
+      gazebo::math::Vector3 force(wrench.wrench.force.x, wrench.wrench.force.y, wrench.wrench.force.z);
+      gazebo::math::Vector3 torque(wrench.wrench.torque.x, wrench.wrench.torque.y, wrench.wrench.torque.z);
+      link_->AddRelativeForce(force);
+      link_->AddRelativeTorque(torque - link_->GetInertial()->GetCoG().Cross(force));
+    }
+  }
+}
+
+} // namespace hector_quadrotor_controller_gazebo
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(hector_quadrotor_controller_gazebo::QuadrotorHardwareSim, gazebo_ros_control::RobotHWSim)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CHANGELOG.rst
new file mode 100644
index 0000000..44dfe6c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CHANGELOG.rst	
@@ -0,0 +1,25 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+
+0.3.3 (2014-09-01)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* updated demo launch files
+* updated rviz configs
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CMakeLists.txt
new file mode 100644
index 0000000..3923701
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/CMakeLists.txt	
@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_demo)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package()
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS @{name} @{name}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY rviz_cfg DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch
new file mode 100644
index 0000000..5eaa6d0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch	
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <arg name="enable_kinect" value="true"/>
+  <arg name="enable_slam" value="false"/>
+  <arg name="enable_joystick" value="true"/>
+   
+  <!-- Start Gazebo with wg world running in (max) realtime -->
+  <include file="$(find hector_gazebo_worlds)/launch/willow_garage.launch"/>
+  
+  <group unless="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
+	    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_with_kinect.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+   
+  <!-- Start SLAM system -->
+  <group if="$(arg enable_slam)">
+	  <include file="$(find hector_mapping)/launch/mapping_default.launch">
+	    <arg name="odom_frame" value="world"/>
+	  </include>
+	 
+	  <!-- Start GeoTIFF mapper -->
+	  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
+	    <arg name="trajectory_publish_rate" value="4"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_joystick)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+  
+  <!-- Start rviz visualization with preset config -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/indoor_slam.rviz"/>
+   
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch~ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch~
new file mode 100644
index 0000000..853c867
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/indoor_slam_gazebo.launch~	
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <arg name="enable_kinect" value="true"/>
+  <arg name="enable_slam" value="false"/>
+  <arg name="enable_joystick" value="true"/>
+   
+  <!-- Start Gazebo with wg world running in (max) realtime -->
+  <include file="$(find hector_gazebo_worlds)/launch/willow_garage.launch"/>
+  
+  <group unless="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
+	    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_with_kinect.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+   
+  <!-- Start SLAM system -->
+  <group if="$(arg enable_slam)">
+	  <include file="$(find hector_mapping)/launch/mapping_default.launch">
+	    <arg name="odom_frame" value="world"/>
+	  </include>
+	 
+	  <!-- Start GeoTIFF mapper -->
+	  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
+	    <arg name="trajectory_publish_rate" value="4"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_joystick)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_with_kinect.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+  
+  <!-- Start rviz visualization with preset config -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/indoor_slam.rviz"/>
+   
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch
new file mode 100644
index 0000000..9cf8b0b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch	
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <arg name="enable_kinect" value="true"/>
+  <arg name="enable_slam" value="false"/>
+  <arg name="enable_joystick" value="true"/>
+   
+  <!-- Start Gazebo with wg world running in (max) realtime -->
+  <include file="$(find hector_gazebo_worlds)/launch/rolling_landscape_120m.launch"/>
+   
+  <group unless="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
+	    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_with_kinect.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_joystick)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+  
+  <!-- Start rviz visualization with preset config -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/outdoor_flight.rviz"/>
+   
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch~ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch~
new file mode 100644
index 0000000..d629a4c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/launch/outdoor_flight_gazebo.launch~	
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<launch>
+   
+  <!-- Start Gazebo with wg world running in (max) realtime -->
+  <include file="$(find hector_gazebo_worlds)/launch/rolling_landscape_120m.launch"/>
+   
+  <group unless="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
+	    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_kinect)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_with_kinect.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+
+  <group if="$(arg enable_joystick)">
+	  <!-- Spawn simulated quadrotor uav with kinect -->
+	  <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch" >
+	    <!--arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/--> 
+	  </include>
+  </group>
+  
+  <!-- Start rviz visualization with preset config -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/outdoor_flight.rviz"/>
+   
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/package.xml
new file mode 100644
index 0000000..3d1e9f8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/package.xml	
@@ -0,0 +1,28 @@
+<package>
+  <name>hector_quadrotor_demo</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_demo contains various launch files and needed dependencies for demonstration of the hector_quadrotor stack (indoor/outdoor flight in gazebo etc.)</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_demo</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_quadrotor_gazebo</run_depend>
+  <run_depend>hector_gazebo_worlds</run_depend>
+  <run_depend>hector_mapping</run_depend>
+  <run_depend>hector_geotiff</run_depend>
+  <run_depend>hector_trajectory_server</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/indoor_slam.rviz b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/indoor_slam.rviz
new file mode 100644
index 0000000..8d1d818
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/indoor_slam.rviz	
@@ -0,0 +1,207 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 460
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser0_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sonar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2
+        Min Value: 0
+        Value: false
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /front_cam/camera/image
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+      Visibility:
+        Grid: false
+        LaserScan: false
+        Map: false
+        Path: true
+        RobotModel: false
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 170; 0; 0
+      Enabled: true
+      Name: Path
+      Topic: /trajectory
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 7.23194
+      Focal Point:
+        X: 1.66903
+        Y: -0.217464
+        Z: -0.674569
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.625399
+      Target Frame: base_stabilized
+      Value: Orbit (rviz)
+      Yaw: 2.89041
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1026
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000012e0000035ffc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000410000025b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002a2000000fe0000001600fffffffb0000000a0049006d00610067006501000002d9000000c70000000000000000000000010000010f0000035ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000410000035f000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065f0000003efc0100000002fb0000000800540069006d006501000000000000065f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000052b0000035f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1631
+  X: 49
+  Y: 24
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/outdoor_flight.rviz b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/outdoor_flight.rviz
new file mode 100644
index 0000000..4d25080
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/outdoor_flight.rviz	
@@ -0,0 +1,192 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /LaserScan1/Autocompute Value Bounds1
+        - /Camera1/Visibility1
+      Splitter Ratio: 0.5
+    Tree Height: 408
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser0_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sonar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2
+        Min Value: 0
+        Value: false
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 10
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /front_cam/camera/image
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+      Visibility:
+        Grid: false
+        LaserScan: true
+        RobotModel: false
+        Value: true
+      Zoom Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 28.8231
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.630398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.16541
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1026
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000012e0000035ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000227000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000026e000001320000001600ffffff000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065f0000003efc0100000002fb0000000800540069006d006501000000000000065f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000052b0000035f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1631
+  X: 49
+  Y: 24
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CHANGELOG.rst
new file mode 100644
index 0000000..eef8dd4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CHANGELOG.rst	
@@ -0,0 +1,22 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+
+0.3.3 (2014-09-01)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CMakeLists.txt
new file mode 100644
index 0000000..a40f4f5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/CMakeLists.txt	
@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_description)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package()
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS @{name} @{name}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/launch/xacrodisplay_quadrotor_base.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/launch/xacrodisplay_quadrotor_base.launch
new file mode 100644
index 0000000..5e1142c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/launch/xacrodisplay_quadrotor_base.launch	
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+
+<launch>
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find hector_quadrotor_description)/urdf/quadrotor.urdf.xacro" />
+	<param name="use_gui" value="True"/>
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="rviz" pkg="rviz" type="rviz" />
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/blender/quadrotor_base.blend b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/blender/quadrotor_base.blend
new file mode 100644
index 0000000000000000000000000000000000000000..af035a60e89bbae923a7f634307459307b5954f2
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae
new file mode 100644
index 0000000..ab62cd7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae	
@@ -0,0 +1,235 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.61.4 r43829</authoring_tool>
+    </contributor>
+    <created>2012-02-03T14:20:49</created>
+    <modified>2012-02-03T14:20:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="BodyDark_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0.0106101 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="RotorGrey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.15 0.15 0.15 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.2 0.2 0.2 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.48 0.48 0.48 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">33</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="BodyDark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05496641 0.05496641 0.05496641 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="RotorGrey2-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.15 0.15 0.15 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.23 0.23 0.23 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5 0.5 0.5 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">20</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="BodyDark_001-material" name="BodyDark.001">
+      <instance_effect url="#BodyDark_001-effect"/>
+    </material>
+    <material id="RotorGrey-material" name="RotorGrey">
+      <instance_effect url="#RotorGrey-effect"/>
+    </material>
+    <material id="BodyDark-material" name="BodyDark">
+      <instance_effect url="#BodyDark-effect"/>
+    </material>
+    <material id="RotorGrey2-material" name="RotorGrey2">
+      <instance_effect url="#RotorGrey2-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+      <mesh>
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+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/quadrotor_base.stl b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/meshes/quadrotor/quadrotor_base.stl
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diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/package.xml
new file mode 100644
index 0000000..5381aba
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/package.xml	
@@ -0,0 +1,25 @@
+<package>
+  <name>hector_quadrotor_description</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_description provides an URDF model of a quadrotor UAV.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_description</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_sensors_description</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.gazebo.xacro
new file mode 100644
index 0000000..0167134
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.urdf.xacro
new file mode 100644
index 0000000..b95f27a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.urdf.xacro	
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_base.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_base.urdf.xacro
new file mode 100644
index 0000000..a6d197a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_base.urdf.xacro	
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find hector_sensors_description)/urdf/sonar_sensor.urdf.xacro" />
+  <xacro:property name="pi" value="3.1415926535897931" />
+
+  <!-- Main quadrotor link -->
+  <xacro:macro name="quadrotor_base_macro">
+    <link name="base_link">
+      <inertial>
+        <mass value="1.477" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae"/>
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector_quadrotor_description/meshes/quadrotor/quadrotor_base.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Sonar height sensor -->
+    <xacro:sonar_sensor name="sonar" parent="base_link" ros_topic="sonar_height" update_rate="10" min_range="0.03" max_range="3.0" field_of_view="${40*pi/180}" ray_count="3">
+      <origin xyz="-0.16 0.0 -0.012" rpy="0 ${90*pi/180} 0"/>
+    </xacro:sonar_sensor>
+
+  </xacro:macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.gazebo.xacro
new file mode 100644
index 0000000..a9b1638
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.gazebo.xacro	
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+    <xacro:quadrotor_plugins />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.urdf.xacro
new file mode 100644
index 0000000..0a81dd9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_downward_cam.urdf.xacro	
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Downward facing camera -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
+    <xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
+      <origin xyz="0.4 0.0 -0.0" rpy="0 ${M_PI/2} 0"/>
+    </xacro:generic_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro
new file mode 100644
index 0000000..cc986c0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro
new file mode 100644
index 0000000..6055c2a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro	
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
+    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" ray_count="1081" min_angle="-135" max_angle="135">
+      <origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
+    </xacro:hokuyo_utm30lx>
+    
+    <!-- Forward facing camera -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
+    <xacro:generic_camera name="front_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" update_rate="10" res_x="320" res_y="240" image_format="R8G8B8" hfov="90">
+      <origin xyz="0.05 0.0 -0.06" rpy="0 0 0"/>
+    </xacro:generic_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.gazebo.xacro
new file mode 100644
index 0000000..072b498
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_with_asus.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.urdf.xacro
new file mode 100644
index 0000000..4b5241f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus.urdf.xacro	
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Asus Xiton Live Pro -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+    <xacro:asus_camera name="camera" parent="base_link">
+      <origin xyz="0.1 0.0 -0.03" rpy="0 ${M_PI/9} 0"/>
+    </xacro:asus_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.gazebo.xacro
new file mode 100644
index 0000000..10ae456
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro
new file mode 100644
index 0000000..d387cad
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro	
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
+    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" ray_count="1081" min_angle="-135" max_angle="135">
+      <origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
+    </xacro:hokuyo_utm30lx>
+    
+    <!-- Asus Xiton Live Pro -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+    <xacro:asus_camera name="camera" parent="base_link">
+      <origin xyz="0.1 0.0 -0.03" rpy="0 ${M_PI/9} 0"/>
+    </xacro:asus_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.gazebo.xacro
new file mode 100644
index 0000000..0008727
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_with_cam.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.urdf.xacro
new file mode 100644
index 0000000..0167536
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_cam.urdf.xacro	
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Forward facing camera -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
+    <xacro:generic_camera name="front_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" update_rate="10" res_x="320" res_y="240" image_format="R8G8B8" hfov="90">
+      <origin xyz="0.05 0.0 -0.06" rpy="0 0 0"/>
+    </xacro:generic_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro
new file mode 100644
index 0000000..459cfa2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro	
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_with_kinect.urdf.xacro" />
+    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.urdf.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.urdf.xacro
new file mode 100644
index 0000000..78e1cea
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.urdf.xacro	
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<robot
+  name="quadrotor"
+  xmlns:xacro="http://ros.org/wiki/xacro"
+>
+   
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+    
+    <!-- Included URDF Files -->
+    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
+    
+    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
+    <xacro:quadrotor_base_macro />
+    
+    <!-- Kinect -->
+    <xacro:include filename="$(find hector_sensors_description)/urdf/kinect_camera.urdf.xacro" />
+    <xacro:kinect_camera name="camera" parent="base_link">
+      <origin xyz="0.05 0.0 -0.06" rpy="0 0 0"/>
+    </xacro:kinect_camera>
+    
+</robot>
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/.gitignore b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/.gitignore
new file mode 100644
index 0000000..b8fb83d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/.gitignore	
@@ -0,0 +1 @@
+urdf/quadrotor_plugins.gazebo.xacro
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CHANGELOG.rst
new file mode 100644
index 0000000..3bc0795
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CHANGELOG.rst	
@@ -0,0 +1,55 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+* added missing run_depend hector_quadrotor_pose_estimation to package.xml
+* set pose_estimation/publish_world_nav_transform parameter to true explicitly
+* updated package for the latest version of hector_pose_estimation
+  * Geographic reference latitude and longitude set to 49.860246N 8.687077E (Lichtwiese).
+  * Reenabled auto_elevation, auto_reference and auto_heading parameters for hector_pose_estimation.
+  hector_pose_estimation will publish the world->nav transform depending on its reference pose.
+* added parameter file for hector_quadrotor_pose_estimation for a simulated quadrotor
+  The parameter file disables the auto_elevation, auto_reference, auto_heading modes of hector_pose_estimation and sets the corresponding values
+  manually with what is simulated in the gazebo sensor plugins. This simplifies the comparison of estimated poses with ground truth information.
+* explicitly set the pose_estimation/nav_frame parameter in spawn_quadrotor.launch
+* disabled detection of available plugins in cmake
+  The aerodynamics and propulsion plugins are built unconditinally now in hector_quadrotor_gazebo_plugins and the detection is obsolete.
+  Additionally we used platform-specific library prefixes and suffixes in find_libary() which caused errors on different platforms.
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-09-01)
+------------------
+* cleaned up launch files and fixed argument forwarding to spawn_quadrotor.launch
+* removed all RTT related plugins
+* added separate update timer for MotorStatus output in propulsion plugin
+* added launch file argument to enable/disable pose estimation
+* moved simulation package dependencies from hector_quadrotor metapackage to hector_quadrotor_gazebo
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* also check if a target exists when searching available plugins
+* enables aerodynamics plugin in default configuration
+* limit controlPeriod to 100Hz
+* a few fixes for RTT integration in hector_quadrotor. Added urdf macro for rtt_gazebo_plugin macro.
+* deprecated quadrotor_simple_controller.gazebo.xacro
+* fixed node type for static_transform_publisher in spawn_quadrotor.launch
+* changed frame_id for gazebo fixed frame to /world and added a static_transform_publisher for world->nav
+* increased drift for the barometric pressure sensor
+* added some command input ports to quadrotor_controller.gazebo.xacro
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
+* increased drift for the barometric pressure sensor
+* added some command input ports to quadrotor_controller.gazebo.xacro
+* added launch file for two quadrotors
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..92255ca
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt	
@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_gazebo)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package()
+
+
+###########
+## Build ##
+###########
+
+add_subdirectory(urdf)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS @{name} @{name}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch
new file mode 100644
index 0000000..eb04a45
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch	
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="headless" value="$(arg headless)"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" />
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch
new file mode 100644
index 0000000..9ffd309
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch	
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="name" default="quadrotor"/>
+  <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro"/>
+  <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+  <arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
+
+  <arg name="x" default="0.0"/>
+  <arg name="y" default="0.0"/>
+  <arg name="z" default="0.3"/>
+
+  <arg name="use_ground_truth_for_tf" default="true" />
+  <arg name="use_ground_truth_for_control" default="true" />
+  <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+  <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+  <arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
+  <arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>
+
+  <!-- send the robot XML to param server -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)' base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
+  <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
+  <param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
+  <param name="world_frame" type="string" value="$(arg world_frame)"/>
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
+        args="-param robot_description
+           -urdf
+           -x $(arg x)
+           -y $(arg y)
+           -z $(arg z)
+           -model $(arg name)"
+        respawn="false" output="screen"/>
+
+  <!-- start robot state publisher -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node>
+
+  <!-- publish state and tf -->
+  <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
+    <param name="odometry_topic" value="ground_truth/state" />
+    <param name="frame_id" value="/$(arg world_frame)" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
+    <param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
+  </node>
+  <group if="$(arg use_pose_estimation)">
+    <node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
+      <rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
+      <param name="nav_frame" value="/$(arg tf_prefix)/nav" />
+      <param name="publish_world_nav_transform" value="true" />
+      <param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
+      <param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
+    </node>
+  </group>
+
+  <!-- spawn controller -->
+  <group if="$(arg use_ground_truth_for_control)">
+    <param name="controller/state_topic" value="" />
+    <param name="controller/imu_topic" value="" />
+  </group>
+  <group unless="$(arg use_ground_truth_for_control)">
+    <param name="controller/state_topic" value="state" />
+    <param name="controller/imu_topic" value="imu" />
+  </group>
+  <include file="$(arg controller_definition)" />
+
+  <arg name="motors" default="robbe_2827-34_epp1045" />
+  <rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
+  <rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch
new file mode 100644
index 0000000..4532502
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch	
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(arg model)"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+   
+   <include file="$(find hector_slam_launch)/launch/tutorial.launch"/>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch
new file mode 100644
index 0000000..56a7d9a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_asus.gazebo.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch
new file mode 100644
index 0000000..7759dbc
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch
new file mode 100644
index 0000000..9c4a336
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_cam.gazebo.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch
new file mode 100644
index 0000000..46b0c9d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_downward_cam.gazebo.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch
new file mode 100644
index 0000000..82d5a11
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_kinect.gazebo.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch
new file mode 100644
index 0000000..a3a7850
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="name" default="quadrotor"/>
+   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+   <arg name="x" default="0.0"/>
+   <arg name="y" default="0.0"/>
+   <arg name="z" default="0.3"/>
+
+   <arg name="use_ground_truth_for_tf" default="true"/>
+   <arg name="use_ground_truth_for_control" default="true"/>
+   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+     <arg name="name" default="$(arg name)"/>
+     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>
+     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
+     <arg name="x" default="$(arg x)"/>
+     <arg name="y" default="$(arg y)"/>
+     <arg name="z" default="$(arg z)"/>   
+     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
+     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
+     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
+   </include>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_two_quadrotors.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_two_quadrotors.launch
new file mode 100644
index 0000000..68b344a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_two_quadrotors.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+   <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro" />
+
+   <!-- workaround https://github.com/ros-simulation/gazebo_ros_pkgs/pull/134 -->
+   <!-- <param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" /> -->
+
+   <group ns="uav1">
+     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+       <arg name="name" value="uav1" />
+       <arg name="tf_prefix" value="uav1" />
+       <arg name="model" value="$(arg model)" />
+       <arg name="y" value="-1.0" />
+     </include>
+   </group>
+
+   <group ns="uav2">
+     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+       <arg name="name" value="uav2" />
+       <arg name="tf_prefix" value="uav2" />
+       <arg name="model" value="$(arg model)" />
+       <arg name="y" value="1.0" />
+     </include>
+   </group>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/package.xml
new file mode 100644
index 0000000..eb570c0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/package.xml	
@@ -0,0 +1,44 @@
+<package>
+  <name>hector_quadrotor_gazebo</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator.
+     It can be commanded using geometry_msgs/Twist messages.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_gazebo</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>gazebo_plugins</build_depend>
+  <build_depend>hector_gazebo_plugins</build_depend>
+  <build_depend>hector_sensors_gazebo</build_depend>
+  <build_depend>hector_quadrotor_gazebo_plugins</build_depend>
+  <build_depend>hector_quadrotor_controller_gazebo</build_depend>
+  <build_depend>message_to_tf</build_depend>
+  <build_depend>robot_state_publisher</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>gazebo_plugins</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+  <run_depend>hector_sensors_gazebo</run_depend>
+  <run_depend>hector_quadrotor_description</run_depend>
+  <run_depend>hector_quadrotor_model</run_depend>
+  <run_depend>hector_quadrotor_gazebo_plugins</run_depend>
+  <run_depend>hector_quadrotor_controller_gazebo</run_depend>
+  <run_depend>hector_quadrotor_pose_estimation</run_depend>
+  <run_depend>hector_quadrotor_teleop</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>message_to_tf</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt
new file mode 100644
index 0000000..5cdebd7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt	
@@ -0,0 +1,49 @@
+# This CMakeLists.txt configures the plugins used for the quadrotor model.
+set(MODEL_PLUGINS)
+
+# configuration
+option(USE_EXTERNAL_CONTROLLER "Do not run the hector_quadrotor_controller_gazebo plugin." OFF)
+option(USE_PROPULSION_PLUGIN "Use a model of the quadrotor propulsion system" ON)
+option(USE_AERODYNAMICS_PLUGIN "Use a model of the quadrotor aerodynamics" ON)
+
+# sensor plugins
+list(APPEND MODEL_PLUGINS quadrotor_sensors)
+
+# controller plugin
+if(NOT USE_EXTERNAL_CONTROLLER)
+  list(APPEND MODEL_PLUGINS quadrotor_controller)
+endif()
+
+# propulsion plugin
+#if(USE_PROPULSION_PLUGIN)
+#  find_library(hector_gazebo_quadrotor_propulsion_LIBRARY hector_gazebo_quadrotor_propulsion)
+
+#  if(NOT TARGET hector_gazebo_quadrotor_propulsion AND NOT hector_gazebo_quadrotor_propulsion_LIBRARY)
+#    message(SEND_ERROR "Cannot use the propulsion model as the required Gazebo plugin 'hector_gazebo_quadrotor_propulsion' has not been found.")
+#    set(USE_PROPULSION_PLUGIN OFF)
+#  endif()
+#endif()
+if(USE_PROPULSION_PLUGIN)
+  list(APPEND MODEL_PLUGINS quadrotor_propulsion)
+endif()
+
+# aerodynamics plugin
+#if(USE_AERODYNAMICS_PLUGIN)
+#  find_library(hector_gazebo_quadrotor_aerodynamics_LIBRARY hector_gazebo_quadrotor_aerodynamics)
+
+#  if(NOT TARGET hector_gazebo_quadrotor_aerodynamics AND NOT hector_gazebo_quadrotor_aerodynamics_LIBRARY)
+#    message(SEND_ERROR "Cannot use the aerodynamics model as the required Gazebo plugin 'hector_gazebo_quadrotor_aerodynamics' has not been found.")
+#    set(USE_AERODYNAMICS_PLUGIN OFF)
+#  endif()
+#endif()
+if(USE_AERODYNAMICS_PLUGIN)
+  list(APPEND MODEL_PLUGINS quadrotor_aerodynamics)
+endif()
+
+# write urdf
+set(MODEL_PLUGINS_URDF)
+foreach(PLUGIN ${MODEL_PLUGINS})
+  set(MODEL_PLUGINS_URDF "${MODEL_PLUGINS_URDF}  <xacro:${PLUGIN} />\n")
+endforeach()
+configure_file(quadrotor_plugins.gazebo.xacro.in ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.gazebo.xacro @ONLY)
+set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.gazebo.xacro)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_aerodynamics.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_aerodynamics.gazebo.xacro
new file mode 100644
index 0000000..978c637
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_aerodynamics.gazebo.xacro	
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Quadrotor Aerodynamics Plugin -->
+  <xacro:macro name="quadrotor_aerodynamics">
+    <gazebo>
+      <plugin name="quadrotor_aerodynamics" filename="libhector_gazebo_quadrotor_aerodynamics.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <bodyName>base_link</bodyName>
+        <frameId>$(arg base_link_frame)</frameId>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_controller.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_controller.gazebo.xacro
new file mode 100644
index 0000000..fa02559
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_controller.gazebo.xacro	
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="quadrotor_controller">
+    <gazebo>
+      <plugin name="quadrotor_controller" filename="libgazebo_ros_control.so">
+        <controlPeriod>0.01</controlPeriod>
+        <robotSimType>hector_quadrotor_controller_gazebo/QuadrotorHardwareSim</robotSimType>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.gazebo.xacro.in b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.gazebo.xacro.in
new file mode 100644
index 0000000..f994dc6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.gazebo.xacro.in	
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
+  <arg name="base_link_frame" default="base_link"/>
+
+  <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_sensors.gazebo.xacro" />
+  <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_controller.gazebo.xacro" />
+  <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_propulsion.gazebo.xacro" />
+  <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_aerodynamics.gazebo.xacro" />
+
+  <!-- Quadrotor Gazebo Plugins -->
+@MODEL_PLUGINS_URDF@
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_propulsion.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_propulsion.gazebo.xacro
new file mode 100644
index 0000000..97284a9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_propulsion.gazebo.xacro	
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Quadrotor Propulsion -->
+  <xacro:macro name="quadrotor_propulsion">
+    <gazebo>
+      <plugin name="quadrotor_propulsion" filename="libhector_gazebo_quadrotor_propulsion.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <bodyName>base_link</bodyName>
+        <frameId>$(arg base_link_frame)</frameId>
+        <controlRate>100.0</controlRate>
+        <!-- <controlTolerance>0.01</controlTolerance> -->
+        <controlDelay>0.01</controlDelay>
+        <motorStatusRate>100.0</motorStatusRate>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.gazebo.xacro b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.gazebo.xacro
new file mode 100644
index 0000000..d08e4a7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.gazebo.xacro	
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Quadrotor Sensor Plugins -->
+  <gazebo>
+    <plugin name="quadrotor_imu_sim" filename="libhector_gazebo_ros_imu.so">
+      <updateRate>100.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>$(arg base_link_frame)</frameId>
+      <topicName>raw_imu</topicName>
+      <rpyOffsets>0 0 0</rpyOffsets> <!-- deprecated -->
+      <gaussianNoise>0</gaussianNoise>  <!-- deprecated -->
+      <accelDrift>0.5 0.5 0.5</accelDrift>
+      <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
+      <rateDrift>0.1 0.1 0.1</rateDrift>
+      <rateGaussianNoise>0.05 0.05 0.015</rateGaussianNoise>
+    </plugin>
+
+    <plugin name="quadrotor_baro_sim" filename="libhector_gazebo_ros_baro.so">
+      <updateRate>10.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>$(arg base_link_frame)</frameId>
+      <topicName>pressure_height</topicName>
+      <altimeterTopicName>altimeter</altimeterTopicName>
+      <offset>0</offset>
+      <drift>10.0</drift>
+      <gaussianNoise>0.1</gaussianNoise>
+    </plugin>
+
+    <plugin name="quadrotor_magnetic_sim" filename="libhector_gazebo_ros_magnetic.so">
+      <updateRate>10.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>$(arg base_link_frame)</frameId>
+      <topicName>magnetic</topicName>
+      <offset>0 0 0</offset>
+      <drift>0.0 0.0 0.0</drift>
+      <gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
+    </plugin>
+
+    <plugin name="quadrotor_gps_sim" filename="libhector_gazebo_ros_gps.so">
+      <updateRate>4.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>$(arg base_link_frame)</frameId>
+      <topicName>fix</topicName>
+      <velocityTopicName>fix_velocity</velocityTopicName>
+      <referenceLatitude>49.860246</referenceLatitude>
+      <referenceLongitude>8.687077</referenceLongitude>
+      <drift>5.0 5.0 5.0</drift>
+      <gaussianNoise>0.01 0.01 0.01</gaussianNoise>
+      <velocityDrift>0 0 0</velocityDrift>
+      <velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>
+    </plugin>
+
+    <plugin name="quadrotor_groundtruth_sim" filename="libgazebo_ros_p3d.so">
+      <updateRate>100.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>ground_truth/state</topicName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <frameName>$(arg world_frame)</frameName>
+    </plugin>
+
+  </gazebo>
+</robot>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CHANGELOG.rst
new file mode 100644
index 0000000..4976229
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CHANGELOG.rst	
@@ -0,0 +1,50 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_gazebo_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+* added dynamic_reconfigure server to gazebo_ros_baro plugin
+  See https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/commit/e1698e1c7bfa5fce6a724ab0a922a88bd49c9733 for
+  the equivalent commit in hector_gazebo_plugins.
+* publish propulsion and aerodynamic wrench as WrenchStamped
+  This is primarily for debugging purposes.
+  The default topic for the propulsion plugin has been changed to propulsion/wrench.
+* disabled detection of available plugins in cmake
+  The aerodynamics and propulsion plugins are built unconditinally now in hector_quadrotor_gazebo_plugins and the detection is obsolete.
+  Additionally we used platform-specific library prefixes and suffixes in find_libary() which caused errors on different platforms.
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-09-01)
+------------------
+* fixed some compiler warnings and missing return values
+* added separate update timer for MotorStatus output in propulsion plugin
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* disabled separate queue thread for the aerodynamics plugin
+* fixed configuration namespace and plugin cleanup
+* aerodynamics plugin should apply forces and torques in world frame
+* accept hector_uav_msgs/MotorCommand messages directly for the propulsion model/plugin
+* deleted deprecated export section from package.xml
+* abort with a fatal error if ROS is not yet initialized + minor code cleanup
+* fixed commanded linear z velocity upper bound for auto shutdown in simple controller plugin
+* improved auto shutdown to prevent shutdowns while airborne
+* added motor engage/shutdown, either automatically (default) or using ROS services /engage and /shutdown
+  (std_srvs/Empty)
+* using ROS parameters to configure state topics
+* use controller_manager in gazebo_ros_control instead of running standalone pose_controller
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
+* added wrench publisher to the quadrotor_simple_controller plugin
+* created new package hector_quadrotor_model and moved all gazebo plugins to hector_quadrotor_gazebo_plugins
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt
new file mode 100644
index 0000000..06f1995
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt	
@@ -0,0 +1,121 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_gazebo_plugins)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp hector_gazebo_plugins hector_quadrotor_model geometry_msgs hector_uav_msgs dynamic_reconfigure)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+# Depend on system install of Gazebo
+find_package(gazebo REQUIRED)
+link_directories(${GAZEBO_LIBRARY_DIRS})
+include_directories(${GAZEBO_INCLUDE_DIRS})
+
+## Find hector_quadrotor_model optional libraries
+if(TARGET hector_quadrotor_propulsion)
+  set(hector_quadrotor_propulsion_LIBRARY hector_quadrotor_propulsion)
+else()
+  find_library(hector_quadrotor_propulsion_LIBRARY hector_quadrotor_propulsion)
+endif()
+if(TARGET hector_quadrotor_propulsion)
+  set(hector_quadrotor_aerodynamics_LIBRARY hector_quadrotor_aerodynamics)
+else()
+  find_library(hector_quadrotor_aerodynamics_LIBRARY hector_quadrotor_aerodynamics)
+endif()
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS thread)
+# include_directories(${Boost_INCLUDE_DIRS})
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES
+    CATKIN_DEPENDS roscpp hector_gazebo_plugins hector_quadrotor_model geometry_msgs hector_uav_msgs dynamic_reconfigure
+    DEPENDS gazebo
+)
+
+###########
+## Build ##
+###########
+
+add_library(hector_gazebo_ros_baro src/gazebo_ros_baro.cpp)
+target_link_libraries(hector_gazebo_ros_baro ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(hector_gazebo_ros_baro hector_uav_msgs_generate_messages_cpp)
+
+add_library(hector_gazebo_quadrotor_simple_controller src/gazebo_quadrotor_simple_controller.cpp)
+target_link_libraries(hector_gazebo_quadrotor_simple_controller ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
+
+if(hector_quadrotor_propulsion_LIBRARY)
+  add_library(hector_gazebo_quadrotor_propulsion src/gazebo_quadrotor_propulsion.cpp)
+  target_link_libraries(hector_gazebo_quadrotor_propulsion ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${hector_quadrotor_propulsion_LIBRARY})
+  add_dependencies(hector_gazebo_quadrotor_propulsion hector_uav_msgs_generate_messages_cpp)
+else()
+  message(WARNING "Quadrotor propulsion model is not available. Skipping target hector_gazebo_quadrotor_propulsion...")
+endif()
+
+if(hector_quadrotor_aerodynamics_LIBRARY)
+  add_library(hector_gazebo_quadrotor_aerodynamics src/gazebo_quadrotor_aerodynamics.cpp)
+  target_link_libraries(hector_gazebo_quadrotor_aerodynamics ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${hector_quadrotor_aerodynamics_LIBRARY})
+else()
+  message(WARNING "Quadrotor aerodynamics model is not available. Skipping target hector_gazebo_quadrotor_aerodynamics...")
+endif()
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_gazebo_ros_baro hector_gazebo_quadrotor_simple_controller
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+if(TARGET hector_gazebo_quadrotor_propulsion)
+  install(TARGETS hector_gazebo_quadrotor_propulsion LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+endif()
+
+if(TARGET hector_gazebo_quadrotor_aerodynamics)
+  install(TARGETS hector_gazebo_quadrotor_aerodynamics LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+endif()
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_aerodynamics.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_aerodynamics.h
new file mode 100644
index 0000000..bbc7a04
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_aerodynamics.h	
@@ -0,0 +1,90 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H
+#define HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H
+
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/common/Time.hh>
+#include <gazebo/math/Vector3.hh>
+
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+
+#include <boost/thread.hpp>
+
+#include <hector_quadrotor_model/quadrotor_aerodynamics.h>
+
+namespace gazebo
+{
+
+class GazeboQuadrotorAerodynamics : public ModelPlugin
+{
+public:
+  GazeboQuadrotorAerodynamics();
+  virtual ~GazeboQuadrotorAerodynamics();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  hector_quadrotor_model::QuadrotorAerodynamics model_;
+
+  ros::NodeHandle* node_handle_;
+  ros::CallbackQueue callback_queue_;
+  boost::thread callback_queue_thread_;
+  void QueueThread();
+
+  ros::Subscriber wind_subscriber_;
+  ros::Publisher wrench_publisher_;
+
+  std::string body_name_;
+  std::string namespace_;
+  std::string param_namespace_;
+  double control_rate_;
+  std::string wind_topic_;
+  std::string wrench_topic_;
+  std::string frame_id_;
+
+  common::Time last_time_;
+
+  // Pointer to the update event connection
+  event::ConnectionPtr updateConnection;
+};
+
+}
+
+#endif // HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_propulsion.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_propulsion.h
new file mode 100644
index 0000000..47a97ba
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_propulsion.h	
@@ -0,0 +1,106 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H
+#define HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H
+
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/common/Time.hh>
+#include <gazebo/math/Vector3.hh>
+
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+
+#include <hector_quadrotor_model/quadrotor_propulsion.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <boost/thread.hpp>
+
+namespace gazebo
+{
+
+class GazeboQuadrotorPropulsion : public ModelPlugin
+{
+public:
+  GazeboQuadrotorPropulsion();
+  virtual ~GazeboQuadrotorPropulsion();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  hector_quadrotor_model::QuadrotorPropulsion model_;
+
+  ros::NodeHandle* node_handle_;
+  ros::CallbackQueue callback_queue_;
+  boost::thread callback_queue_thread_;
+  void QueueThread();
+
+  ros::Publisher trigger_publisher_;
+  ros::Subscriber command_subscriber_;
+  ros::Subscriber pwm_subscriber_;
+  ros::Publisher wrench_publisher_;
+  ros::Publisher supply_publisher_;
+  ros::Publisher motor_status_publisher_;
+
+  std::string body_name_;
+  std::string namespace_;
+  std::string param_namespace_;
+  std::string trigger_topic_;
+  std::string command_topic_;
+  std::string pwm_topic_;
+  std::string wrench_topic_;
+  std::string supply_topic_;
+  std::string status_topic_;
+  std::string frame_id_;
+  ros::Duration control_delay_;
+  ros::Duration control_tolerance_;
+
+  common::Time last_time_;
+  common::Time last_trigger_time_;
+  common::Time last_motor_status_time_;
+  common::Time last_supply_time_;
+
+  // Pointer to the update event connection
+  event::ConnectionPtr updateConnection;
+
+  UpdateTimer controlTimer;
+  UpdateTimer motorStatusTimer;
+};
+
+}
+
+#endif // HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_simple_controller.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_simple_controller.h
new file mode 100644
index 0000000..c3a2596
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_quadrotor_simple_controller.h	
@@ -0,0 +1,143 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H
+#define HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/callback_queue.h>
+#include <ros/ros.h>
+
+#include <geometry_msgs/Twist.h>
+#include <sensor_msgs/Imu.h>
+#include <nav_msgs/Odometry.h>
+#include <std_srvs/Empty.h>
+
+#include <hector_gazebo_plugins/update_timer.h>
+
+namespace gazebo
+{
+
+class GazeboQuadrotorSimpleController : public ModelPlugin
+{
+public:
+  GazeboQuadrotorSimpleController();
+  virtual ~GazeboQuadrotorSimpleController();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Update();
+  virtual void Reset();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  ros::NodeHandle* node_handle_;
+  ros::CallbackQueue callback_queue_;
+  ros::Subscriber velocity_subscriber_;
+  ros::Subscriber imu_subscriber_;
+  ros::Subscriber state_subscriber_;
+  ros::Publisher wrench_publisher_;
+
+  ros::ServiceServer engage_service_server_;
+  ros::ServiceServer shutdown_service_server_;
+
+  // void CallbackQueueThread();
+  // boost::mutex lock_;
+  // boost::thread callback_queue_thread_;
+
+  geometry_msgs::Twist velocity_command_;
+  void VelocityCallback(const geometry_msgs::TwistConstPtr&);
+  void ImuCallback(const sensor_msgs::ImuConstPtr&);
+  void StateCallback(const nav_msgs::OdometryConstPtr&);
+
+  bool EngageCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+  bool ShutdownCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+
+  ros::Time state_stamp;
+  math::Pose pose;
+  math::Vector3 euler, velocity, acceleration, angular_velocity;
+
+  std::string link_name_;
+  std::string namespace_;
+  std::string velocity_topic_;
+  std::string imu_topic_;
+  std::string state_topic_;
+  std::string wrench_topic_;
+  double max_force_;
+
+  bool running_;
+  bool auto_engage_;
+
+  class PIDController {
+  public:
+    PIDController();
+    virtual ~PIDController();
+    virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = "");
+
+    double gain_p;
+    double gain_i;
+    double gain_d;
+    double time_constant;
+    double limit;
+
+    double input;
+    double dinput;
+    double output;
+    double p, i, d;
+
+    double update(double input, double x, double dx, double dt);
+    void reset();
+  };
+
+  struct Controllers {
+    PIDController roll;
+    PIDController pitch;
+    PIDController yaw;
+    PIDController velocity_x;
+    PIDController velocity_y;
+    PIDController velocity_z;
+  } controllers_;
+
+  math::Vector3 inertia;
+  double mass;
+
+  math::Vector3 force, torque;
+
+  UpdateTimer controlTimer;
+  event::ConnectionPtr updateConnection;
+};
+
+}
+
+#endif // HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h
new file mode 100644
index 0000000..3c8ab18
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h	
@@ -0,0 +1,90 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
+#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
+
+#include <gazebo/common/Plugin.hh>
+
+#include <ros/ros.h>
+#include <geometry_msgs/PointStamped.h>
+#include <hector_uav_msgs/Altimeter.h>
+
+#include <hector_gazebo_plugins/sensor_model.h>
+#include <hector_gazebo_plugins/update_timer.h>
+
+#include <dynamic_reconfigure/server.h>
+
+namespace gazebo
+{
+
+class GazeboRosBaro : public ModelPlugin
+{
+public:
+  GazeboRosBaro();
+  virtual ~GazeboRosBaro();
+
+protected:
+  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+  virtual void Reset();
+  virtual void Update();
+
+private:
+  /// \brief The parent World
+  physics::WorldPtr world;
+
+  /// \brief The link referred to by this plugin
+  physics::LinkPtr link;
+
+  ros::NodeHandle* node_handle_;
+  ros::Publisher height_publisher_;
+  ros::Publisher altimeter_publisher_;
+
+  geometry_msgs::PointStamped height_;
+  hector_uav_msgs::Altimeter altimeter_;
+
+  std::string namespace_;
+  std::string height_topic_;
+  std::string altimeter_topic_;
+  std::string link_name_;
+  std::string frame_id_;
+
+  double elevation_;
+  double qnh_;
+
+  SensorModel sensor_model_;
+
+  UpdateTimer updateTimer;
+  event::ConnectionPtr updateConnection;
+
+  boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_;
+};
+
+} // namespace gazebo
+
+#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/package.xml
new file mode 100644
index 0000000..6d16192
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/package.xml	
@@ -0,0 +1,40 @@
+<package>
+  <name>hector_quadrotor_gazebo_plugins</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo.
+     The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure.
+     hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity
+     using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_gazebo_plugins</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>hector_gazebo_plugins</build_depend>
+  <build_depend>hector_quadrotor_model</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>hector_uav_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+  <run_depend>hector_quadrotor_model</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_aerodynamics.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_aerodynamics.cpp
new file mode 100644
index 0000000..69b7d75
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_aerodynamics.cpp	
@@ -0,0 +1,193 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_gazebo_plugins/gazebo_quadrotor_aerodynamics.h>
+#include <hector_quadrotor_model/helpers.h>
+
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <geometry_msgs/WrenchStamped.h>
+
+namespace gazebo {
+
+using namespace common;
+using namespace math;
+using namespace hector_quadrotor_model;
+
+GazeboQuadrotorAerodynamics::GazeboQuadrotorAerodynamics()
+  : node_handle_(0)
+{
+}
+
+GazeboQuadrotorAerodynamics::~GazeboQuadrotorAerodynamics()
+{
+  event::Events::DisconnectWorldUpdateBegin(updateConnection);
+  if (node_handle_) {
+    node_handle_->shutdown();
+    if (callback_queue_thread_.joinable())
+      callback_queue_thread_.join();
+    delete node_handle_;
+  }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboQuadrotorAerodynamics::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+  link = _model->GetLink();
+
+  // default parameters
+  namespace_.clear();
+  param_namespace_ = "quadrotor_aerodynamics";
+  wind_topic_ = "/wind";
+  wrench_topic_ = "aerodynamics/wrench";
+  frame_id_ = link->GetName();
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
+  if (_sdf->HasElement("paramNamespace")) param_namespace_ = _sdf->GetElement("paramNamespace")->Get<std::string>();
+  if (_sdf->HasElement("windTopicName"))  wind_topic_ = _sdf->GetElement("windTopicName")->Get<std::string>();
+  if (_sdf->HasElement("wrenchTopic"))    wrench_topic_ = _sdf->GetElement("wrenchTopic")->Get<std::string>();
+  if (_sdf->HasElement("frameId"))    frame_id_= _sdf->GetElement("frameId")->Get<std::string>();
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+
+  // get model parameters
+  if (!model_.configure(ros::NodeHandle(*node_handle_, param_namespace_))) {
+    gzwarn << "[quadrotor_propulsion] Could not properly configure the aerodynamics plugin. Make sure you loaded the parameter file." << std::endl;
+    return;
+  }
+
+  // subscribe command
+  if (!wind_topic_.empty())
+  {
+    ros::SubscribeOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.initByFullCallbackType<const geometry_msgs::Vector3 &>(
+      wind_topic_, 1,
+      boost::bind(&QuadrotorAerodynamics::setWind, &model_, _1)
+    );
+    wind_subscriber_ = node_handle_->subscribe(ops);
+  }
+
+  // advertise wrench
+  if (!wrench_topic_.empty())
+  {
+    ros::AdvertiseOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<geometry_msgs::WrenchStamped>(wrench_topic_, 10);
+    wrench_publisher_ = node_handle_->advertise(ops);
+  }
+
+  // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorAerodynamics::QueueThread,this ) );
+
+  // New Mechanism for Updating every World Cycle
+  // Listen to the update event. This event is broadcast every
+  // simulation iteration.
+  updateConnection = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&GazeboQuadrotorAerodynamics::Update, this));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboQuadrotorAerodynamics::Update()
+{
+  // Get simulator time
+  Time current_time = world->GetSimTime();
+  Time dt = current_time - last_time_;
+  last_time_ = current_time;
+  if (dt <= 0.0) return;
+
+  // Get new commands/state
+  callback_queue_.callAvailable();
+
+  // fill input vector u for drag model
+  geometry_msgs::Quaternion orientation;
+  fromQuaternion(link->GetWorldPose().rot, orientation);
+  model_.setOrientation(orientation);
+
+  geometry_msgs::Twist twist;
+  fromVector(link->GetWorldLinearVel(), twist.linear);
+  fromVector(link->GetWorldAngularVel(), twist.angular);
+  model_.setTwist(twist);
+
+  // update the model
+  model_.update(dt.Double());
+
+  // get wrench from model
+  Vector3 force, torque;
+  toVector(model_.getWrench().force, force);
+  toVector(model_.getWrench().torque, torque);
+
+  // publish wrench
+  if (wrench_publisher_) {
+    geometry_msgs::WrenchStamped wrench_msg;
+    wrench_msg.header.stamp = ros::Time(current_time.sec, current_time.nsec);
+    wrench_msg.header.frame_id = frame_id_;
+    wrench_msg.wrench = model_.getWrench();
+    wrench_publisher_.publish(wrench_msg);
+  }
+
+  // set force and torque in gazebo
+  link->AddRelativeForce(force);
+  link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Reset the controller
+void GazeboQuadrotorAerodynamics::Reset()
+{
+  model_.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// custom callback queue thread
+void GazeboQuadrotorAerodynamics::QueueThread()
+{
+  static const double timeout = 0.01;
+
+  while (node_handle_->ok())
+  {
+    callback_queue_.callAvailable(ros::WallDuration(timeout));
+  }
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorAerodynamics)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_propulsion.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_propulsion.cpp
new file mode 100644
index 0000000..3492ce3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_propulsion.cpp	
@@ -0,0 +1,284 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_gazebo_plugins/gazebo_quadrotor_propulsion.h>
+#include <hector_quadrotor_model/helpers.h>
+
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <rosgraph_msgs/Clock.h>
+#include <geometry_msgs/WrenchStamped.h>
+
+namespace gazebo {
+
+using namespace common;
+using namespace math;
+using namespace hector_quadrotor_model;
+
+GazeboQuadrotorPropulsion::GazeboQuadrotorPropulsion()
+  : node_handle_(0)
+{
+}
+
+GazeboQuadrotorPropulsion::~GazeboQuadrotorPropulsion()
+{
+  event::Events::DisconnectWorldUpdateBegin(updateConnection);
+  if (node_handle_) {
+    node_handle_->shutdown();
+    if (callback_queue_thread_.joinable())
+      callback_queue_thread_.join();
+    delete node_handle_;
+  }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboQuadrotorPropulsion::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+  link = _model->GetLink();
+
+  // default parameters
+  namespace_.clear();
+  param_namespace_ = "quadrotor_propulsion";
+  trigger_topic_ = "quadro/trigger";
+  command_topic_ = "command/motor";
+  pwm_topic_ = "motor_pwm";
+  wrench_topic_ = "propulsion/wrench";
+  supply_topic_ = "supply";
+  status_topic_ = "motor_status";
+  control_tolerance_ = ros::Duration();
+  control_delay_ = ros::Duration();
+  frame_id_ = link->GetName();
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))   namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
+  if (_sdf->HasElement("paramNamespace"))   param_namespace_ = _sdf->GetElement("paramNamespace")->Get<std::string>();
+  if (_sdf->HasElement("triggerTopic"))     trigger_topic_ = _sdf->GetElement("triggerTopic")->Get<std::string>();
+  if (_sdf->HasElement("topicName"))        command_topic_ = _sdf->GetElement("topicName")->Get<std::string>();
+  if (_sdf->HasElement("pwmTopicName"))     pwm_topic_ = _sdf->GetElement("pwmTopicName")->Get<std::string>();
+  if (_sdf->HasElement("wrenchTopic"))      wrench_topic_ = _sdf->GetElement("wrenchTopic")->Get<std::string>();
+  if (_sdf->HasElement("supplyTopic"))      supply_topic_ = _sdf->GetElement("supplyTopic")->Get<std::string>();
+  if (_sdf->HasElement("statusTopic"))      status_topic_ = _sdf->GetElement("statusTopic")->Get<std::string>();
+  if (_sdf->HasElement("frameId"))          frame_id_= _sdf->GetElement("frameId")->Get<std::string>();
+
+  if (_sdf->HasElement("voltageTopicName")) {
+    gzwarn << "[quadrotor_propulsion] Plugin parameter 'voltageTopicName' is deprecated! Plese change your config to use "
+           << "'topicName' for MotorCommand messages or 'pwmTopicName' for MotorPWM messages." << std::endl;
+    pwm_topic_ = _sdf->GetElement("voltageTopicName")->Get<std::string>();
+  }
+
+  // set control timing parameters
+  controlTimer.Load(world, _sdf, "control");
+  motorStatusTimer.Load(world, _sdf, "motorStatus");
+  if (_sdf->HasElement("controlTolerance")) control_tolerance_.fromSec(_sdf->GetElement("controlTolerance")->Get<double>());
+  if (_sdf->HasElement("controlDelay"))     control_delay_.fromSec(_sdf->GetElement("controlDelay")->Get<double>());
+
+  // set initial supply voltage
+  if (_sdf->HasElement("supplyVoltage"))    model_.setInitialSupplyVoltage(_sdf->GetElement("supplyVoltage")->Get<double>());
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+
+  // get model parameters
+  if (!model_.configure(ros::NodeHandle(*node_handle_, param_namespace_))) {
+    gzwarn << "[quadrotor_propulsion] Could not properly configure the propulsion plugin. Make sure you loaded the parameter file." << std::endl;
+    return;
+  }
+
+  // publish trigger
+  if (!trigger_topic_.empty())
+  {
+    ros::AdvertiseOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<rosgraph_msgs::Clock>(trigger_topic_, 10);
+    trigger_publisher_ = node_handle_->advertise(ops);
+  }
+
+  // subscribe voltage command
+  if (!command_topic_.empty())
+  {
+    ros::SubscribeOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<hector_uav_msgs::MotorCommand>(command_topic_, 1, boost::bind(&QuadrotorPropulsion::addCommandToQueue, &model_, _1));
+    command_subscriber_ = node_handle_->subscribe(ops);
+  }
+
+  // subscribe pwm command
+  if (!pwm_topic_.empty())
+  {
+    ros::SubscribeOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<hector_uav_msgs::MotorPWM>(pwm_topic_, 1, boost::bind(&QuadrotorPropulsion::addPWMToQueue, &model_, _1));
+    pwm_subscriber_ = node_handle_->subscribe(ops);
+  }
+
+  // advertise wrench
+  if (!wrench_topic_.empty())
+  {
+    ros::AdvertiseOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<geometry_msgs::WrenchStamped>(wrench_topic_, 10);
+    wrench_publisher_ = node_handle_->advertise(ops);
+  }
+
+  // advertise and latch supply
+  if (!supply_topic_.empty())
+  {
+    ros::AdvertiseOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.latch = true;
+    ops.init<hector_uav_msgs::Supply>(supply_topic_, 10);
+    supply_publisher_ = node_handle_->advertise(ops);
+    supply_publisher_.publish(model_.getSupply());
+  }
+
+  // advertise motor_status
+  if (!status_topic_.empty())
+  {
+    ros::AdvertiseOptions ops;
+    ops.callback_queue = &callback_queue_;
+    ops.init<hector_uav_msgs::MotorStatus>(status_topic_, 10);
+    motor_status_publisher_ = node_handle_->advertise(ops);
+  }
+
+  // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorPropulsion::QueueThread,this ) );
+
+  Reset();
+
+  // New Mechanism for Updating every World Cycle
+  // Listen to the update event. This event is broadcast every
+  // simulation iteration.
+  updateConnection = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&GazeboQuadrotorPropulsion::Update, this));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboQuadrotorPropulsion::Update()
+{
+  // Get simulator time
+  Time current_time = world->GetSimTime();
+  Time dt = current_time - last_time_;
+  last_time_ = current_time;
+  if (dt <= 0.0) return;
+
+  // Send trigger
+  bool trigger = controlTimer.getUpdatePeriod() > 0.0 ? controlTimer.update() : false;
+  if (trigger && trigger_publisher_) {
+    rosgraph_msgs::Clock clock;
+    clock.clock = ros::Time(current_time.sec, current_time.nsec);
+    trigger_publisher_.publish(clock);
+
+    ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Sent a trigger message at t = " << current_time.Double() << " (dt = " << (current_time - last_trigger_time_).Double() << ")");
+    last_trigger_time_ = current_time;
+  }
+
+  // Get new commands/state
+  callback_queue_.callAvailable();
+
+  // Process input queue
+  model_.processQueue(ros::Time(current_time.sec, current_time.nsec), control_tolerance_, control_delay_, (model_.getMotorStatus().on && trigger) ? ros::WallDuration(1.0) : ros::WallDuration(), &callback_queue_);
+
+  // fill input vector u for propulsion model
+  geometry_msgs::Twist twist;
+  fromVector(link->GetRelativeLinearVel(), twist.linear);
+  fromVector(link->GetRelativeAngularVel(), twist.angular);
+  model_.setTwist(twist);
+
+  // update the model
+  model_.update(dt.Double());
+
+  // get wrench from model
+  Vector3 force, torque;
+  toVector(model_.getWrench().force, force);
+  toVector(model_.getWrench().torque, torque);
+
+  // publish wrench
+  if (wrench_publisher_) {
+    geometry_msgs::WrenchStamped wrench_msg;
+    wrench_msg.header.stamp = ros::Time(current_time.sec, current_time.nsec);
+    wrench_msg.header.frame_id = frame_id_;
+    wrench_msg.wrench = model_.getWrench();
+    wrench_publisher_.publish(wrench_msg);
+  }
+
+  // publish motor status
+  if (motor_status_publisher_ && motorStatusTimer.update() /* && current_time >= last_motor_status_time_ + control_period_ */) {
+    hector_uav_msgs::MotorStatus motor_status = model_.getMotorStatus();
+    motor_status.header.stamp = ros::Time(current_time.sec, current_time.nsec);
+    motor_status_publisher_.publish(motor_status);
+    last_motor_status_time_ = current_time;
+  }
+
+  // publish supply
+  if (supply_publisher_ && current_time >= last_supply_time_ + 1.0) {
+    supply_publisher_.publish(model_.getSupply());
+    last_supply_time_ = current_time;
+  }
+
+  // set force and torque in gazebo
+  link->AddRelativeForce(force);
+  link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Reset the controller
+void GazeboQuadrotorPropulsion::Reset()
+{
+  model_.reset();
+  last_time_ = Time();
+  last_trigger_time_ = Time();
+  last_motor_status_time_ = Time();
+  last_supply_time_ = Time();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// custom callback queue thread
+void GazeboQuadrotorPropulsion::QueueThread()
+{
+  static const double timeout = 0.01;
+
+  while (node_handle_->ok())
+  {
+    callback_queue_.callAvailable(ros::WallDuration(timeout));
+  }
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorPropulsion)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_simple_controller.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_simple_controller.cpp
new file mode 100644
index 0000000..7b23f46
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_quadrotor_simple_controller.cpp	
@@ -0,0 +1,425 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_gazebo_plugins/gazebo_quadrotor_simple_controller.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+#include <cmath>
+
+#include <geometry_msgs/Wrench.h>
+
+namespace gazebo {
+
+GazeboQuadrotorSimpleController::GazeboQuadrotorSimpleController()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboQuadrotorSimpleController::~GazeboQuadrotorSimpleController()
+{
+  event::Events::DisconnectWorldUpdateBegin(updateConnection);
+
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  gzwarn << "The GazeboQuadrotorSimpleController plugin is DEPRECATED in ROS hydro. Please use the twist_controller in package hector_quadrotor_controller instead." << std::endl;
+
+  world = _model->GetWorld();
+  link = _model->GetLink();
+  link_name_ = link->GetName();
+
+  // default parameters
+  namespace_.clear();
+  velocity_topic_ = "cmd_vel";
+  imu_topic_.clear();
+  state_topic_.clear();
+  wrench_topic_ = "wrench_out";
+  max_force_ = -1;
+  auto_engage_ = true;
+
+  // load parameters from sdf
+  if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
+  if (_sdf->HasElement("topicName"))      velocity_topic_ = _sdf->GetElement("topicName")->Get<std::string>();
+  if (_sdf->HasElement("imuTopic"))       imu_topic_ = _sdf->GetElement("imuTopic")->Get<std::string>();
+  if (_sdf->HasElement("stateTopic"))     state_topic_ = _sdf->GetElement("stateTopic")->Get<std::string>();
+  if (_sdf->HasElement("wrenchTopic"))    wrench_topic_ = _sdf->GetElement("wrenchTopic")->Get<std::string>();
+  if (_sdf->HasElement("maxForce"))       max_force_ = _sdf->GetElement("maxForce")->Get<double>();
+  if (_sdf->HasElement("autoEngage"))     auto_engage_ = _sdf->GetElement("autoEngage")->Get<bool>();
+
+  if (_sdf->HasElement("bodyName") && _sdf->GetElement("bodyName")->GetValue()) {
+    link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
+    link = _model->GetLink(link_name_);
+  }
+
+  if (!link)
+  {
+    ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  // configure controllers
+  controllers_.roll.Load(_sdf, "rollpitch");
+  controllers_.pitch.Load(_sdf, "rollpitch");
+  controllers_.yaw.Load(_sdf, "yaw");
+  controllers_.velocity_x.Load(_sdf, "velocityXY");
+  controllers_.velocity_y.Load(_sdf, "velocityXY");
+  controllers_.velocity_z.Load(_sdf, "velocityZ");
+
+  // Get inertia and mass of quadrotor body
+  inertia = link->GetInertial()->GetPrincipalMoments();
+  mass = link->GetInertial()->GetMass();
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+  ros::NodeHandle param_handle(*node_handle_, "controller");
+
+  // subscribe command
+  param_handle.getParam("velocity_topic", velocity_topic_);
+  if (!velocity_topic_.empty())
+  {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<geometry_msgs::Twist>(
+      velocity_topic_, 1,
+      boost::bind(&GazeboQuadrotorSimpleController::VelocityCallback, this, _1),
+      ros::VoidPtr(), &callback_queue_);
+    velocity_subscriber_ = node_handle_->subscribe(ops);
+  }
+
+  // subscribe imu
+  param_handle.getParam("imu_topic", imu_topic_);
+  if (!imu_topic_.empty())
+  {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Imu>(
+      imu_topic_, 1,
+      boost::bind(&GazeboQuadrotorSimpleController::ImuCallback, this, _1),
+      ros::VoidPtr(), &callback_queue_);
+    imu_subscriber_ = node_handle_->subscribe(ops);
+
+    ROS_INFO_NAMED("quadrotor_simple_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str());
+  }
+
+  // subscribe state
+  param_handle.getParam("state_topic", state_topic_);
+  if (!state_topic_.empty())
+  {
+    ros::SubscribeOptions ops = ros::SubscribeOptions::create<nav_msgs::Odometry>(
+      state_topic_, 1,
+      boost::bind(&GazeboQuadrotorSimpleController::StateCallback, this, _1),
+      ros::VoidPtr(), &callback_queue_);
+    state_subscriber_ = node_handle_->subscribe(ops);
+
+    ROS_INFO_NAMED("quadrotor_simple_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str());
+  }
+
+  // advertise wrench
+  param_handle.getParam("wrench_topic", wrench_topic_);
+  if (!wrench_topic_.empty())
+  {
+    ros::AdvertiseOptions ops = ros::AdvertiseOptions::create<geometry_msgs::Wrench>(
+      wrench_topic_, 10,
+      ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), ros::VoidConstPtr(), &callback_queue_
+    );
+    wrench_publisher_ = node_handle_->advertise(ops);
+  }
+
+  // engage/shutdown service servers
+  {
+    ros::AdvertiseServiceOptions ops = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
+      "engage", boost::bind(&GazeboQuadrotorSimpleController::EngageCallback, this, _1, _2),
+      ros::VoidConstPtr(), &callback_queue_
+    );
+    engage_service_server_ = node_handle_->advertiseService(ops);
+
+    ops = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
+      "shutdown", boost::bind(&GazeboQuadrotorSimpleController::ShutdownCallback, this, _1, _2),
+      ros::VoidConstPtr(), &callback_queue_
+    );
+    shutdown_service_server_ = node_handle_->advertiseService(ops);
+  }
+
+  // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorSimpleController::CallbackQueueThread,this ) );
+
+
+  Reset();
+
+  // New Mechanism for Updating every World Cycle
+  // Listen to the update event. This event is broadcast every
+  // simulation iteration.
+  controlTimer.Load(world, _sdf);
+  updateConnection = event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&GazeboQuadrotorSimpleController::Update, this));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Callbacks
+void GazeboQuadrotorSimpleController::VelocityCallback(const geometry_msgs::TwistConstPtr& velocity)
+{
+  velocity_command_ = *velocity;
+}
+
+void GazeboQuadrotorSimpleController::ImuCallback(const sensor_msgs::ImuConstPtr& imu)
+{
+  pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z);
+  euler = pose.rot.GetAsEuler();
+  angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z));
+}
+
+void GazeboQuadrotorSimpleController::StateCallback(const nav_msgs::OdometryConstPtr& state)
+{
+  math::Vector3 velocity1(velocity);
+
+  if (imu_topic_.empty()) {
+    pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z);
+    pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z);
+    euler = pose.rot.GetAsEuler();
+    angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z);
+  }
+
+  velocity.Set(state->twist.twist.linear.x, state->twist.twist.linear.y, state->twist.twist.linear.z);
+
+  // calculate acceleration
+  double dt = !state_stamp.isZero() ? (state->header.stamp - state_stamp).toSec() : 0.0;
+  state_stamp = state->header.stamp;
+  if (dt > 0.0) {
+    acceleration = (velocity - velocity1) / dt;
+  } else {
+    acceleration.Set();
+  }
+}
+
+bool GazeboQuadrotorSimpleController::EngageCallback(std_srvs::Empty::Request &, std_srvs::Empty::Response &)
+{
+  ROS_INFO_NAMED("quadrotor_simple_controller", "Engaging motors!");
+  running_ = true;
+  return true;
+}
+
+bool GazeboQuadrotorSimpleController::ShutdownCallback(std_srvs::Empty::Request &, std_srvs::Empty::Response &)
+{
+  ROS_INFO_NAMED("quadrotor_simple_controller", "Shutting down motors!");
+  running_ = false;
+  return true;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboQuadrotorSimpleController::Update()
+{
+  // Get new commands/state
+  callback_queue_.callAvailable();
+
+  double dt;
+  if (controlTimer.update(dt) && dt > 0.0) {
+    // Get Pose/Orientation from Gazebo (if no state subscriber is active)
+    if (imu_topic_.empty()) {
+      pose = link->GetWorldPose();
+      angular_velocity = link->GetWorldAngularVel();
+      euler = pose.rot.GetAsEuler();
+    }
+    if (state_topic_.empty()) {
+      acceleration = (link->GetWorldLinearVel() - velocity) / dt;
+      velocity = link->GetWorldLinearVel();
+    }
+
+    // Auto engage/shutdown
+    if (auto_engage_) {
+      if (!running_ && velocity_command_.linear.z > 0.1) {
+        running_ = true;
+        ROS_INFO_NAMED("quadrotor_simple_controller", "Engaging motors!");
+      } else if (running_ && controllers_.velocity_z.i < -1.0 && velocity_command_.linear.z < -0.1 && (velocity.z > -0.1 && velocity.z < 0.1)) {
+        running_ = false;
+        ROS_INFO_NAMED("quadrotor_simple_controller", "Shutting down motors!");
+      }
+    }
+
+  //  static Time lastDebug;
+  //  if ((world->GetSimTime() - lastDebug).Double() > 0.5) {
+  //    ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Velocity:         gazebo = [" << link->GetWorldLinearVel()   << "], state = [" << velocity << "]");
+  //    ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Acceleration:     gazebo = [" << link->GetWorldLinearAccel() << "], state = [" << acceleration << "]");
+  //    ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Angular Velocity: gazebo = [" << link->GetWorldAngularVel() << "], state = [" << angular_velocity << "]");
+  //    lastDebug = world->GetSimTime();
+  //  }
+
+    // Get gravity
+    math::Vector3 gravity_body = pose.rot.RotateVector(world->GetPhysicsEngine()->GetGravity());
+    double gravity = gravity_body.GetLength();
+    double load_factor = gravity * gravity / world->GetPhysicsEngine()->GetGravity().Dot(gravity_body);  // Get gravity
+
+    // Rotate vectors to coordinate frames relevant for control
+    math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2));
+    math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity);
+    math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration);
+    math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity);
+
+    // update controllers
+    force.Set(0.0, 0.0, 0.0);
+    torque.Set(0.0, 0.0, 0.0);
+    if (running_) {
+      double pitch_command =  controllers_.velocity_x.update(velocity_command_.linear.x, velocity_xy.x, acceleration_xy.x, dt) / gravity;
+      double roll_command  = -controllers_.velocity_y.update(velocity_command_.linear.y, velocity_xy.y, acceleration_xy.y, dt) / gravity;
+      torque.x = inertia.x *  controllers_.roll.update(roll_command, euler.x, angular_velocity_body.x, dt);
+      torque.y = inertia.y *  controllers_.pitch.update(pitch_command, euler.y, angular_velocity_body.y, dt);
+      // torque.x = inertia.x *  controllers_.roll.update(-velocity_command_.linear.y/gravity, euler.x, angular_velocity_body.x, dt);
+      // torque.y = inertia.y *  controllers_.pitch.update(velocity_command_.linear.x/gravity, euler.y, angular_velocity_body.y, dt);
+      torque.z = inertia.z *  controllers_.yaw.update(velocity_command_.angular.z, angular_velocity.z, 0, dt);
+      force.z  = mass      * (controllers_.velocity_z.update(velocity_command_.linear.z,  velocity.z, acceleration.z, dt) + load_factor * gravity);
+      if (max_force_ > 0.0 && force.z > max_force_) force.z = max_force_;
+      if (force.z < 0.0) force.z = 0.0;
+
+    } else {
+      controllers_.roll.reset();
+      controllers_.pitch.reset();
+      controllers_.yaw.reset();
+      controllers_.velocity_x.reset();
+      controllers_.velocity_y.reset();
+      controllers_.velocity_z.reset();
+    }
+
+  //  static double lastDebugOutput = 0.0;
+  //  if (last_time.Double() - lastDebugOutput > 0.1) {
+  //    ROS_DEBUG_NAMED("quadrotor_simple_controller", "Velocity = [%g %g %g], Acceleration = [%g %g %g]", velocity.x, velocity.y, velocity.z, acceleration.x, acceleration.y, acceleration.z);
+  //    ROS_DEBUG_NAMED("quadrotor_simple_controller", "Command: linear = [%g %g %g], angular = [%g %g %g], roll/pitch = [%g %g]", velocity_command_.linear.x, velocity_command_.linear.y, velocity_command_.linear.z, velocity_command_.angular.x*180/M_PI, velocity_command_.angular.y*180/M_PI, velocity_command_.angular.z*180/M_PI, roll_command*180/M_PI, pitch_command*180/M_PI);
+  //    ROS_DEBUG_NAMED("quadrotor_simple_controller", "Mass: %g kg, Inertia: [%g %g %g], Load: %g g", mass, inertia.x, inertia.y, inertia.z, load_factor);
+  //    ROS_DEBUG_NAMED("quadrotor_simple_controller", "Force: [%g %g %g], Torque: [%g %g %g]", force.x, force.y, force.z, torque.x, torque.y, torque.z);
+  //    lastDebugOutput = last_time.Double();
+  //  }
+
+    // Publish wrench
+    if (wrench_publisher_) {
+      geometry_msgs::Wrench wrench;
+      wrench.force.x = force.x;
+      wrench.force.y = force.y;
+      wrench.force.z = force.z;
+      wrench.torque.x = torque.x;
+      wrench.torque.y = torque.y;
+      wrench.torque.z = torque.z;
+      wrench_publisher_.publish(wrench);
+    }
+  }
+
+  // set force and torque in gazebo
+  link->AddRelativeForce(force);
+  link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Reset the controller
+void GazeboQuadrotorSimpleController::Reset()
+{
+  controllers_.roll.reset();
+  controllers_.pitch.reset();
+  controllers_.yaw.reset();
+  controllers_.velocity_x.reset();
+  controllers_.velocity_y.reset();
+  controllers_.velocity_z.reset();
+
+  force.Set();
+  torque.Set();
+
+  // reset state
+  pose.Reset();
+  velocity.Set();
+  angular_velocity.Set();
+  acceleration.Set();
+  euler.Set();
+  state_stamp = ros::Time();
+
+  running_ = false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// PID controller implementation
+GazeboQuadrotorSimpleController::PIDController::PIDController()
+{
+}
+
+GazeboQuadrotorSimpleController::PIDController::~PIDController()
+{
+}
+
+void GazeboQuadrotorSimpleController::PIDController::Load(sdf::ElementPtr _sdf, const std::string& prefix)
+{
+  gain_p = 0.0;
+  gain_d = 0.0;
+  gain_i = 0.0;
+  time_constant = 0.0;
+  limit = -1.0;
+
+  if (!_sdf) return;
+  // _sdf->PrintDescription(_sdf->GetName());
+  if (_sdf->HasElement(prefix + "ProportionalGain")) gain_p = _sdf->GetElement(prefix + "ProportionalGain")->Get<double>();
+  if (_sdf->HasElement(prefix + "DifferentialGain")) gain_d = _sdf->GetElement(prefix + "DifferentialGain")->Get<double>();
+  if (_sdf->HasElement(prefix + "IntegralGain"))     gain_i = _sdf->GetElement(prefix + "IntegralGain")->Get<double>();
+  if (_sdf->HasElement(prefix + "TimeConstant"))     time_constant = _sdf->GetElement(prefix + "TimeConstant")->Get<double>();
+  if (_sdf->HasElement(prefix + "Limit"))            limit = _sdf->GetElement(prefix + "Limit")->Get<double>();
+}
+
+double GazeboQuadrotorSimpleController::PIDController::update(double new_input, double x, double dx, double dt)
+{
+  // limit command
+  if (limit > 0.0 && fabs(new_input) > limit) new_input = (new_input < 0 ? -1.0 : 1.0) * limit;
+
+  // filter command
+  if (dt + time_constant > 0.0) {
+    dinput = (new_input - input) / (dt + time_constant);
+    input  = (dt * new_input + time_constant * input) / (dt + time_constant);
+  }
+
+  // update proportional, differential and integral errors
+  p = input - x;
+  d = dinput - dx;
+  i = i + dt * p;
+
+  // update control output
+  output = gain_p * p + gain_d * d + gain_i * i;
+  return output;
+}
+
+void GazeboQuadrotorSimpleController::PIDController::reset()
+{
+  input = dinput = 0;
+  p = i = d = output = 0;
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorSimpleController)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp
new file mode 100644
index 0000000..f6ed76c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp	
@@ -0,0 +1,160 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h>
+#include <gazebo/common/Events.hh>
+#include <gazebo/physics/physics.hh>
+
+static const double DEFAULT_ELEVATION = 0.0;
+static const double DEFAULT_QNH       = 1013.25;
+
+namespace gazebo {
+
+GazeboRosBaro::GazeboRosBaro()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+GazeboRosBaro::~GazeboRosBaro()
+{
+  updateTimer.Disconnect(updateConnection);
+
+  dynamic_reconfigure_server_.reset();
+
+  node_handle_->shutdown();
+  delete node_handle_;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  world = _model->GetWorld();
+  link = _model->GetLink();
+  link_name_ = link->GetName();
+
+  if (_sdf->HasElement("bodyName"))
+  {
+    link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
+    link = _model->GetLink(link_name_);
+  }
+
+  if (!link)
+  {
+    ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
+    return;
+  }
+
+  // default parameters
+  namespace_.clear();
+  frame_id_ = link->GetName();
+  height_topic_ = "pressure_height";
+  altimeter_topic_ = "altimeter";
+  elevation_ = DEFAULT_ELEVATION;
+  qnh_ = DEFAULT_QNH;
+
+  // load parameters
+  if (_sdf->HasElement("robotNamespace"))     namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
+  if (_sdf->HasElement("frameId"))            frame_id_ = _sdf->GetElement("frameId")->Get<std::string>();
+  if (_sdf->HasElement("topicName"))          height_topic_ = _sdf->GetElement("topicName")->Get<std::string>();
+  if (_sdf->HasElement("altimeterTopicName")) altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->Get<std::string>();
+  if (_sdf->HasElement("elevation"))          elevation_ = _sdf->GetElement("elevation")->Get<double>();
+  if (_sdf->HasElement("qnh"))                qnh_ = _sdf->GetElement("qnh")->Get<double>();
+
+  // load sensor model
+  sensor_model_.Load(_sdf);
+
+  height_.header.frame_id = frame_id_;
+
+  // Make sure the ROS node for Gazebo has already been initialized
+  if (!ros::isInitialized())
+  {
+    ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
+      << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+    return;
+  }
+
+  node_handle_ = new ros::NodeHandle(namespace_);
+
+  // advertise height
+  if (!height_topic_.empty()) {
+    height_publisher_ = node_handle_->advertise<geometry_msgs::PointStamped>(height_topic_, 10);
+  }
+
+  // advertise altimeter
+  if (!altimeter_topic_.empty()) {
+    altimeter_publisher_ = node_handle_->advertise<hector_uav_msgs::Altimeter>(altimeter_topic_, 10);
+  }
+
+  // setup dynamic_reconfigure server
+  dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, altimeter_topic_)));
+  dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel::dynamicReconfigureCallback, &sensor_model_, _1, _2));
+
+  Reset();
+
+  // connect Update function
+  updateTimer.Load(world, _sdf);
+  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosBaro::Update, this));
+}
+
+void GazeboRosBaro::Reset()
+{
+  updateTimer.Reset();
+  sensor_model_.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void GazeboRosBaro::Update()
+{
+  common::Time sim_time = world->GetSimTime();
+  double dt = updateTimer.getTimeSinceLastUpdate().Double();
+
+  math::Pose pose = link->GetWorldPose();
+  double height = sensor_model_(pose.pos.z, dt);
+
+  if (height_publisher_) {
+    height_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec);
+    height_.point.z = height;
+    height_publisher_.publish(height_);
+  }
+
+  if (altimeter_publisher_) {
+    altimeter_.header = height_.header;
+    altimeter_.altitude = height + elevation_;
+    altimeter_.pressure = pow((1.0 - altimeter_.altitude / 44330.0), 5.263157) * qnh_;
+    altimeter_.qnh = qnh_;
+    altimeter_publisher_.publish(altimeter_);
+  }
+}
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosBaro)
+
+} // namespace gazebo
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/.gitignore b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/.gitignore
new file mode 100644
index 0000000..ffe2a80
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/.gitignore	
@@ -0,0 +1 @@
+matlab/codegen/
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CHANGELOG.rst
new file mode 100644
index 0000000..a4b55c0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CHANGELOG.rst	
@@ -0,0 +1,48 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_model
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+* make models more robust against irregular input values
+  Especially on collisions with walls and obstacles Gazebo can output very high
+  velocity values for some reason, which caused the propulsion and aerodynamic
+  models to output infinite values or NaN as resulting forces and torques, with
+  the consequence that Gazebo effectively stopped simulation and showed the quadrotor
+  at the origin of the world frame.
+  With this patch the simulation is much more stable in case of collisions or
+  hard landings.
+* disabled quadratic term (CT2s) in propeller speed to performance factor J
+  Because of this term the model output a non-zero thrust even if the propeller speed was zero.
+  The quadratic term is due to drag and therefore covered in the aerodynamics model.
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-09-01)
+------------------
+* fixed target_link_libraries() line for the quadrotor_aerodynamics library
+* fixed missing cmake commands to link with boost and roscpp
+* always use newest available motor command in propulsion plugin
+* added cmake_modules dependency
+* Contributors: Johannes Meyer, Rasit Eskicioglu
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* fixed copy&paste error in quadrotor_aerodynamics.cpp
+* output drag forces in body coordinate system and added orientation input
+* fixed configuration namespace and plugin cleanup
+* added boolean return value for configure() methods
+* accept hector_uav_msgs/MotorCommand messages directly for the propulsion model/plugin
+* copied generated C code within the cpp classes to not require Matlab for compilation
+* fixed sign of aerodynamic forces
+* use precompiled codegen libraries if available
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CMakeLists.txt
new file mode 100644
index 0000000..a5cab85
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/CMakeLists.txt	
@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_model)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS geometry_msgs hector_uav_msgs roscpp cmake_modules)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS thread)
+include_directories(${Boost_INCLUDE_DIRS})
+
+find_package(Eigen REQUIRED)
+include_directories(${EIGEN_INCLUDE_DIRS})
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES hector_quadrotor_propulsion hector_quadrotor_aerodynamics
+    CATKIN_DEPENDS geometry_msgs hector_uav_msgs roscpp
+    DEPENDS Boost
+)
+
+###########
+## Build ##
+###########
+
+add_library(hector_quadrotor_propulsion src/quadrotor_propulsion.cpp)
+add_dependencies(hector_quadrotor_propulsion hector_uav_msgs_generate_messages_cpp)
+target_link_libraries(hector_quadrotor_propulsion ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+#target_link_libraries(hector_quadrotor_propulsion quadrotorPropulsion)
+
+add_library(hector_quadrotor_aerodynamics src/quadrotor_aerodynamics.cpp)
+target_link_libraries(hector_quadrotor_aerodynamics ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+#target_link_libraries(hector_quadrotor_aerodynamics quadrotorDrag)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+install(
+  TARGETS hector_quadrotor_propulsion hector_quadrotor_aerodynamics
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY param DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/helpers.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/helpers.h
new file mode 100644
index 0000000..bc817ee
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/helpers.h	
@@ -0,0 +1,177 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_MODEL_HELPERS_H
+#define HECTOR_QUADROTOR_MODEL_HELPERS_H
+
+#include <geometry_msgs/Wrench.h>
+#include <boost/range/iterator_range.hpp>
+
+namespace hector_quadrotor_model
+{
+
+template <typename T> int isnan(const T& value) {
+  return std::isnan(value);
+}
+
+template <typename T, std::size_t N> int isnan(const boost::array<T,N>& array) {
+  for(typename boost::array<T,N>::const_iterator it = array.begin(); it != array.end(); ++it)
+    if (std::isnan(*it)) return std::isnan(*it);
+  return false;
+}
+
+template <typename IteratorT> int isnan(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
+  for(IteratorT it = range.begin(); it != range.end(); ++it)
+    if (std::isnan(*it)) return std::isnan(*it);
+  return false;
+}
+
+template <typename T> int isinf(const T& value) {
+  return std::isinf(value);
+}
+
+template <typename T, std::size_t N> int isinf(const boost::array<T,N>& array) {
+  for(typename boost::array<T,N>::const_iterator it = array.begin(); it != array.end(); ++it)
+    if (std::isinf(*it)) return std::isinf(*it);
+  return false;
+}
+
+template <typename IteratorT> int isinf(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
+  for(IteratorT it = range.begin(); it != range.end(); ++it)
+    if (std::isinf(*it)) return std::isinf(*it);
+  return false;
+}
+
+template <typename T> void limit(T& value, const T& min, const T& max) {
+  if (!isnan(min) && value < min) value = min;
+  if (!isnan(max) && value > max) value = max;
+}
+
+template <typename T, std::size_t N> void limit(boost::array<T,N>& array, const T& min, const T& max) {
+  for(typename boost::array<T,N>::iterator it = array.begin(); it != array.end(); ++it)
+    limit(*it, min, max);
+}
+
+template <typename IteratorT> void limit(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
+  for(IteratorT it = range.begin(); it != range.end(); ++it)
+    limit(*it, min, max);
+}
+
+template <typename T> static inline void checknan(T& value, const std::string& text = "") {
+  if (isnan(value)) {
+#ifndef NDEBUG
+    if (!text.empty()) std::cerr << text << " contains **!?* Nan values!" << std::endl;
+#endif
+    value = T();
+    return;
+  }
+
+  if (isinf(value)) {
+#ifndef NDEBUG
+    if (!text.empty()) std::cerr << text << " is +-Inf!" << std::endl;
+#endif
+    value = T();
+    return;
+  }
+}
+
+template <typename Message, typename Vector> static inline void toVector(const Message& msg, Vector& vector)
+{
+  vector.x = msg.x;
+  vector.y = msg.y;
+  vector.z = msg.z;
+}
+
+template <typename Message, typename Vector> static inline void fromVector(const Vector& vector, Message& msg)
+{
+  msg.x = vector.x;
+  msg.y = vector.y;
+  msg.z = vector.z;
+}
+
+template <typename Message, typename Quaternion> static inline void toQuaternion(const Message& msg, Quaternion& vector)
+{
+  vector.w = msg.w;
+  vector.x = msg.x;
+  vector.y = msg.y;
+  vector.z = msg.z;
+}
+
+template <typename Message, typename Quaternion> static inline void fromQuaternion(const Quaternion& vector, Message& msg)
+{
+  msg.w = vector.w;
+  msg.x = vector.x;
+  msg.y = vector.y;
+  msg.z = vector.z;
+}
+
+static inline geometry_msgs::Vector3 operator+(const geometry_msgs::Vector3& a, const geometry_msgs::Vector3& b)
+{
+  geometry_msgs::Vector3 result;
+  result.x = a.x + b.x;
+  result.y = a.y + b.y;
+  result.z = a.z + b.z;
+  return result;
+}
+
+static inline geometry_msgs::Wrench operator+(const geometry_msgs::Wrench& a, const geometry_msgs::Wrench& b)
+{
+  geometry_msgs::Wrench result;
+  result.force = a.force + b.force;
+  result.torque = a.torque + b.torque;
+  return result;
+}
+
+template<typename T>
+class PrintVector {
+public:
+  typedef const T* const_iterator;
+  PrintVector(const_iterator begin, const_iterator end, const std::string &delimiter = "[ ]") : begin_(begin), end_(end), delimiter_(delimiter) {}
+  const_iterator begin() const { return begin_; }
+  const_iterator end() const { return end_; }
+  std::size_t size() const { return end_ - begin_; }
+
+  std::ostream& operator>>(std::ostream& os) const {
+    if (!delimiter_.empty()) os << delimiter_.substr(0, delimiter_.size() - 1);
+    for(const_iterator it = begin(); it != end(); ++it) {
+      if (it != begin()) os << " ";
+      os << *it;
+    }
+    if (!delimiter_.empty()) os << delimiter_.substr(1, delimiter_.size() - 1);
+    return os;
+  }
+
+private:
+  const_iterator begin_, end_;
+  std::string delimiter_;
+};
+template <typename T> std::ostream &operator<<(std::ostream& os, const PrintVector<T>& vector) { return vector >> os; }
+
+}
+
+#endif // HECTOR_QUADROTOR_MODEL_HELPERS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_aerodynamics.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_aerodynamics.h
new file mode 100644
index 0000000..0ad8d18
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_aerodynamics.h	
@@ -0,0 +1,77 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
+#define HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
+
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/Twist.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Wrench.h>
+
+#include <ros/node_handle.h>
+
+#include <boost/thread/mutex.hpp>
+
+namespace hector_quadrotor_model
+{
+
+class QuadrotorAerodynamics {
+public:
+  QuadrotorAerodynamics();
+  ~QuadrotorAerodynamics();
+
+  bool configure(const ros::NodeHandle &param = ros::NodeHandle("~"));
+  void reset();
+  void update(double dt);
+
+  void setOrientation(const geometry_msgs::Quaternion& orientation);
+  void setTwist(const geometry_msgs::Twist& twist);
+  void setBodyTwist(const geometry_msgs::Twist& twist);
+  void setWind(const geometry_msgs::Vector3& wind);
+
+  const geometry_msgs::Wrench& getWrench() const { return wrench_; }
+
+  void f(const double uin[6], double dt, double y[6]) const;
+
+private:
+  geometry_msgs::Quaternion orientation_;
+  geometry_msgs::Twist twist_;
+  geometry_msgs::Vector3 wind_;
+
+  geometry_msgs::Wrench wrench_;
+
+  boost::mutex mutex_;
+
+  class DragModel;
+  DragModel *drag_model_;
+};
+
+}
+
+#endif // HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_propulsion.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_propulsion.h
new file mode 100644
index 0000000..d103847
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/include/hector_quadrotor_model/quadrotor_propulsion.h	
@@ -0,0 +1,99 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_MODEL_QUADROTOR_PROPULSION_H
+#define HECTOR_QUADROTOR_MODEL_QUADROTOR_PROPULSION_H
+
+#include <hector_uav_msgs/Supply.h>
+#include <hector_uav_msgs/MotorStatus.h>
+#include <hector_uav_msgs/MotorCommand.h>
+#include <hector_uav_msgs/MotorPWM.h>
+#include <geometry_msgs/Twist.h>
+#include <geometry_msgs/Wrench.h>
+
+#include <ros/forwards.h>
+#include <ros/node_handle.h>
+#include <ros/time.h>
+
+#include <queue>
+
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/condition.hpp>
+
+namespace hector_quadrotor_model
+{
+
+class QuadrotorPropulsion
+{
+public:
+  QuadrotorPropulsion();
+  ~QuadrotorPropulsion();
+
+  bool configure(const ros::NodeHandle &param = ros::NodeHandle("~"));
+  void reset();
+  void update(double dt);
+
+  void engage();
+  void shutdown();
+
+  void setTwist(const geometry_msgs::Twist& twist);
+  void setVoltage(const hector_uav_msgs::MotorPWM& command);
+
+  const geometry_msgs::Wrench& getWrench() const { return wrench_; }
+  const hector_uav_msgs::Supply& getSupply() const { return supply_; }
+  const hector_uav_msgs::MotorStatus& getMotorStatus() const { return motor_status_; }
+
+  void addCommandToQueue(const hector_uav_msgs::MotorCommandConstPtr& command);
+  void addPWMToQueue(const hector_uav_msgs::MotorPWMConstPtr& pwm);
+  bool processQueue(const ros::Time& timestamp, const ros::Duration& tolerance = ros::Duration(), const ros::Duration& delay = ros::Duration(), const ros::WallDuration &wait = ros::WallDuration(), ros::CallbackQueue *callback_queue = 0);
+
+  void f(const double xin[4], const double uin[10], double dt, double y[14], double xpred[4]) const;
+
+  void setInitialSupplyVoltage(double voltage) { initial_voltage_ = voltage; }
+
+private:
+  geometry_msgs::Wrench wrench_;
+  hector_uav_msgs::Supply supply_;
+  hector_uav_msgs::MotorStatus motor_status_;
+  ros::Time last_command_time_;
+
+  double initial_voltage_;
+
+  std::queue<hector_uav_msgs::MotorPWMConstPtr> command_queue_;
+  boost::mutex command_queue_mutex_;
+  boost::condition command_condition_;
+
+  boost::mutex mutex_;
+
+  class PropulsionModel;
+  PropulsionModel *propulsion_model_;
+};
+
+}
+
+#endif // HECTOR_QUADROTOR_MODEL_QUADROTOR_PROPULSION_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/CMakeLists.txt
new file mode 100644
index 0000000..b2a0b47
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/CMakeLists.txt	
@@ -0,0 +1,60 @@
+find_program(MATLAB NAMES matlab)
+
+if(MATLAB)
+  message(STATUS "Using Matlab at ${MATLAB}")
+  file(GLOB MFILES "*.m")
+
+  include_directories(codegen/lib)
+
+  add_custom_command(
+    OUTPUT codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a codegen/lib/quadrotorDrag/quadrotorDrag.a
+    COMMAND ${MATLAB} -nojvm -nodesktop -nosplash -r "compile_all; quit;"
+    DEPENDS ${MFILES}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    VERBATIM
+  )
+
+#  add_library(quadrotorPropulsion STATIC IMPORTED GLOBAL)
+#  set_target_properties(quadrotorPropulsion PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a)
+
+  # workaround for cmake <2.8.8
+  add_library(quadrotorPropulsion STATIC dummy.c)
+  target_link_libraries(quadrotorPropulsion ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a)
+
+#  add_library(quadrotorDrag STATIC IMPORTED GLOBAL)
+#  set_target_properties(quadrotorDrag PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorDrag/quadrotorDrag.a)
+
+  # workaround for cmake <2.8.8
+  add_library(quadrotorDrag STATIC dummy.c)
+  target_link_libraries(quadrotorDrag ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorDrag/quadrotorDrag.a)
+
+else()
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a)
+    message(STATUS "Found precompiled hector_quadrotor propulsion model.")
+
+#    add_library(quadrotorPropulsion STATIC IMPORTED GLOBAL)
+#    set_target_properties(quadrotorPropulsion PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a)
+
+    # workaround for cmake <2.8.8
+    add_library(quadrotorPropulsion STATIC dummy.c)
+    target_link_libraries(quadrotorPropulsion ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a)
+
+  endif()
+
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorDrag/quadrotorDrag.a)
+    message(STATUS "Found precompiled hector_quadrotor drag model.")
+
+#    add_library(quadrotorDrag STATIC IMPORTED GLOBAL)
+#    set_target_properties(quadrotorDrag PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorDrag/quadrotorDrag.a)
+
+    # workaround for cmake <2.8.8
+    add_library(quadrotorDrag STATIC dummy.c)
+    target_link_libraries(quadrotorDrag ${CMAKE_CURRENT_SOURCE_DIR}/codegen/lib/quadrotorDrag/quadrotorDrag.a)
+  endif()
+
+  if(NOT TARGET quadrotorPropulsion OR NOT TARGET quadrotorDrag)
+    message(WARNING "Matlab not found. Cannot build hector_quadrotor_model libraries.")
+  endif()
+endif(MATLAB)
+
+set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_CURRENT_SOURCE_DIR}/codegen)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/compile_all.m b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/compile_all.m
new file mode 100644
index 0000000..c771b06
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/compile_all.m	
@@ -0,0 +1,8 @@
+rtw_config = coder.config('LIB');
+rtw_config.TargetLang = 'C';
+rtw_config.CodeReplacementLibrary = 'C89/C90 (ANSI)';
+rtw_config.CCompilerOptimization = 'On';
+
+codegen -config rtw_config -v quadrotorPropulsion motorspeed -o quadrotorPropulsion
+codegen -config rtw_config -v quadrotorDrag -o quadrotorDrag
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/dummy.c b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/dummy.c
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/dummy.c	
@@ -0,0 +1 @@
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/motorspeed.m b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/motorspeed.m
new file mode 100644
index 0000000..2bc3f66
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/motorspeed.m	
@@ -0,0 +1,71 @@
+function [M_e,I,xpred] = motorspeed(xin, uin, parameter, dt)
+%#eml
+
+assert(isa(xin,'double'));
+assert(all(size(xin) == 1));
+
+assert(isa(uin,'double'));
+assert(all(size(uin) == [2 1]));
+
+assert(isa(parameter,'struct'));
+assert(isa(parameter.k_m,'double'));
+assert(isa(parameter.k_t,'double'));
+
+assert(isa(parameter.CT2s,'double'));
+assert(isa(parameter.CT1s,'double'));
+assert(isa(parameter.CT0s,'double'));
+
+assert(isa(parameter.Psi,'double'));
+assert(isa(parameter.J_M,'double'));
+assert(isa(parameter.R_A,'double'));
+
+assert(isa(parameter.alpha_m,'double'));
+assert(isa(parameter.beta_m,'double'));
+
+assert(isa(parameter.l_m,'double'));
+
+assert(isa(dt,'double'));
+assert(all(size(dt) == 1));
+
+eml.cstructname(parameter,'PropulsionParameters');
+
+% Identification of Roxxy2827-34 motor with 10x4.5 propeller
+Psi     =  parameter.Psi;
+J_M     =  parameter.J_M;
+R_A     =  parameter.R_A;
+k_m     = parameter.k_m;
+k_t     = parameter.k_t;
+alpha_m = parameter.alpha_m;
+beta_m  = parameter.beta_m;
+
+% temporarily used Expressions
+U       = uin(1);
+F_m     = uin(2);
+omega_m = xin(1);
+
+M_m   = k_t*F_m + k_m*omega_m;
+
+temp  = (U*beta_m-Psi*omega_m)./(2*R_A);
+I     = temp + sqrt(temp.^2 + (U*alpha_m./R_A));
+M_e   = Psi*I;                  % electrical torque motor 1-4
+
+% new version
+fx   = 1/J_M.*(M_e - M_m);
+
+% old version
+% fx   = (Psi/R_A*(U-Psi*omega_m) - M_m)/J_M;
+% A    = -(Psi^2/R_A)/J_M;
+% B(1) =  Psi/(J_M*R_A);
+% B(2) = -1/J_M;
+
+% system outputs. Use euler solver to predict next time step
+% predicted motor speed
+xpred   = xin + dt*fx;
+% electric torque
+%y = [M_e I];
+
+% system jacobian
+% A       = 1 + dt*A;
+% input jacobian
+% B       = A*B*dt;
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/parameter_QK_propulsion.m b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/parameter_QK_propulsion.m
new file mode 100644
index 0000000..fbb1e87
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/parameter_QK_propulsion.m	
@@ -0,0 +1,56 @@
+% init-file for quadrotor
+rho     = 1.225;                                                    % [kg/mł]   Dichte der Luft
+g       = 9.81;                                                     % [m/s˛]    Erdbeschleunigung
+w_e     = 7.2921151467e-5;                                          % [rad/s]   Erddrehrate
+c_w     = 0.9228*2/3;                                               % [1]       Widerstandsbeiwert bei translatorischer Bewegung
+c_M     = 0.9228*4/5;                                               % [1]       Widerstandsbeiwert bei rotatorischer Bewegung
+R_p     = 0.1269;                                                   % [m]       Rotorradius
+A_xy    = 2*0.023*0.2 + .11*0.12;                                   % [m˛]      Fläche in x-/y-Achse
+A_z     = 4*0.023*0.2 + .12^2 + 0*R_p^2*pi*4;                       % [m˛]      Fläche in z-Achse, ohne Rotoren
+l_m     = 0.275;                                                    % [m]       Abstand Motor zu Kern
+z_m     = -0.03;                                                    % [m]       z-Abstand Propeller-Schwerpunkt
+m       = 1.477;                                                    % [kg]      Gesamtmasse des Quadrokopters, ohne Cam, +40g mit Cam
+m_M     = 0.072;                                                    % [kg]      Masse Motor + Propeller 
+m_R     = 0.044;                                                    % [kg]      Masse Rohr
+m_C     = m - 4*m_M - 2*m_R;                                        % [kg]      Masse Kern
+I_x     = 2*m_M*l_m^2 + 1/12*m_C*(2*.12^2) + 1/12*m_R*(2*l_m)^2;    % [kg m˛]   Massenträgheitsmoment um x-Achse
+I_y     = I_x;                                                      % [kg m˛]   Massenträgheitsmoment um y-Achse
+I_z     = 4*m_M*l_m^2 + 1/12*m_C*(2*.12^2) + 2*1/12*m_R*(2*l_m)^2;  % [kg m˛]   Massenträgheitsmoment um z-Achse
+inertia = diag([I_x I_y I_z]);                                      % [kg m˛]   Massenträgheitstensor des Quadrokopters
+U_max   = 14.8;                                                     % [V]       Maximale Eingangsspannung für Motor
+
+% Identification of Roxxy2827-34 motor with 10x4.5 propeller
+J_M     = 2.5730480633e-5;                                           % [kgm^2]
+
+% identification from 27.11.2012 with old data, best data
+R_A     = 0.201084219222241;
+Psi     = 0.007242179827506;
+
+% new controller model: u_motor = U_in*(alpha_m/i + beta_m)
+alpha_m = 0.104863758313889;
+beta_m  = 0.549262344777900;
+
+%% Thrust T = CT*rho*pi*R^4*omega^2
+% J  = v_z_Motor*60/(UPM*2*R)       = v_z*pi/(R_p*w_M)          % Fortschrittsgrad
+% CT = CT3*J^3 + CT2*J^2 + CT1*J + CT0
+
+% witz normalized rotational speed of motor --> increased matrix condition
+CT2s = -1.3077e-2;
+CT1s = -2.5224e-4;
+CT0s = 1.5393579917e-5;  % identification from 15.11.2012
+% torque constant, i.e. Torque = k_t*Thrust
+k_t =  0.018228626171312;
+k_m = -7.011631909766668e-5;
+
+%%  Drag coefficients
+
+C_wxy   = 1/2*A_xy*rho*c_w;                                 % bezogene Widerstandsgröße udot, vdot
+C_wz    = 1/2*A_z*rho*c_w;                                  % bezogene Widerstandsgröße wdot
+C_mxy   = 1/2*A_z*rho*c_M;                                  % bezogene Widerstandsgröße pdot, qdot
+C_mz    = 1/2*A_xy*rho*c_M;                                 % bezogene Widerstandsgröße rdot
+
+%% Initial conditions
+
+F0 = m*g;
+w0 = sqrt(m*g/4/CT0s);
+U0 =  R_A/Psi*k_t*m*g/4 + Psi*w0;
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorDrag.m b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorDrag.m
new file mode 100644
index 0000000..64a66c4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorDrag.m	
@@ -0,0 +1,50 @@
+function y = quadrotorDrag(uin, parameter, dt)
+%#eml
+
+assert(isa(uin,'double'));
+assert(all(size(uin) == [6 1]));
+
+assert(isa(parameter,'struct'));
+assert(isa(parameter.C_wxy,'double'));
+assert(isa(parameter.C_wz,'double'));
+
+assert(isa(parameter.C_mxy,'double'));
+assert(isa(parameter.C_mz,'double'));
+
+
+assert(isa(dt,'double'));
+assert(all(size(dt) == 1));
+
+eml.cstructname(parameter,'DragParameters');
+
+% initialize vectors
+y     = zeros(6,1);
+
+% Input variables
+u     = uin(1);
+v     = uin(2);
+w     = uin(3);
+p     = uin(4);
+q     = uin(5);
+r     = uin(6);
+
+% Constants
+C_wxy = parameter.C_wxy;
+C_wz  = parameter.C_wz;
+C_mxy = parameter.C_mxy;
+C_mz  = parameter.C_mz;
+
+% temporarily used vector
+absoluteVelocity        = sqrt(u^2 + v^2 + w^2);
+absoluteAngularVelocity = sqrt(p^2 + q^2 + r^2);
+
+% system outputs
+% calculate drag force
+y(1) = C_wxy* absoluteVelocity*u;
+y(2) = C_wxy* absoluteVelocity*v;
+y(3) = C_wz * absoluteVelocity*w;
+
+% calculate draq torque
+y(4) = C_mxy* absoluteAngularVelocity*p;
+y(5) = C_mxy* absoluteAngularVelocity*q;
+y(6) = C_mz * absoluteAngularVelocity*r;
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorPropulsion.m b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorPropulsion.m
new file mode 100644
index 0000000..f90509d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/matlab/quadrotorPropulsion.m	
@@ -0,0 +1,98 @@
+function [y,xpred] = quadrotorPropulsion(xin, uin, parameter, dt)
+%#eml
+
+assert(isa(xin,'double'));
+assert(all(size(xin) == [4 1]));
+
+assert(isa(uin,'double'));
+assert(all(size(uin) == [10 1]));
+
+assert(isa(parameter,'struct'));
+assert(isa(parameter.k_m,'double'));
+assert(isa(parameter.k_t,'double'));
+
+assert(isa(parameter.CT2s,'double'));
+assert(isa(parameter.CT1s,'double'));
+assert(isa(parameter.CT0s,'double'));
+
+assert(isa(parameter.Psi,'double'));
+assert(isa(parameter.J_M,'double'));
+assert(isa(parameter.R_A,'double'));
+
+assert(isa(parameter.alpha_m,'double'));
+assert(isa(parameter.beta_m,'double'));
+
+assert(isa(parameter.l_m,'double'));
+
+assert(isa(dt,'double'));
+assert(all(size(dt) == 1));
+
+eml.cstructname(parameter,'PropulsionParameters');
+
+% initialize vectors
+xpred   = xin;      % motorspeed
+v_1     = zeros(4,1);
+y       = zeros(14,1);
+F_m     = zeros(4,1);
+U       = zeros(4,1);
+M_e     = zeros(4,1);
+I       = zeros(4,1);
+F       = zeros(3,1);
+
+% Input variables
+u     = uin(1);
+v     = uin(2);
+w     = uin(3);
+p     = uin(4);
+q     = uin(5);
+r     = uin(6);
+U(1)  = uin(7);
+U(2)  = uin(8);
+U(3)  = uin(9);
+U(4)  = uin(10);
+
+% Constants
+CT0s = parameter.CT0s;
+CT1s = parameter.CT1s;
+CT2s = parameter.CT2s;
+k_t  = parameter.k_t;
+l_m  = parameter.l_m;
+Psi  = parameter.Psi;
+
+v_1(1) = - w + l_m*q;
+v_1(2) = - w - l_m*p;
+v_1(3) = - w - l_m*q;
+v_1(4) = - w + l_m*p;
+
+% calculate thrust for all 4 rotors
+for i = 1:4
+    % if the flow speed at infinity is negative
+    if v_1(i) < 0
+        F_m(i) = CT2s*v_1(i).^2 + CT1s*v_1(i).*xin(i) + CT0s*xin(i).^2;
+        % if the flow speed at infinity is positive
+    else
+        F_m(i) = -CT2s*v_1(i).^2 + CT1s*v_1(i).*xin(i) + CT0s*xin(i).^2;
+    end
+    % sum up all rotor forces
+    F(3) = F(3) + F_m(i) ;
+    
+    [M_e(i),I(i),xpred(i)] = motorspeed(xin(i), [U(i) F_m(i)], parameter, dt);
+end
+
+% System output, i.e. force and torque of quadrotor
+y(1) = F(1);
+y(2) = F(2);
+y(3) = F(3);
+
+% torque for rotating quadrocopter around x-axis is the mechanical torque
+y(4) = (F_m(4)-F_m(2))*l_m;
+% torque for rotating quadrocopter around y-axis is the mechanical torque
+y(5) = (F_m(1)-F_m(3))*l_m;
+% torque for rotating quadrocopter around z-axis is the electrical torque
+y(6) = (-M_e(1)-M_e(3)+M_e(2)+M_e(4));
+
+% motor speeds (rad/s)
+y(7:10) = xpred(1:4);
+
+% motor current (A)
+y(11:14) = I(1:4); % M_e(1:4) / Psi;
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/package.xml
new file mode 100644
index 0000000..e38afd3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/package.xml	
@@ -0,0 +1,34 @@
+<package>
+  <name>hector_quadrotor_model</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_model provides libraries that model several aspects of quadrotor dynamics.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_model</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="sendobry@fsr.tu-darmstadt.de">Alexander Sendobry</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>hector_uav_msgs</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>cmake_modules</build_depend>
+  <build_depend>boost</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>boost</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/quadrotor_aerodynamics.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/quadrotor_aerodynamics.yaml
new file mode 100644
index 0000000..3c4e3cf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/quadrotor_aerodynamics.yaml	
@@ -0,0 +1,5 @@
+quadrotor_aerodynamics:
+        C_wxy: 0.12
+        C_wz: 0.1
+        C_mxy: 0.074156208000000
+        C_mz: 0.050643264000000
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1045.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1045.yaml
new file mode 100644
index 0000000..7799bcf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1045.yaml	
@@ -0,0 +1,15 @@
+quadrotor_propulsion:
+        Psi:  0.007242179827506
+        J_M: 2.573048063300000e-5
+        R_A: 0.201084219222241
+        k_t: 0.015336864714397
+        k_m: -7.011631909766668e-5
+        alpha_m: 0.104863758313889
+        beta_m: 0.549262344777900
+
+        #CT2s: -1.3077e-2
+        CT2s:  0.0
+        CT1s: -2.5224e-4
+        CT0s:  1.538190483976698e-5
+
+        l_m: 0.275
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1245.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1245.yaml
new file mode 100644
index 0000000..fd6fcc0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/param/robbe_2827-34_epp1245.yaml	
@@ -0,0 +1,12 @@
+quadrotor_propulsion:
+        Psi:  0.007242179827506
+        J_M: 4.142069415e-05
+        R_A: 0.201084219222241
+        k_t: 0.01732804081
+
+        #CT2s: -2.3491553043010e-2
+        CT2s:  0.0
+        CT1s: -4.531245193522030e-04
+        CT0s:  2.744543453e-05
+
+        l_m: 0.275
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/matlab_helpers.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/matlab_helpers.h
new file mode 100644
index 0000000..bcd0faa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/matlab_helpers.h	
@@ -0,0 +1,97 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H
+#define HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H
+
+#include <limits>
+#include <cmath>
+
+typedef double real_T;
+typedef uint32_t int32_T;
+typedef bool boolean_T;
+
+static const real_T rtInf = std::numeric_limits<real_T>::infinity();
+static inline boolean_T rtIsInf(real_T value)
+{
+  return std::isinf(value);
+}
+
+static const real_T rtNaN = std::numeric_limits<real_T>::quiet_NaN();
+static inline boolean_T rtIsNaN(real_T value)
+{
+  return std::isnan(value);
+}
+
+static real_T rt_powd_snf(real_T u0, real_T u1)
+{
+  real_T y;
+  real_T d0;
+  real_T d1;
+  if (rtIsNaN(u0) || rtIsNaN(u1)) {
+    y = rtNaN;
+  } else {
+    d0 = fabs(u0);
+    d1 = fabs(u1);
+    if (rtIsInf(u1)) {
+      if (d0 == 1.0) {
+        y = rtNaN;
+      } else if (d0 > 1.0) {
+        if (u1 > 0.0) {
+          y = rtInf;
+        } else {
+          y = 0.0;
+        }
+      } else if (u1 > 0.0) {
+        y = 0.0;
+      } else {
+        y = rtInf;
+      }
+    } else if (d1 == 0.0) {
+      y = 1.0;
+    } else if (d1 == 1.0) {
+      if (u1 > 0.0) {
+        y = u0;
+      } else {
+        y = 1.0 / u0;
+      }
+    } else if (u1 == 2.0) {
+      y = u0 * u0;
+    } else if ((u1 == 0.5) && (u0 >= 0.0)) {
+      y = sqrt(u0);
+    } else if ((u0 < 0.0) && (u1 > floor(u1))) {
+      y = rtNaN;
+    } else {
+      y = pow(u0, u1);
+    }
+  }
+
+  return y;
+}
+
+#endif // HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_aerodynamics.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_aerodynamics.cpp
new file mode 100644
index 0000000..51a71b8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_aerodynamics.cpp	
@@ -0,0 +1,254 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_model/quadrotor_aerodynamics.h>
+#include <hector_quadrotor_model/helpers.h>
+
+#include <ros/node_handle.h>
+#include <boost/array.hpp>
+
+//extern "C" {
+//  #include "quadrotorDrag/quadrotorDrag.h"
+//  #include "quadrotorDrag/quadrotorDrag_initialize.h"
+//}
+
+#include <boost/array.hpp>
+#include <Eigen/Geometry>
+
+#include "matlab_helpers.h"
+
+namespace hector_quadrotor_model {
+
+struct DragParameters
+{
+    real_T C_wxy;
+    real_T C_wz;
+    real_T C_mxy;
+    real_T C_mz;
+
+    DragParameters()
+      : C_wxy(0.0)
+      , C_wz(0.0)
+      , C_mxy(0.0)
+      , C_mz(0.0)
+    {}
+};
+
+// extern void quadrotorDrag(const real_T uin[6], const DragParameters parameter, real_T dt, real_T y[6]);
+struct QuadrotorAerodynamics::DragModel {
+  DragParameters parameters_;
+  boost::array<real_T,6> u;
+  boost::array<real_T,6> y;
+};
+
+QuadrotorAerodynamics::QuadrotorAerodynamics()
+{
+  // initialize drag model
+  // quadrotorDrag_initialize();
+  drag_model_ = new DragModel;
+}
+
+QuadrotorAerodynamics::~QuadrotorAerodynamics()
+{
+  delete drag_model_;
+}
+
+/*
+ * quadrotorDrag.c
+ *
+ * Code generation for function 'quadrotorDrag'
+ *
+ * C source code generated on: Sun Nov  3 13:34:38 2013
+ *
+ */
+
+/* Include files */
+//#include "rt_nonfinite.h"
+//#include "quadrotorDrag.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Definitions */
+void quadrotorDrag(const real_T uin[6], const DragParameters parameter, real_T
+                   dt, real_T y[6])
+{
+  int32_T i;
+  real_T absoluteVelocity;
+  real_T absoluteAngularVelocity;
+
+  /*  initialize vectors */
+  for (i = 0; i < 6; i++) {
+    y[i] = 0.0;
+  }
+
+  /*  Input variables */
+  /*  Constants */
+  /*  temporarily used vector */
+  absoluteVelocity = sqrt((rt_powd_snf(uin[0], 2.0) + rt_powd_snf(uin[1], 2.0))
+    + rt_powd_snf(uin[2], 2.0));
+  absoluteAngularVelocity = sqrt((rt_powd_snf(uin[3], 2.0) + rt_powd_snf(uin[4],
+    2.0)) + rt_powd_snf(uin[5], 2.0));
+
+  /*  system outputs */
+  /*  calculate drag force */
+  y[0] = parameter.C_wxy * absoluteVelocity * uin[0];
+  y[1] = parameter.C_wxy * absoluteVelocity * uin[1];
+  y[2] = parameter.C_wz * absoluteVelocity * uin[2];
+
+  /*  calculate draq torque */
+  y[3] = parameter.C_mxy * absoluteAngularVelocity * uin[3];
+  y[4] = parameter.C_mxy * absoluteAngularVelocity * uin[4];
+  y[5] = parameter.C_mz * absoluteAngularVelocity * uin[5];
+}
+
+/* End of code generation (quadrotorDrag.c) */
+
+inline void QuadrotorAerodynamics::f(const double uin[10], double dt, double y[14]) const
+{
+  quadrotorDrag(uin, drag_model_->parameters_, dt, y);
+}
+
+bool QuadrotorAerodynamics::configure(const ros::NodeHandle &param)
+{
+  // get model parameters
+  if (!param.getParam("C_wxy", drag_model_->parameters_.C_wxy)) return false;
+  if (!param.getParam("C_wz",  drag_model_->parameters_.C_wz)) return false;
+  if (!param.getParam("C_mxy", drag_model_->parameters_.C_mxy)) return false;
+  if (!param.getParam("C_mz",  drag_model_->parameters_.C_mz)) return false;
+
+#ifndef NDEBUG
+  std::cout << "Loaded the following quadrotor drag model parameters from namespace " << param.getNamespace() << ":" << std::endl;
+  std::cout << "C_wxy = " << drag_model_->parameters_.C_wxy << std::endl;
+  std::cout << "C_wz = "  << drag_model_->parameters_.C_wz << std::endl;
+  std::cout << "C_mxy = " << drag_model_->parameters_.C_mxy << std::endl;
+  std::cout << "C_mz = "  << drag_model_->parameters_.C_mz << std::endl;
+#endif
+
+  reset();
+  return true;
+}
+
+void QuadrotorAerodynamics::reset()
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  drag_model_->u.assign(0.0);
+  drag_model_->y.assign(0.0);
+
+  twist_ = geometry_msgs::Twist();
+  wind_ = geometry_msgs::Vector3();
+  wrench_ = geometry_msgs::Wrench();
+}
+
+void QuadrotorAerodynamics::setOrientation(const geometry_msgs::Quaternion& orientation)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  orientation_ = orientation;
+}
+
+void QuadrotorAerodynamics::setTwist(const geometry_msgs::Twist& twist)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  twist_ = twist;
+}
+
+void QuadrotorAerodynamics::setBodyTwist(const geometry_msgs::Twist& body_twist)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  Eigen::Quaterniond orientation(orientation_.w, orientation_.x, orientation_.y, orientation_.z);
+  Eigen::Matrix<double,3,3> inverse_rotation_matrix(orientation.inverse().toRotationMatrix());
+
+  Eigen::Vector3d body_linear(body_twist.linear.x, body_twist.linear.y, body_twist.linear.z);
+  Eigen::Vector3d world_linear(inverse_rotation_matrix * body_linear);
+  twist_.linear.x = world_linear.x();
+  twist_.linear.y = world_linear.y();
+  twist_.linear.z = world_linear.z();
+
+  Eigen::Vector3d body_angular(body_twist.angular.x, body_twist.angular.y, body_twist.angular.z);
+  Eigen::Vector3d world_angular(inverse_rotation_matrix * body_angular);
+  twist_.angular.x = world_angular.x();
+  twist_.angular.y = world_angular.y();
+  twist_.angular.z = world_angular.z();
+}
+
+void QuadrotorAerodynamics::setWind(const geometry_msgs::Vector3& wind)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  wind_ = wind;
+}
+
+void QuadrotorAerodynamics::update(double dt)
+{
+  if (dt <= 0.0) return;
+  boost::mutex::scoped_lock lock(mutex_);
+
+  // fill input vector u for drag model
+  drag_model_->u[0] =  (twist_.linear.x - wind_.x);
+  drag_model_->u[1] = -(twist_.linear.y - wind_.y);
+  drag_model_->u[2] = -(twist_.linear.z - wind_.z);
+  drag_model_->u[3] =  twist_.angular.x;
+  drag_model_->u[4] = -twist_.angular.y;
+  drag_model_->u[5] = -twist_.angular.z;
+
+  // We limit the input velocities to +-100. Required for numeric stability in case of collisions,
+  // where velocities returned by Gazebo can be very high.
+  limit(drag_model_->u, -100.0, 100.0);
+
+  // convert input to body coordinates
+  Eigen::Quaterniond orientation(orientation_.w, orientation_.x, orientation_.y, orientation_.z);
+  Eigen::Matrix<double,3,3> rotation_matrix(orientation.toRotationMatrix());
+  Eigen::Map<Eigen::Vector3d> linear(&(drag_model_->u[0]));
+  Eigen::Map<Eigen::Vector3d> angular(&(drag_model_->u[3]));
+  linear  = rotation_matrix * linear;
+  angular = rotation_matrix * angular;
+
+  ROS_DEBUG_STREAM_NAMED("quadrotor_aerodynamics", "aerodynamics.twist:  " << PrintVector<double>(drag_model_->u.begin(), drag_model_->u.begin() + 6));
+  checknan(drag_model_->u, "drag model input");
+
+  // update drag model
+  f(drag_model_->u.data(), dt, drag_model_->y.data());
+
+  ROS_DEBUG_STREAM_NAMED("quadrotor_aerodynamics", "aerodynamics.force:  " << PrintVector<double>(drag_model_->y.begin() + 0, drag_model_->y.begin() + 3));
+  ROS_DEBUG_STREAM_NAMED("quadrotor_aerodynamics", "aerodynamics.torque: " << PrintVector<double>(drag_model_->y.begin() + 3, drag_model_->y.begin() + 6));
+  checknan(drag_model_->y, "drag model output");
+
+  // drag_model_ gives us inverted vectors!
+  wrench_.force.x  = -( drag_model_->y[0]);
+  wrench_.force.y  = -(-drag_model_->y[1]);
+  wrench_.force.z  = -(-drag_model_->y[2]);
+  wrench_.torque.x = -( drag_model_->y[3]);
+  wrench_.torque.y = -(-drag_model_->y[4]);
+  wrench_.torque.z = -(-drag_model_->y[5]);
+}
+
+} // namespace hector_quadrotor_model
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_propulsion.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_propulsion.cpp
new file mode 100644
index 0000000..d582d0d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_model/src/quadrotor_propulsion.cpp	
@@ -0,0 +1,488 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_model/quadrotor_propulsion.h>
+#include <hector_quadrotor_model/helpers.h>
+
+#include <ros/node_handle.h>
+#include <ros/callback_queue.h>
+
+#include <boost/array.hpp>
+
+#include "matlab_helpers.h"
+
+//extern "C" {
+//  #include "quadrotorPropulsion/quadrotorPropulsion.h"
+//  #include "quadrotorPropulsion/quadrotorPropulsion_initialize.h"
+//}
+
+namespace hector_quadrotor_model {
+
+struct PropulsionParameters
+{
+    real_T k_m;
+    real_T k_t;
+    real_T CT2s;
+    real_T CT1s;
+    real_T CT0s;
+    real_T Psi;
+    real_T J_M;
+    real_T R_A;
+    real_T alpha_m;
+    real_T beta_m;
+    real_T l_m;
+
+    PropulsionParameters()
+      : k_m(0.0)
+      , k_t(0.0)
+      , CT2s(0.0)
+      , CT1s(0.0)
+      , CT0s(0.0)
+      , Psi(0.0)
+      , J_M(std::numeric_limits<real_T>::infinity())
+      , R_A(std::numeric_limits<real_T>::infinity())
+      , alpha_m(0.0)
+      , beta_m(0.0)
+      , l_m(0.0)
+    {}
+};
+
+struct QuadrotorPropulsion::PropulsionModel {
+  PropulsionParameters parameters_;
+  boost::array<real_T,4>  x;
+  boost::array<real_T,4>  x_pred;
+  boost::array<real_T,10> u;
+  boost::array<real_T,14> y;
+};
+
+QuadrotorPropulsion::QuadrotorPropulsion()
+{
+  // initialize propulsion model
+  // quadrotorPropulsion_initialize();
+  propulsion_model_ = new PropulsionModel;
+}
+
+QuadrotorPropulsion::~QuadrotorPropulsion()
+{
+  delete propulsion_model_;
+}
+
+/*
+ * quadrotorPropulsion.c
+ *
+ * Code generation for function 'quadrotorPropulsion'
+ *
+ * C source code generated on: Sun Nov  3 13:34:35 2013
+ *
+ */
+
+/* Include files */
+//#include "rt_nonfinite.h"
+//#include "motorspeed.h"
+//#include "quadrotorPropulsion.h"
+//#include "quadrotorPropulsion_rtwutil.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void quadrotorPropulsion(const real_T xin[4], const real_T uin[10], const
+  PropulsionParameters parameter, real_T dt, real_T y[14], real_T xpred[4])
+{
+  real_T v_1[4];
+  int32_T i;
+  real_T F_m[4];
+  real_T U[4];
+  real_T M_e[4];
+  real_T I[4];
+  real_T F[3];
+  real_T b_F_m;
+  real_T temp;
+  real_T d0;
+
+  /*  initialize vectors */
+  for (i = 0; i < 4; i++) {
+    xpred[i] = xin[i];
+
+    /*  motorspeed */
+    v_1[i] = 0.0;
+  }
+
+  memset(&y[0], 0, 14U * sizeof(real_T));
+  for (i = 0; i < 4; i++) {
+    F_m[i] = 0.0;
+    U[i] = 0.0;
+    M_e[i] = 0.0;
+    I[i] = 0.0;
+  }
+
+  for (i = 0; i < 3; i++) {
+    F[i] = 0.0;
+  }
+
+  /*  Input variables */
+  U[0] = uin[6];
+  U[1] = uin[7];
+  U[2] = uin[8];
+  U[3] = uin[9];
+
+  /*  Constants */
+  v_1[0] = -uin[2] + parameter.l_m * uin[4];
+  v_1[1] = -uin[2] - parameter.l_m * uin[3];
+  v_1[2] = -uin[2] - parameter.l_m * uin[4];
+  v_1[3] = -uin[2] + parameter.l_m * uin[3];
+
+  /*  calculate thrust for all 4 rotors */
+  for (i = 0; i < 4; i++) {
+    /*  if the flow speed at infinity is negative */
+    if (v_1[i] < 0.0) {
+      b_F_m = (parameter.CT2s * rt_powd_snf(v_1[i], 2.0) + parameter.CT1s *
+               v_1[i] * xin[i]) + parameter.CT0s * rt_powd_snf(xin[i], 2.0);
+
+      /*  if the flow speed at infinity is positive */
+    } else {
+      b_F_m = (-parameter.CT2s * rt_powd_snf(v_1[i], 2.0) + parameter.CT1s *
+               v_1[i] * xin[i]) + parameter.CT0s * rt_powd_snf(xin[i], 2.0);
+    }
+
+    /*  sum up all rotor forces */
+    /*  Identification of Roxxy2827-34 motor with 10x4.5 propeller */
+    /*  temporarily used Expressions */
+    temp = (U[i] * parameter.beta_m - parameter.Psi * xin[i]) / (2.0 *
+      parameter.R_A);
+    temp += sqrt(rt_powd_snf(temp, 2.0) + U[i] * parameter.alpha_m /
+                 parameter.R_A);
+    d0 = parameter.Psi * temp;
+
+    /*  electrical torque motor 1-4 */
+    /*  new version */
+    /*  old version */
+    /*  fx   = (Psi/R_A*(U-Psi*omega_m) - M_m)/J_M; */
+    /*  A    = -(Psi^2/R_A)/J_M; */
+    /*  B(1) =  Psi/(J_M*R_A); */
+    /*  B(2) = -1/J_M; */
+    /*  system outputs. Use euler solver to predict next time step */
+    /*  predicted motor speed */
+    /*  electric torque */
+    /* y = [M_e I]; */
+    /*  system jacobian */
+    /*  A       = 1 + dt*A; */
+    /*  input jacobian */
+    /*  B       = A*B*dt; */
+    M_e[i] = d0;
+    I[i] = temp;
+    xpred[i] = xin[i] + dt * (1.0 / parameter.J_M * (d0 - (parameter.k_t * b_F_m
+      + parameter.k_m * xin[i])));
+    F_m[i] = b_F_m;
+    F[2] += b_F_m;
+  }
+
+  /*  System output, i.e. force and torque of quadrotor */
+  y[0] = 0.0;
+  y[1] = 0.0;
+  y[2] = F[2];
+
+  /*  torque for rotating quadrocopter around x-axis is the mechanical torque */
+  y[3] = (F_m[3] - F_m[1]) * parameter.l_m;
+
+  /*  torque for rotating quadrocopter around y-axis is the mechanical torque */
+  y[4] = (F_m[0] - F_m[2]) * parameter.l_m;
+
+  /*  torque for rotating quadrocopter around z-axis is the electrical torque */
+  y[5] = ((-M_e[0] - M_e[2]) + M_e[1]) + M_e[3];
+
+  /*  motor speeds (rad/s) */
+  for (i = 0; i < 4; i++) {
+    y[i + 6] = xpred[i];
+  }
+
+  /*  motor current (A) */
+  for (i = 0; i < 4; i++) {
+    y[i + 10] = I[i];
+  }
+
+  /*  M_e(1:4) / Psi; */
+}
+
+/* End of code generation (quadrotorPropulsion.c) */
+
+inline void QuadrotorPropulsion::f(const double xin[4], const double uin[10], double dt, double y[14], double xpred[4]) const
+{
+  quadrotorPropulsion(xin, uin, propulsion_model_->parameters_, dt, y, xpred);
+}
+
+bool QuadrotorPropulsion::configure(const ros::NodeHandle &param)
+{
+  // get model parameters
+  if (!param.getParam("k_m",     propulsion_model_->parameters_.k_m)) return false;
+  if (!param.getParam("k_t",     propulsion_model_->parameters_.k_t)) return false;
+  if (!param.getParam("CT0s",    propulsion_model_->parameters_.CT0s)) return false;
+  if (!param.getParam("CT1s",    propulsion_model_->parameters_.CT1s)) return false;
+  if (!param.getParam("CT2s",    propulsion_model_->parameters_.CT2s)) return false;
+  if (!param.getParam("J_M",     propulsion_model_->parameters_.J_M)) return false;
+  if (!param.getParam("l_m",     propulsion_model_->parameters_.l_m)) return false;
+  if (!param.getParam("Psi",     propulsion_model_->parameters_.Psi)) return false;
+  if (!param.getParam("R_A",     propulsion_model_->parameters_.R_A)) return false;
+  if (!param.getParam("alpha_m", propulsion_model_->parameters_.alpha_m)) return false;
+  if (!param.getParam("beta_m",  propulsion_model_->parameters_.beta_m)) return false;
+
+#ifndef NDEBUG
+  std::cout << "Loaded the following quadrotor propulsion model parameters from namespace " << param.getNamespace() << ":" << std::endl;
+  std::cout << "k_m     = " << propulsion_model_->parameters_.k_m << std::endl;
+  std::cout << "k_t     = " << propulsion_model_->parameters_.k_t << std::endl;
+  std::cout << "CT2s    = " << propulsion_model_->parameters_.CT2s << std::endl;
+  std::cout << "CT1s    = " << propulsion_model_->parameters_.CT1s << std::endl;
+  std::cout << "CT0s    = " << propulsion_model_->parameters_.CT0s << std::endl;
+  std::cout << "Psi     = " << propulsion_model_->parameters_.Psi << std::endl;
+  std::cout << "J_M     = " << propulsion_model_->parameters_.J_M << std::endl;
+  std::cout << "R_A     = " << propulsion_model_->parameters_.R_A << std::endl;
+  std::cout << "l_m     = " << propulsion_model_->parameters_.l_m << std::endl;
+  std::cout << "alpha_m = " << propulsion_model_->parameters_.alpha_m << std::endl;
+  std::cout << "beta_m  = " << propulsion_model_->parameters_.beta_m << std::endl;
+#endif
+
+  initial_voltage_ = 14.8;
+  param.getParam("supply_voltage", initial_voltage_);
+  reset();
+
+  return true;
+}
+
+void QuadrotorPropulsion::reset()
+{
+  boost::mutex::scoped_lock lock(mutex_);
+
+  propulsion_model_->x.assign(0.0);
+  propulsion_model_->x_pred.assign(0.0);
+  propulsion_model_->u.assign(0.0);
+  propulsion_model_->y.assign(0.0);
+
+  wrench_ = geometry_msgs::Wrench();
+
+  motor_status_ = hector_uav_msgs::MotorStatus();
+  motor_status_.voltage.resize(4);
+  motor_status_.frequency.resize(4);
+  motor_status_.current.resize(4);
+
+  supply_ = hector_uav_msgs::Supply();
+  supply_.voltage.resize(1);
+  supply_.voltage[0] = initial_voltage_;
+
+  last_command_time_ = ros::Time();
+
+  command_queue_ = std::queue<hector_uav_msgs::MotorPWMConstPtr>(); // .clear();
+}
+
+void QuadrotorPropulsion::setVoltage(const hector_uav_msgs::MotorPWM& voltage)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  last_command_time_ = voltage.header.stamp;
+
+  if (motor_status_.on && voltage.pwm.size() >= 4) {
+    propulsion_model_->u[6] = voltage.pwm[0] * supply_.voltage[0] / 255.0;
+    propulsion_model_->u[7] = voltage.pwm[1] * supply_.voltage[0] / 255.0;
+    propulsion_model_->u[8] = voltage.pwm[2] * supply_.voltage[0] / 255.0;
+    propulsion_model_->u[9] = voltage.pwm[3] * supply_.voltage[0] / 255.0;
+  } else {
+    propulsion_model_->u[6] = 0.0;
+    propulsion_model_->u[7] = 0.0;
+    propulsion_model_->u[8] = 0.0;
+    propulsion_model_->u[9] = 0.0;
+  }
+}
+
+void QuadrotorPropulsion::setTwist(const geometry_msgs::Twist &twist)
+{
+  boost::mutex::scoped_lock lock(mutex_);
+  propulsion_model_->u[0] = twist.linear.x;
+  propulsion_model_->u[1] = -twist.linear.y;
+  propulsion_model_->u[2] = -twist.linear.z;
+  propulsion_model_->u[3] = twist.angular.x;
+  propulsion_model_->u[4] = -twist.angular.y;
+  propulsion_model_->u[5] = -twist.angular.z;
+
+  // We limit the input velocities to +-100. Required for numeric stability in case of collisions,
+  // where velocities returned by Gazebo can be very high.
+  limit(boost::iterator_range<boost::array<real_T,10>::iterator>(&(propulsion_model_->u[0]), &(propulsion_model_->u[6])), -100.0, 100.0);
+}
+
+void QuadrotorPropulsion::addCommandToQueue(const hector_uav_msgs::MotorCommandConstPtr& command)
+{
+  hector_uav_msgs::MotorPWMPtr pwm(new hector_uav_msgs::MotorPWM);
+  pwm->header = command->header;
+  pwm->pwm.resize(command->voltage.size());
+  for(std::size_t i = 0; i < command->voltage.size(); ++i) {
+    int temp = round(command->voltage[i] / supply_.voltage[0] * 255.0);
+    if (temp < 0)
+      pwm->pwm[i] = 0;
+    else if (temp > 255)
+      pwm->pwm[i] = 255;
+    else
+      pwm->pwm[i] = temp;
+  }
+  addPWMToQueue(pwm);
+}
+
+void QuadrotorPropulsion::addPWMToQueue(const hector_uav_msgs::MotorPWMConstPtr& pwm)
+{
+  boost::mutex::scoped_lock lock(command_queue_mutex_);
+
+  if (!motor_status_.on) {
+    ROS_WARN_NAMED("quadrotor_propulsion", "Received new motor command. Enabled motors.");
+    engage();
+  }
+
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Received motor command valid at " << pwm->header.stamp);
+  command_queue_.push(pwm);
+  command_condition_.notify_all();
+}
+
+bool QuadrotorPropulsion::processQueue(const ros::Time &timestamp, const ros::Duration &tolerance, const ros::Duration &delay, const ros::WallDuration &wait, ros::CallbackQueue *callback_queue) {
+  boost::mutex::scoped_lock lock(command_queue_mutex_);
+  bool new_command = false;
+
+  ros::Time min(timestamp), max(timestamp);
+  try {
+    min = timestamp - delay - tolerance /* - ros::Duration(dt) */;
+  } catch (std::runtime_error &e) {}
+
+  try {
+    max = timestamp - delay + tolerance;
+  } catch (std::runtime_error &e) {}
+
+  do {
+
+    while(!command_queue_.empty()) {
+      hector_uav_msgs::MotorPWMConstPtr new_motor_voltage = command_queue_.front();
+      ros::Time new_time = new_motor_voltage->header.stamp;
+
+      if (new_time.isZero() || (new_time >= min && new_time <= max)) {
+        setVoltage(*new_motor_voltage);
+        command_queue_.pop();
+        new_command = true;
+
+      // new motor command is too old:
+      } else if (new_time < min) {
+        ROS_DEBUG_NAMED("quadrotor_propulsion", "Command received was %fs too old. Discarding.", (new_time - timestamp).toSec());
+        command_queue_.pop();
+
+      // new motor command is too new:
+      } else {
+        break;
+      }
+    }
+
+    if (command_queue_.empty() && !new_command) {
+      if (!motor_status_.on || wait.isZero()) break;
+
+      ROS_DEBUG_NAMED("quadrotor_propulsion", "Waiting for command at simulation step t = %fs... last update was %fs ago", timestamp.toSec(), (timestamp - last_command_time_).toSec());
+      if (!callback_queue) {
+        if (command_condition_.timed_wait(lock, wait.toBoost())) continue;
+      } else {
+        lock.unlock();
+        callback_queue->callAvailable(wait);
+        lock.lock();
+        if (!command_queue_.empty()) continue;
+      }
+
+      ROS_ERROR_NAMED("quadrotor_propulsion", "Command timed out. Disabled motors.");
+      shutdown();
+    }
+
+  } while(false);
+
+  if (new_command) {
+      ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Using motor command valid at t = " << last_command_time_.toSec() << "s for simulation step at t = " << timestamp.toSec() << "s (dt = " << (timestamp - last_command_time_).toSec() << "s)");
+  }
+
+  return new_command;
+}
+
+void QuadrotorPropulsion::update(double dt)
+{
+  if (dt <= 0.0) return;
+
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "propulsion.twist:   " << PrintVector<double>(propulsion_model_->u.begin(), propulsion_model_->u.begin() + 6));
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "propulsion.voltage: " << PrintVector<double>(propulsion_model_->u.begin() + 6, propulsion_model_->u.begin() + 10));
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "propulsion.x_prior: " << PrintVector<double>(propulsion_model_->x.begin(), propulsion_model_->x.end()));
+
+  checknan(propulsion_model_->u, "propulsion model input");
+  checknan(propulsion_model_->x, "propulsion model state");
+
+  // update propulsion model
+  f(propulsion_model_->x.data(), propulsion_model_->u.data(), dt, propulsion_model_->y.data(), propulsion_model_->x_pred.data());
+  propulsion_model_->x = propulsion_model_->x_pred;
+
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "propulsion.x_post:  " << PrintVector<double>(propulsion_model_->x.begin(), propulsion_model_->x.end()));
+  ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "propulsion.force:   " << PrintVector<double>(propulsion_model_->y.begin() + 0, propulsion_model_->y.begin() + 3) << " " <<
+                                                 "propulsion.torque:  " << PrintVector<double>(propulsion_model_->y.begin() + 3, propulsion_model_->y.begin() + 6));
+
+  checknan(propulsion_model_->y, "propulsion model output");
+
+  wrench_.force.x  =  propulsion_model_->y[0];
+  wrench_.force.y  = -propulsion_model_->y[1];
+  wrench_.force.z  =  propulsion_model_->y[2];
+  wrench_.torque.x =  propulsion_model_->y[3];
+  wrench_.torque.y = -propulsion_model_->y[4];
+  wrench_.torque.z = -propulsion_model_->y[5];
+
+  motor_status_.voltage[0] = propulsion_model_->u[6];
+  motor_status_.voltage[1] = propulsion_model_->u[7];
+  motor_status_.voltage[2] = propulsion_model_->u[8];
+  motor_status_.voltage[3] = propulsion_model_->u[9];
+
+  motor_status_.frequency[0] = propulsion_model_->y[6];
+  motor_status_.frequency[1] = propulsion_model_->y[7];
+  motor_status_.frequency[2] = propulsion_model_->y[8];
+  motor_status_.frequency[3] = propulsion_model_->y[9];
+  motor_status_.running = motor_status_.frequency[0] > 1.0 && motor_status_.frequency[1] > 1.0 && motor_status_.frequency[2] > 1.0 && motor_status_.frequency[3] > 1.0;
+
+  motor_status_.current[0] = propulsion_model_->y[10];
+  motor_status_.current[1] = propulsion_model_->y[11];
+  motor_status_.current[2] = propulsion_model_->y[12];
+  motor_status_.current[3] = propulsion_model_->y[13];
+}
+
+void QuadrotorPropulsion::engage()
+{
+  motor_status_.on = true;
+}
+
+void QuadrotorPropulsion::shutdown()
+{
+  motor_status_.on = false;
+}
+
+} // namespace hector_quadrotor_model
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CHANGELOG.rst
new file mode 100644
index 0000000..a7acba8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CHANGELOG.rst	
@@ -0,0 +1,37 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_pose_estimation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+* added missing install rule for hector_quadrotor_pose_estimation_nodelets.xml
+  Many thanks to Bernd Kast for pointing me to this issue.
+* update raw baro height as position.z component in sensor pose
+  See https://github.com/tu-darmstadt-ros-pkg/hector_localization/commit/bd334f0e30c42fb5833fa8ffa249dfd737d43ddc.
+* updated package for the latest version of hector_pose_estimation
+  * Geographic reference latitude and longitude set to 49.860246N 8.687077E (Lichtwiese).
+  * Reenabled auto_elevation, auto_reference and auto_heading parameters for hector_pose_estimation.
+  hector_pose_estimation will publish the world->nav transform depending on its reference pose.
+* added parameter file for hector_quadrotor_pose_estimation for a simulated quadrotor
+  The parameter file disables the auto_elevation, auto_reference, auto_heading modes of hector_pose_estimation and sets the corresponding values
+  manually with what is simulated in the gazebo sensor plugins. This simplifies the comparison of estimated poses with ground truth information.
+* shutdown the height subscriber (in favor of topic alitimeter) to not have two height updates
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-09-01)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+
+0.3.0 (2013-09-11)
+------------------
+* hector_quadrotor_pose_estimation: added cmake target dependency on hector_uav_msgs_generate_messages_cpp
+* hector_quadrotor: added package hector_quadrotor_pose_estimation
+* Contributors: Johannes Meyer
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CMakeLists.txt
new file mode 100644
index 0000000..a11c4f6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/CMakeLists.txt	
@@ -0,0 +1,112 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_pose_estimation)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS hector_pose_estimation hector_uav_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_uav_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES quadrotor_pose_estimation_nodelet quadrotor_pose_estimation_node
+    CATKIN_DEPENDS hector_pose_estimation hector_uav_msgs
+    DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_library(hector_quadrotor_pose_estimation_node
+  src/pose_estimation_node.cpp
+)
+target_link_libraries(hector_quadrotor_pose_estimation_node ${catkin_LIBRARIES})
+add_dependencies(hector_quadrotor_pose_estimation_node hector_uav_msgs_generate_messages_cpp)
+
+add_library(hector_quadrotor_pose_estimation_nodelet
+  src/pose_estimation_nodelet.cpp
+)
+target_link_libraries(hector_quadrotor_pose_estimation_nodelet hector_quadrotor_pose_estimation_node ${catkin_LIBRARIES})
+
+add_executable(hector_quadrotor_pose_estimation
+  src/main.cpp
+)
+target_link_libraries(hector_quadrotor_pose_estimation hector_quadrotor_pose_estimation_node ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_quadrotor_pose_estimation_nodelet hector_quadrotor_pose_estimation_node hector_quadrotor_pose_estimation
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(FILES
+  hector_quadrotor_pose_estimation_nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY params
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/hector_quadrotor_pose_estimation_nodelets.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/hector_quadrotor_pose_estimation_nodelets.xml
new file mode 100644
index 0000000..f2b2132
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/hector_quadrotor_pose_estimation_nodelets.xml	
@@ -0,0 +1,8 @@
+<library path="lib/libhector_quadrotor_pose_estimation_nodelet">
+  <class name="hector_quadrotor_pose_estimation/QuadrotorPoseEstimationNodelet" type="hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNodelet" base_class_type="nodelet::Nodelet">
+  <description>
+    This nodelet implements a pose estimation filter which uses hector_uav_msgs/Altimeter messages as input for barometric height.
+  </description>
+  </class>
+</library>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h
new file mode 100644
index 0000000..b72366c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h	
@@ -0,0 +1,55 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_QUADROTOR_POSE_ESTIMATION_NODE_H
+#define HECTOR_QUADROTOR_POSE_ESTIMATION_NODE_H
+
+#include <hector_pose_estimation/pose_estimation_node.h>
+#include <hector_uav_msgs/Altimeter.h>
+
+namespace hector_quadrotor_pose_estimation {
+
+using namespace hector_pose_estimation;
+
+class QuadrotorPoseEstimationNode : public PoseEstimationNode {
+public:
+  QuadrotorPoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr());
+  virtual ~QuadrotorPoseEstimationNode();
+
+  virtual bool init();
+
+protected:
+  void baroCallback(const hector_uav_msgs::AltimeterConstPtr& altimeter);
+
+private:
+  ros::Subscriber baro_subscriber_;
+};
+
+} // namespace hector_quadrotor_pose_estimation
+
+#endif // HECTOR_QUADROTOR_POSE_ESTIMATION_NODE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/package.xml
new file mode 100644
index 0000000..76f40fd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/package.xml	
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_quadrotor_pose_estimation</name>
+  <version>0.3.5</version>
+  <description>
+    hector_quadrotor_pose_estimation provides a <a href="http://wiki.ros.org/hector_pose_estimation">hector_pose_estimation</a> node and nodelet specialized for hector_quadrotor.
+  </description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_pose_estimation</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend version_gte="0.2.0">hector_pose_estimation</build_depend>
+  <build_depend>hector_uav_msgs</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend version_gte="0.2.0">hector_pose_estimation</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>nodelet</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+  <export>
+    <nodelet plugin="${prefix}/hector_quadrotor_pose_estimation_nodelets.xml"/>
+  </export>
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/params/simulation.yaml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/params/simulation.yaml
new file mode 100644
index 0000000..044614b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/params/simulation.yaml	
@@ -0,0 +1,4 @@
+reference_altitude: 0.0
+reference_heading: 0.0
+reference_latitude: 49.860246
+reference_longitude: 8.687077
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/main.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/main.cpp
new file mode 100644
index 0000000..dde98d8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/main.cpp	
@@ -0,0 +1,40 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_pose_estimation/pose_estimation_node.h>
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv, "pose_estimation");
+  hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNode node;
+  if (!node.init()) return 1;
+
+  ros::spin();
+
+  node.cleanup();
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp
new file mode 100644
index 0000000..b249331
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp	
@@ -0,0 +1,60 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_pose_estimation/pose_estimation_node.h>
+#include <hector_pose_estimation/measurements/baro.h>
+
+namespace hector_quadrotor_pose_estimation {
+
+QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state)
+  : PoseEstimationNode(system, state)
+{
+  pose_estimation_->addMeasurement(new Baro("baro"));
+}
+
+QuadrotorPoseEstimationNode::~QuadrotorPoseEstimationNode()
+{
+}
+
+bool QuadrotorPoseEstimationNode::init() {
+  if (!PoseEstimationNode::init()) return false;
+  baro_subscriber_ = getNodeHandle().subscribe("altimeter", 10, &QuadrotorPoseEstimationNode::baroCallback, this);
+  height_subscriber_.shutdown();
+  return true;
+}
+
+void QuadrotorPoseEstimationNode::baroCallback(const hector_uav_msgs::AltimeterConstPtr& altimeter) {
+  pose_estimation_->getMeasurement("baro")->add(Baro::Update(altimeter->pressure, altimeter->qnh));
+
+  if (sensor_pose_publisher_) {
+    boost::shared_ptr<Baro> baro = boost::static_pointer_cast<Baro>(pose_estimation_->getMeasurement("baro"));
+    sensor_pose_.pose.position.z = baro->getModel()->getAltitude(Baro::Update(altimeter->pressure, altimeter->qnh)) - baro->getElevation();
+  }
+}
+
+} // namespace hector_quadrotor_pose_estimation
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_nodelet.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_nodelet.cpp
new file mode 100644
index 0000000..928132e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_nodelet.cpp	
@@ -0,0 +1,58 @@
+//=================================================================================================
+// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_quadrotor_pose_estimation/pose_estimation_node.h>
+#include <nodelet/nodelet.h>
+
+namespace hector_quadrotor_pose_estimation {
+
+class QuadrotorPoseEstimationNodelet : public QuadrotorPoseEstimationNode, public nodelet::Nodelet
+{
+public:
+  QuadrotorPoseEstimationNodelet(const SystemPtr& system = SystemPtr())
+    : QuadrotorPoseEstimationNode(system)
+  {}
+
+private:
+  void onInit() {
+    QuadrotorPoseEstimationNode::init();
+  }
+
+  void onReset() {
+    QuadrotorPoseEstimationNode::reset();
+  }
+
+  void onCleanup() {
+    QuadrotorPoseEstimationNode::cleanup();
+  }
+};
+
+} // namespace hector_quadrotor_pose_estimation
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNodelet, nodelet::Nodelet)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CHANGELOG.rst
new file mode 100644
index 0000000..404258e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CHANGELOG.rst	
@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_quadrotor_teleop
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+* Add optional parameter to set the joystick device
+* Contributors: whoenig
+
+0.3.3 (2014-09-01)
+------------------
+* added run dependency to joy package (joystick drivers)
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+* added slow button (btn 6 on Logitech Gamepad)
+* Contributors: Johannes Meyer
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
+* decreased z_velocity_max to 2.0 m/s in logitech_gamepad.launch
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt
new file mode 100644
index 0000000..0d437a2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt	
@@ -0,0 +1,89 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_quadrotor_teleop)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs geometry_msgs hector_uav_msgs)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES
+    CATKIN_DEPENDS roscpp sensor_msgs geometry_msgs hector_uav_msgs
+    DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Declare a cpp library
+# add_library(@{name}
+#   src/${PROJECT_NAME}/@name.cpp
+# )
+
+## Declare a cpp executable
+add_executable(quadrotor_teleop src/quadrotor_teleop.cpp)
+target_link_libraries(quadrotor_teleop ${catkin_LIBRARIES})
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(quadrotor_teleop ${catkin_EXPORTED_TARGETS})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS quadrotor_teleop
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch
+  DESTINATION  ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch
new file mode 100644
index 0000000..83884da
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch	
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="joy_dev" default="/dev/input/js0" />
+  <arg name="control_mode" default="twist" />
+
+  <node name="joy" pkg="joy" type="joy_node" output="screen" >
+    <param name="dev" value="$(arg joy_dev)" />
+  </node>
+
+  <!-- Note that axis IDs are those from the joystick message plus one, to be able to invert axes by specifiying either positive or negative axis numbers.-->
+  <!-- Axis 2 from joy message thus has to be set as '3' or '-3'(inverted mode) below-->
+  <node name="quadrotor_teleop" pkg="hector_quadrotor_teleop" type="quadrotor_teleop">
+    <param name="control_mode" value="$(arg control_mode)" />
+    <param name="x_axis" value="4"/>
+    <param name="y_axis" value="3"/>
+    <param name="z_axis" value="2"/>
+    <param name="yaw_axis" value="1"/>
+    <param name="x_velocity_max" value="5"/>
+    <param name="y_velocity_max" value="5"/>
+    <param name="z_velocity_max" value="2"/>
+    <param name="slow_button" value="6"/>
+  </node>
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch
new file mode 100644
index 0000000..c6e9348
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch	
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="joy_dev" default="/dev/input/js0" />
+
+  <node name="joy" pkg="joy" type="joy_node" output="screen" >
+    <param name="dev" value="$(arg joy_dev)" />
+  </node>
+
+  <!-- Note that axis IDs are those from the joystick message plus one, to be able to invert axes by specifiying either positive or negative axis numbers.-->
+  <!-- Axis 2 from joy message thus has to be set as '3' or '-3'(inverted mode) below-->
+  <node name="quadrotor_teleop" pkg="hector_quadrotor_teleop" type="quadrotor_teleop">
+    <param name="x_axis" value="5"/>
+    <param name="y_axis" value="4"/>
+    <param name="z_axis" value="2"/>
+    <param name="yaw_axis" value="1"/>
+  </node>
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/package.xml
new file mode 100644
index 0000000..88dfc1c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/package.xml	
@@ -0,0 +1,33 @@
+<package>
+  <name>hector_quadrotor_teleop</name>
+  <version>0.3.5</version>
+  <description>hector_quadrotor_teleop enables quadrotor flying with a joystick by
+     processing joy/Joy messages and translating them to geometry_msgs/Twist.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_teleop</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>hector_uav_msgs</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>hector_uav_msgs</run_depend>
+  <run_depend>joy</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp
new file mode 100644
index 0000000..c51fa99
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp	
@@ -0,0 +1,215 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#include <ros/ros.h>
+#include <sensor_msgs/Joy.h>
+#include <geometry_msgs/Twist.h>
+#include <hector_uav_msgs/YawrateCommand.h>
+#include <hector_uav_msgs/ThrustCommand.h>
+#include <hector_uav_msgs/AttitudeCommand.h>
+
+namespace hector_quadrotor
+{
+
+class Teleop
+{
+private:
+  ros::NodeHandle node_handle_;
+  ros::Subscriber joy_subscriber_;
+
+  ros::Publisher velocity_publisher_, attitude_publisher_, yawrate_publisher_, thrust_publisher_;
+  geometry_msgs::Twist velocity_;
+  hector_uav_msgs::AttitudeCommand attitude_;
+  hector_uav_msgs::ThrustCommand thrust_;
+  hector_uav_msgs::YawrateCommand yawrate_;
+
+  struct Axis
+  {
+    int axis;
+    double max;
+  };
+
+  struct Button
+  {
+    int button;
+  };
+
+  struct
+  {
+    Axis x;
+    Axis y;
+    Axis z;
+    Axis yaw;
+  } axes_;
+
+  struct
+  {
+    Button slow;
+  } buttons_;
+
+  double slow_factor_;
+
+public:
+  Teleop()
+  {
+    ros::NodeHandle params("~");
+
+    params.param<int>("x_axis", axes_.x.axis, 4);
+    params.param<int>("y_axis", axes_.y.axis, 3);
+    params.param<int>("z_axis", axes_.z.axis, 2);
+    params.param<int>("yaw_axis", axes_.yaw.axis, 1);
+
+    params.param<double>("yaw_velocity_max", axes_.yaw.max, 90.0 * M_PI / 180.0);
+    params.param<int>("slow_button", buttons_.slow.button, 1);
+    params.param<double>("slow_factor", slow_factor_, 0.2);
+
+    std::string control_mode_str;
+    params.param<std::string>("control_mode", control_mode_str, "twist");
+
+    if (control_mode_str == "twist")
+    {
+      params.param<double>("x_velocity_max", axes_.x.max, 2.0);
+      params.param<double>("y_velocity_max", axes_.y.max, 2.0);
+      params.param<double>("z_velocity_max", axes_.z.max, 2.0);
+
+      joy_subscriber_ = node_handle_.subscribe<sensor_msgs::Joy>("joy", 1, boost::bind(&Teleop::joyTwistCallback, this, _1));
+      velocity_publisher_ = node_handle_.advertise<geometry_msgs::Twist>("cmd_vel", 10);
+    }
+    else if (control_mode_str == "attitude")
+    {
+      params.param<double>("x_roll_max", axes_.x.max, 0.35);
+      params.param<double>("y_pitch_max", axes_.y.max, 0.35);
+      params.param<double>("z_thrust_max", axes_.z.max, 25.0);
+      joy_subscriber_ = node_handle_.subscribe<sensor_msgs::Joy>("joy", 1, boost::bind(&Teleop::joyAttitudeCallback, this, _1));
+      attitude_publisher_ = node_handle_.advertise<hector_uav_msgs::AttitudeCommand>("command/attitude", 10);
+      yawrate_publisher_ = node_handle_.advertise<hector_uav_msgs::YawrateCommand>("command/yawrate", 10);
+      thrust_publisher_ = node_handle_.advertise<hector_uav_msgs::ThrustCommand>("command/thrust", 10);
+    }
+
+  }
+
+  ~Teleop()
+  {
+    stop();
+  }
+
+  void joyTwistCallback(const sensor_msgs::JoyConstPtr &joy)
+  {
+    velocity_.linear.x = getAxis(joy, axes_.x);
+    velocity_.linear.y = getAxis(joy, axes_.y);
+    velocity_.linear.z = getAxis(joy, axes_.z);
+    velocity_.angular.z = getAxis(joy, axes_.yaw);
+    if (getButton(joy, buttons_.slow.button))
+    {
+      velocity_.linear.x *= slow_factor_;
+      velocity_.linear.y *= slow_factor_;
+      velocity_.linear.z *= slow_factor_;
+      velocity_.angular.z *= slow_factor_;
+    }
+    velocity_publisher_.publish(velocity_);
+  }
+
+  void joyAttitudeCallback(const sensor_msgs::JoyConstPtr &joy)
+  {
+    attitude_.roll = getAxis(joy, axes_.x);
+    attitude_.pitch = getAxis(joy, axes_.y);
+    attitude_publisher_.publish(attitude_);
+
+    thrust_.thrust = getAxis(joy, axes_.z);
+    thrust_publisher_.publish(thrust_);
+
+    yawrate_.turnrate = getAxis(joy, axes_.yaw);
+    if (getButton(joy, buttons_.slow.button))
+    {
+      yawrate_.turnrate *= slow_factor_;
+    }
+    yawrate_publisher_.publish(yawrate_);
+  }
+
+  sensor_msgs::Joy::_axes_type::value_type getAxis(const sensor_msgs::JoyConstPtr &joy, Axis axis)
+  {
+    if (axis.axis == 0)
+    {return 0;}
+    sensor_msgs::Joy::_axes_type::value_type sign = 1.0;
+    if (axis.axis < 0)
+    {
+      sign = -1.0;
+      axis.axis = -axis.axis;
+    }
+    if ((size_t) axis.axis > joy->axes.size())
+    {return 0;}
+    return sign * joy->axes[axis.axis - 1] * axis.max;
+  }
+
+  sensor_msgs::Joy::_buttons_type::value_type getButton(const sensor_msgs::JoyConstPtr &joy, int button)
+  {
+    if (button <= 0)
+    {return 0;}
+    if ((size_t) button > joy->axes.size())
+    {return 0;}
+    return joy->buttons[button - 1];
+  }
+
+  void stop()
+  {
+    if(velocity_publisher_.getNumSubscribers() > 0)
+    {
+      velocity_ = geometry_msgs::Twist();
+      velocity_publisher_.publish(velocity_);
+    }
+    if(attitude_publisher_.getNumSubscribers() > 0)
+    {
+      attitude_ = hector_uav_msgs::AttitudeCommand();
+      attitude_publisher_.publish(attitude_);
+    }
+    if(thrust_publisher_.getNumSubscribers() > 0)
+    {
+      thrust_ = hector_uav_msgs::ThrustCommand();
+      thrust_publisher_.publish(thrust_);
+    }
+    if(yawrate_publisher_.getNumSubscribers() > 0)
+    {
+      yawrate_ = hector_uav_msgs::YawrateCommand();
+      yawrate_publisher_.publish(yawrate_);
+    }
+
+  }
+};
+
+} // namespace hector_quadrotor
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "quadrotor_teleop");
+
+  hector_quadrotor::Teleop teleop;
+  ros::spin();
+
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..1f783b0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CHANGELOG.rst	
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_uav_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2015-03-28)
+------------------
+
+0.3.4 (2015-02-22)
+------------------
+
+0.3.3 (2014-09-01)
+------------------
+* updated value type in RawImu message to int16
+* added new ControllerState status constant FLYING
+* added CLIMBRATE and TURNRATE constants to ControllerState message
+* Contributors: Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-12-26)
+------------------
+
+0.3.0 (2013-09-11)
+------------------
+* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CMakeLists.txt
new file mode 100644
index 0000000..dd9ac9e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/CMakeLists.txt	
@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_uav_msgs)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED message_generation std_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Altimeter.msg
+  AttitudeCommand.msg
+  Compass.msg
+  ControllerState.msg
+  HeadingCommand.msg
+  HeightCommand.msg
+  MotorCommand.msg
+  MotorPWM.msg
+  MotorStatus.msg
+  PositionXYCommand.msg
+  RawImu.msg
+  RawMagnetic.msg
+  RawRC.msg
+  RC.msg
+  RuddersCommand.msg
+  ServoCommand.msg
+  Supply.msg
+  ThrustCommand.msg
+  VelocityXYCommand.msg
+  VelocityZCommand.msg
+  YawrateCommand.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES hector_uav_msgs
+  CATKIN_DEPENDS message_runtime std_msgs
+#  DEPENDS system_lib
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h
new file mode 100644
index 0000000..6958138
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h	
@@ -0,0 +1,61 @@
+//=================================================================================================
+// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H
+#define HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H
+
+#include <hector_uav_msgs/Altimeter.h>
+#include <cmath>
+
+namespace hector_uav_msgs {
+
+static const Altimeter::_qnh_type STANDARD_PRESSURE = 1013.25;
+
+static inline Altimeter::_altitude_type altitudeFromPressure(Altimeter::_pressure_type pressure, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) {
+  return 288.15 / 0.0065 * (1.0 - pow(pressure / qnh, 1.0/5.255));
+}
+
+static inline Altimeter::_pressure_type pressureFromAltitude(Altimeter::_altitude_type altitude, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) {
+  return qnh * pow(1.0 - (0.0065 * altitude) / 288.15, 5.255);
+}
+
+static inline Altimeter& altitudeFromPressure(Altimeter& altimeter) {
+  if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE;
+  altimeter.altitude = altitudeFromPressure(altimeter.pressure, altimeter.qnh);
+  return altimeter;
+}
+
+static inline Altimeter& pressureFromAltitude(Altimeter& altimeter) {
+  if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE;
+  altimeter.pressure = pressureFromAltitude(altimeter.altitude, altimeter.qnh);
+  return altimeter;
+}
+
+} // namespace hector_uav_msgs
+
+#endif // HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h
new file mode 100644
index 0000000..bd4db2a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h	
@@ -0,0 +1,56 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_UAV_MSGS_CONTROLSOURCE_H
+#define HECTOR_UAV_MSGS_CONTROLSOURCE_H
+
+namespace hector_uav_msgs
+{
+  typedef uint8_t ControlSource;
+
+  enum {
+    CONTROL_AUTONOMOUS = 0,
+    CONTROL_REMOTE = 1,
+    CONTROL_JOYSTICK = 2
+  };
+
+  template <typename InStream>
+  static inline InStream& operator>>(InStream& in, ControlSource& value) {
+    int temp;
+    in >> temp;
+    value = static_cast<ControlSource>(temp);
+    return in;
+  }
+
+  template <typename OutStream>
+  static inline OutStream& operator<<(OutStream& out, const ControlSource& value) {
+    return out << static_cast<int>(value);
+  }
+}
+
+#endif // HECTOR_UAV_MSGS_CONTROLSOURCE_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h
new file mode 100644
index 0000000..82c0df3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h	
@@ -0,0 +1,103 @@
+//=================================================================================================
+// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_UAV_MSGS_RC_FUNCTIONS_H
+#define HECTOR_UAV_MSGS_RC_FUNCTIONS_H
+
+#include <hector_uav_msgs/RC.h>
+#include <algorithm>
+
+namespace hector_uav_msgs {
+
+  static inline const char *getFunctionString(uint8_t function)
+  {
+    switch(function) {
+      case RC::ROLL:   return "ROLL";
+      case RC::PITCH:  return "PITCH";
+      case RC::YAW:    return "YAW";
+      case RC::STEER:  return "STEER";
+      case RC::HEIGHT: return "HEIGHT";
+      case RC::THRUST: return "THRUST";
+      case RC::BRAKE:  return "BRAKE";
+    }
+    return 0;
+  }
+
+  static inline bool hasAxis(const RC& rc, RC::_axis_function_type::value_type function)
+  {
+    return std::find(rc.axis_function.begin(), rc.axis_function.end(), function) != rc.axis_function.end();
+  }
+
+  static inline bool getAxis(const RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type& value)
+  {
+    if (!rc.valid) return false;
+    const RC::_axis_function_type::const_iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function);
+    if (it == rc.axis_function.end()) return false;
+    value = rc.axis.at(it - rc.axis_function.begin());
+    return true;
+  }
+
+  static inline void setAxis(RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value)
+  {
+    const RC::_axis_function_type::iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function);
+    if (it == rc.axis_function.end()) {
+      rc.axis_function.push_back(function);
+      rc.axis.push_back(value);
+    } else {
+      rc.axis.at(it - rc.axis_function.begin()) = value;
+    }
+  }
+
+  static inline bool hasSwitch(const RC& rc, RC::_swit_function_type::value_type function)
+  {
+    return std::find(rc.swit_function.begin(), rc.swit_function.end(), function) != rc.swit_function.end();
+  }
+
+  static inline bool getSwitch(const RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type& value)
+  {
+    if (!rc.valid) return false;
+    const RC::_swit_function_type::const_iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function);
+    if (it == rc.swit_function.end()) return false;
+    value = rc.swit.at(it - rc.swit_function.begin());
+    return true;
+  }
+
+  static inline void setSwitch(RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value)
+  {
+    const RC::_swit_function_type::iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function);
+    if (it == rc.swit_function.end()) {
+      rc.swit_function.push_back(function);
+      rc.swit.push_back(value);
+    } else {
+      rc.swit.at(it - rc.swit_function.begin()) = value;
+    }
+  }
+
+} // namespace hector_uav_msgs
+
+#endif // HECTOR_UAV_MSGS_RC_FUNCTIONS_H
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg
new file mode 100644
index 0000000..20b6a3c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg	
@@ -0,0 +1,4 @@
+Header header
+float32 altitude
+float32 pressure
+float32 qnh
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg
new file mode 100644
index 0000000..d63fb89
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg	
@@ -0,0 +1,3 @@
+Header header
+float32 roll
+float32 pitch
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Compass.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Compass.msg
new file mode 100644
index 0000000..d2bb3fe
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Compass.msg	
@@ -0,0 +1,4 @@
+Header header
+float32 magnetic_heading
+float32 declination
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg
new file mode 100644
index 0000000..9903ca8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg	
@@ -0,0 +1,17 @@
+Header header
+uint8 source
+
+uint8 mode
+uint8 MOTORS = 1
+uint8 ATTITUDE = 2
+uint8 VELOCITY = 4
+uint8 POSITION = 8
+uint8 TURNRATE = 16
+uint8 HEADING = 32
+uint8 CLIMBRATE = 64
+uint8 HEIGHT = 128
+
+uint8 state
+uint8 MOTORS_RUNNING = 1
+uint8 FLYING = 2
+uint8 AIRBORNE = 4
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg
new file mode 100644
index 0000000..5ad41a3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+float32 heading
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg
new file mode 100644
index 0000000..0d64519
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+float32 height
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg
new file mode 100644
index 0000000..10ed1db
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg	
@@ -0,0 +1,5 @@
+Header header
+float32[] force
+float32[] torque
+float32[] frequency
+float32[] voltage
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg
new file mode 100644
index 0000000..d2bf65f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg	
@@ -0,0 +1,2 @@
+Header header
+uint8[] pwm
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg
new file mode 100644
index 0000000..9c09473
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg	
@@ -0,0 +1,7 @@
+Header header
+bool on
+bool running
+float32[] voltage
+float32[] frequency
+float32[] current
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg
new file mode 100644
index 0000000..de72e09
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg	
@@ -0,0 +1,3 @@
+Header header
+float32 x
+float32 y
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RC.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RC.msg
new file mode 100644
index 0000000..8dfdc55
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RC.msg	
@@ -0,0 +1,18 @@
+Header header
+
+uint8 ROLL = 1
+uint8 PITCH = 2
+uint8 YAW = 3
+uint8 STEER = 4
+uint8 HEIGHT = 5
+uint8 THRUST = 6
+uint8 BRAKE = 7
+
+uint8 status
+bool valid
+
+float32[] axis
+uint8[] axis_function
+
+int8[] swit
+uint8[] swit_function
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg
new file mode 100644
index 0000000..21c29a2
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg	
@@ -0,0 +1,3 @@
+Header header
+int16[3] angular_velocity
+int16[3] linear_acceleration
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg
new file mode 100644
index 0000000..0a2543c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg	
@@ -0,0 +1,2 @@
+Header header
+float64[3] channel
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg
new file mode 100644
index 0000000..52b397c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg	
@@ -0,0 +1,3 @@
+Header header
+uint8 status
+uint16[] channel
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg
new file mode 100644
index 0000000..24a2773
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg	
@@ -0,0 +1,4 @@
+Header header
+float32 aileron
+float32 elevator
+float32 rudder
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg
new file mode 100644
index 0000000..91b661c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+uint16[] value
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Supply.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Supply.msg
new file mode 100644
index 0000000..ca08cd6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/Supply.msg	
@@ -0,0 +1,3 @@
+Header header
+float32[] voltage
+float32[] current
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg
new file mode 100644
index 0000000..fefdb9e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+float32 thrust
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg
new file mode 100644
index 0000000..de72e09
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg	
@@ -0,0 +1,3 @@
+Header header
+float32 x
+float32 y
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg
new file mode 100644
index 0000000..0910464
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+float32 z
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg
new file mode 100644
index 0000000..fd2de10
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg	
@@ -0,0 +1,2 @@
+Header header
+float32 turnrate
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/package.xml
new file mode 100644
index 0000000..9042717
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/hector_uav_msgs/package.xml	
@@ -0,0 +1,27 @@
+<package>
+  <name>hector_uav_msgs</name>
+  <version>0.3.5</version>
+  <description>hector_uav_msgs is a message package that contains messages for UAV controller inputs and outputs and some sensor readings not covered by sensor_msgs.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_uav_msgs</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/tutorials.rosinstall b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/tutorials.rosinstall
new file mode 100644
index 0000000..e248c84
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_quadrotor/tutorials.rosinstall	
@@ -0,0 +1,5 @@
+- git: {local-name: hector_quadrotor, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git', version: hydro-devel}
+- git: {local-name: hector_slam, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_slam.git', version: catkin}
+- git: {local-name: hector_localization, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_localization.git', version: catkin}
+- git: {local-name: hector_gazebo, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git', version: hydro-devel}
+- git: {local-name: hector_models, uri: 'https://github.com/tu-darmstadt-ros-pkg/hector_models.git', version: hydro-devel}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/.gitignore b/Source Files/hector_quadrotor_tutorial/src/hector_slam/.gitignore
new file mode 100644
index 0000000..e99fa14
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/.gitignore	
@@ -0,0 +1,7 @@
+bin/
+build/
+lib/
+msg_gen/
+srv_gen/
+hector_mapping/src/hector_mapping/
+hector_nav_msgs/src/hector_nav_msgs/
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/README.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/README.txt
new file mode 100644
index 0000000..98927db
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/README.txt	
@@ -0,0 +1,3 @@
+# hector_slam
+
+See the ROS Wiki for documentation: http://wiki.ros.org/hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CHANGELOG.rst
new file mode 100644
index 0000000..9d52cbb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CHANGELOG.rst	
@@ -0,0 +1,28 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_compressed_map_transport
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* Contributors: Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+* fixed cmake find for eigen in indigo
+* fixed libopencv-dev rosdep key
+* Contributors: Alexander Stumpf, Johannes Meyer
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CMakeLists.txt
new file mode 100644
index 0000000..3d9711f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/CMakeLists.txt	
@@ -0,0 +1,149 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_compressed_map_transport)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS cv_bridge geometry_msgs hector_map_tools image_transport nav_msgs sensor_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_compressed_map_transport
+#  CATKIN_DEPENDS cv_bridge geometry_msgs hector_map_tools image_transport nav_msgs opencv2 sensor_msgs
+#  DEPENDS EIGEN3 opencv2
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_compressed_map_transport
+#   src/${PROJECT_NAME}/hector_compressed_map_transport.cpp
+# )
+
+## Declare a cpp executable
+add_executable(map_to_image_node src/map_to_image_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_compressed_map_transport_node hector_compressed_map_transport_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(map_to_image_node
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS map_to_image_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_compressed_map_transport.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/package.xml
new file mode 100644
index 0000000..adda2e0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/package.xml	
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_compressed_map_transport</name>
+  <version>0.3.5</version>
+  <description>
+    hector_compressed_map_transport provides means for transporting compressed map data through the use of image_transport.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <url type="website">http://ros.org/wiki/hector_compressed_map_transport</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>hector_map_tools</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>eigen</build_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>hector_map_tools</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>eigen</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/src/map_to_image_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/src/map_to_image_node.cpp
new file mode 100644
index 0000000..ad01a0e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_compressed_map_transport/src/map_to_image_node.cpp	
@@ -0,0 +1,270 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "ros/ros.h"
+
+#include <nav_msgs/GetMap.h>
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <sensor_msgs/image_encodings.h>
+
+#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.h>
+#include <Eigen/Geometry>
+
+#include <hector_map_tools/HectorMapTools.h>
+
+using namespace std;
+
+/**
+ * @brief This node provides occupancy grid maps as images via image_transport, so the transmission consumes less bandwidth.
+ * The provided code is a incomplete proof of concept.
+ */
+class MapAsImageProvider
+{
+public:
+  MapAsImageProvider()
+    : pn_("~")
+  {
+
+    image_transport_ = new image_transport::ImageTransport(n_);
+    image_transport_publisher_full_ = image_transport_->advertise("map_image/full", 1);
+    image_transport_publisher_tile_ = image_transport_->advertise("map_image/tile", 1);
+
+    pose_sub_ = n_.subscribe("pose", 1, &MapAsImageProvider::poseCallback, this);
+    map_sub_ = n_.subscribe("map", 1, &MapAsImageProvider::mapCallback, this);
+
+    //Which frame_id makes sense?
+    cv_img_full_.header.frame_id = "map_image";
+    cv_img_full_.encoding = sensor_msgs::image_encodings::MONO8;
+
+    cv_img_tile_.header.frame_id = "map_image";
+    cv_img_tile_.encoding = sensor_msgs::image_encodings::MONO8;
+
+    //Fixed cell width for tile based image, use dynamic_reconfigure for this later
+    p_size_tiled_map_image_x_ = 64;
+    p_size_tiled_map_image_y_ = 64;
+
+    ROS_INFO("Map to Image node started.");
+  }
+
+  ~MapAsImageProvider()
+  {
+    delete image_transport_;
+  }
+
+  //We assume the robot position is available as a PoseStamped here (querying tf would be the more general option)
+  void poseCallback(const geometry_msgs::PoseStampedConstPtr& pose)
+  {
+    pose_ptr_ = pose;
+  }
+
+  //The map->image conversion runs every time a new map is received at the moment
+  void mapCallback(const nav_msgs::OccupancyGridConstPtr& map)
+  {
+    int size_x = map->info.width;
+    int size_y = map->info.height;
+
+    if ((size_x < 3) || (size_y < 3) ){
+      ROS_INFO("Map size is only x: %d,  y: %d . Not running map to image conversion", size_x, size_y);
+      return;
+    }
+
+    // Only if someone is subscribed to it, do work and publish full map image
+    if (image_transport_publisher_full_.getNumSubscribers() > 0){
+      cv::Mat* map_mat  = &cv_img_full_.image;
+
+      // resize cv image if it doesn't have the same dimensions as the map
+      if ( (map_mat->rows != size_y) && (map_mat->cols != size_x)){
+        *map_mat = cv::Mat(size_y, size_x, CV_8U);
+      }
+
+      const std::vector<int8_t>& map_data (map->data);
+
+      unsigned char *map_mat_data_p=(unsigned char*) map_mat->data;
+
+      //We have to flip around the y axis, y for image starts at the top and y for map at the bottom
+      int size_y_rev = size_y-1;
+
+      for (int y = size_y_rev; y >= 0; --y){
+
+        int idx_map_y = size_x * (size_y -y);
+        int idx_img_y = size_x * y;
+
+        for (int x = 0; x < size_x; ++x){
+
+          int idx = idx_img_y + x;
+
+          switch (map_data[idx_map_y + x])
+          {
+          case -1:
+            map_mat_data_p[idx] = 127;
+            break;
+
+          case 0:
+            map_mat_data_p[idx] = 255;
+            break;
+
+          case 100:
+            map_mat_data_p[idx] = 0;
+            break;
+          }
+        }
+      }
+      image_transport_publisher_full_.publish(cv_img_full_.toImageMsg());
+    }
+
+    // Only if someone is subscribed to it, do work and publish tile-based map image Also check if pose_ptr_ is valid
+    if ((image_transport_publisher_tile_.getNumSubscribers() > 0) && (pose_ptr_)){
+
+      world_map_transformer_.setTransforms(*map);
+
+      Eigen::Vector2f rob_position_world (pose_ptr_->pose.position.x, pose_ptr_->pose.position.y);
+      Eigen::Vector2f rob_position_map (world_map_transformer_.getC2Coords(rob_position_world));
+
+      Eigen::Vector2i rob_position_mapi (rob_position_map.cast<int>());
+
+      Eigen::Vector2i tile_size_lower_halfi (p_size_tiled_map_image_x_ / 2, p_size_tiled_map_image_y_ / 2);
+
+      Eigen::Vector2i min_coords_map (rob_position_mapi - tile_size_lower_halfi);
+
+      //Clamp to lower map coords
+      if (min_coords_map[0] < 0){
+        min_coords_map[0] = 0;
+      }
+
+      if (min_coords_map[1] < 0){
+        min_coords_map[1] = 0;
+      }
+
+      Eigen::Vector2i max_coords_map (min_coords_map + Eigen::Vector2i(p_size_tiled_map_image_x_,p_size_tiled_map_image_y_));
+
+      //Clamp to upper map coords
+      if (max_coords_map[0] > size_x){
+
+        int diff = max_coords_map[0] - size_x;
+        min_coords_map[0] -= diff;
+
+        max_coords_map[0] = size_x;
+      }
+
+      if (max_coords_map[1] > size_y){
+
+        int diff = max_coords_map[1] - size_y;
+        min_coords_map[1] -= diff;
+
+        max_coords_map[1] = size_y;
+      }
+
+      //Clamp lower again (in case the map is smaller than the selected visualization window)
+      if (min_coords_map[0] < 0){
+        min_coords_map[0] = 0;
+      }
+
+      if (min_coords_map[1] < 0){
+        min_coords_map[1] = 0;
+      }
+
+      Eigen::Vector2i actual_map_dimensions(max_coords_map - min_coords_map);
+
+      cv::Mat* map_mat  = &cv_img_tile_.image;
+
+      // resize cv image if it doesn't have the same dimensions as the selected visualization window
+      if ( (map_mat->rows != actual_map_dimensions[0]) || (map_mat->cols != actual_map_dimensions[1])){
+        *map_mat = cv::Mat(actual_map_dimensions[0], actual_map_dimensions[1], CV_8U);
+      }
+
+      const std::vector<int8_t>& map_data (map->data);
+
+      unsigned char *map_mat_data_p=(unsigned char*) map_mat->data;
+
+      //We have to flip around the y axis, y for image starts at the top and y for map at the bottom
+      int y_img = max_coords_map[1]-1;
+
+      for (int y = min_coords_map[1]; y < max_coords_map[1];++y){
+
+        int idx_map_y = y_img-- * size_x;
+        int idx_img_y = (y-min_coords_map[1]) * actual_map_dimensions.x();
+
+        for (int x = min_coords_map[0]; x < max_coords_map[0];++x){
+
+          int img_index = idx_img_y + (x-min_coords_map[0]);
+
+          switch (map_data[idx_map_y+x])
+          {
+          case 0:
+            map_mat_data_p[img_index] = 255;
+            break;
+
+          case -1:
+            map_mat_data_p[img_index] = 127;
+            break;
+
+          case 100:
+            map_mat_data_p[img_index] = 0;
+            break;
+          }
+        }        
+      }
+      image_transport_publisher_tile_.publish(cv_img_tile_.toImageMsg());
+    }
+  }
+
+  ros::Subscriber map_sub_;
+  ros::Subscriber pose_sub_;
+
+  image_transport::Publisher image_transport_publisher_full_;
+  image_transport::Publisher image_transport_publisher_tile_;
+
+  image_transport::ImageTransport* image_transport_;
+
+  geometry_msgs::PoseStampedConstPtr pose_ptr_;
+
+  cv_bridge::CvImage cv_img_full_;
+  cv_bridge::CvImage cv_img_tile_;
+
+  ros::NodeHandle n_;
+  ros::NodeHandle pn_;
+
+  int p_size_tiled_map_image_x_;
+  int p_size_tiled_map_image_y_;
+
+  HectorMapTools::CoordinateTransformer<float> world_map_transformer_;
+
+};
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "map_to_image_node");
+
+  MapAsImageProvider map_image_provider;
+
+  ros::spin();
+
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CHANGELOG.rst
new file mode 100644
index 0000000..1f2d3e0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CHANGELOG.rst	
@@ -0,0 +1,37 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_geotiff
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* hector_geotiff/hector_geotiff_plugins: added possibility to specify Color of robot path in the geotiff file in order to allow multiple color robot paths
+* Contributors: Dorothea Koert, Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+* Removes trailing spaces and fixes indents
+* Contributors: YuK_Ota
+
+0.3.3 (2014-06-15)
+------------------
+* fixed cmake find for eigen in indigo
+* added launchfile to restart geotiff node
+* Contributors: Alexander Stumpf
+
+0.3.2 (2014-03-30)
+------------------
+* Add TrajectoryMapWriter to geotiff_mapper.launch per default
+* Add arguments to launch files for specifying geotiff file path
+* Contributors: Stefan Kohlbrecher
+
+0.3.1 (2013-10-09)
+------------------
+* added missing install rule for launch files
+* moved header files from include/geotiff_writer to include/hector_geotiff
+* fixed warnings for deprecated pluginlib method/macro calls
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CMakeLists.txt
new file mode 100644
index 0000000..331686e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/CMakeLists.txt	
@@ -0,0 +1,149 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_geotiff)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+find_package(Qt4 4.6 COMPONENTS QtCore QtGui REQUIRED)
+
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
+include(${QT_USE_FILE})
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES geotiff_writer
+  CATKIN_DEPENDS hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs
+  DEPENDS EIGEN3 QT
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include include/hector_geotiff)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+add_library(geotiff_writer src/geotiff_writer/geotiff_writer.cpp)
+target_link_libraries(geotiff_writer ${catkin_LIBRARIES} ${QT_LIBRARIES})
+add_dependencies(geotiff_writer ${catkin_EXPORTED_TARGETS})
+
+add_executable(geotiff_saver src/geotiff_saver.cpp)
+target_link_libraries(geotiff_saver geotiff_writer)
+add_dependencies(geotiff_saver ${catkin_EXPORTED_TARGETS})
+
+add_executable(geotiff_node src/geotiff_node.cpp)
+target_link_libraries(geotiff_node geotiff_writer)
+add_dependencies(geotiff_node ${catkin_EXPORTED_TARGETS})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS geotiff_writer geotiff_saver geotiff_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_geotiff.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/geotiff_writer.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/geotiff_writer.h
new file mode 100644
index 0000000..6aaf420
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/geotiff_writer.h	
@@ -0,0 +1,134 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _GEOTIFFWRITER_H__
+#define _GEOTIFFWRITER_H__
+
+#include "map_writer_interface.h"
+
+#include <Eigen/Geometry>
+
+#include <nav_msgs/OccupancyGrid.h>
+#include <nav_msgs/MapMetaData.h>
+
+#include <QtGui/QImage>
+#include <QtGui/QApplication>
+#include <QtGui/QFont>
+#include <QtGui/QPen>
+
+#include <hector_map_tools/HectorMapTools.h>
+
+
+namespace hector_geotiff{
+
+
+class GeotiffWriter : public MapWriterInterface
+{
+  public:
+  GeotiffWriter(bool useCheckerboardCacheIn = false);
+  virtual ~GeotiffWriter();
+
+  //setUsePrecalcGrid(bool usePrecalc, const Eigen::Vector2f& size);
+
+  void setMapFileName(const std::string& mapFileName);
+  void setMapFilePath(const std::string& mapFilePath);
+  void setUseUtcTimeSuffix(bool useSuffix);
+
+  void setupImageSize();
+  bool setupTransforms(const nav_msgs::OccupancyGrid& map);
+  void drawBackgroundCheckerboard();
+  void drawMap(const nav_msgs::OccupancyGrid& map, bool draw_explored_space_grid = true);
+  void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color);
+  inline virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points){
+      drawPath(start, points, 120,0,240);
+  }
+  void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points, int color_r, int color_g, int color_b);
+  void drawCoords();
+  std::string getBasePathAndFileName() const;
+  void writeGeotiffImage();
+
+
+protected:
+
+  void transformPainterToImgCoords(QPainter& painter);
+  void drawCross(QPainter& painter, const Eigen::Vector2f& coords);
+  void drawArrow(QPainter& painter);
+  void drawCoordSystem(QPainter& painter);
+
+  float resolution;
+  Eigen::Vector2f origin;
+
+  int resolutionFactor;
+  float resolutionFactorf;
+
+  bool useCheckerboardCache;
+  bool use_utc_time_suffix_;
+
+  float pixelsPerMapMeter;
+  float pixelsPerGeoTiffMeter;
+
+  Eigen::Vector2i minCoordsMap;
+  Eigen::Vector2i maxCoordsMap;
+
+  Eigen::Vector2i sizeMap;
+  Eigen::Vector2f sizeMapf;
+
+  Eigen::Vector2f rightBottomMarginMeters;
+  Eigen::Vector2f rightBottomMarginPixelsf;
+  Eigen::Vector2i rightBottomMarginPixels;
+
+  Eigen::Vector2f leftTopMarginMeters;
+
+  Eigen::Vector2f totalMeters;
+
+  Eigen::Vector2i geoTiffSizePixels;
+
+  Eigen::Vector2f mapOrigInGeotiff;
+  Eigen::Vector2f mapEndInGeotiff;
+
+  std::string map_file_name_;
+  std::string map_file_path_;
+
+  QImage image;
+  QImage checkerboard_cache;
+  QApplication* app;
+  QFont map_draw_font_;
+
+  HectorMapTools::CoordinateTransformer<float> world_map_transformer_;
+  HectorMapTools::CoordinateTransformer<float> map_geo_transformer_;
+  HectorMapTools::CoordinateTransformer<float> world_geo_transformer_;
+
+  nav_msgs::MapMetaData cached_map_meta_data_;
+
+  int fake_argc_;
+  char** fake_argv_;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_interface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_interface.h
new file mode 100644
index 0000000..a2ed1fa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_interface.h	
@@ -0,0 +1,57 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _MAPWRITERINTERFACE_H__
+#define _MAPWRITERINTERFACE_H__
+
+#include <vector>
+#include <Eigen/Core>
+
+namespace hector_geotiff{
+
+class MapWriterInterface{
+public:
+  struct Color {
+    Color(unsigned int r, unsigned int g, unsigned int b) : r(r), g(g), b(b) {}
+    unsigned int r,g,b;
+  };
+
+  virtual std::string getBasePathAndFileName() const = 0;
+  virtual void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color) = 0;
+  //virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points) = 0;
+
+  inline virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points){
+      drawPath(start, points, 120,0,240);
+  }
+  virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points, int color_r, int color_g, int color_b) = 0;
+
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_plugin_interface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_plugin_interface.h
new file mode 100644
index 0000000..ddb0347
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/include/hector_geotiff/map_writer_plugin_interface.h	
@@ -0,0 +1,47 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _MAPWRITERPLUGININTERFACE_H__
+#define _MAPWRITERPLUGININTERFACE_H__
+
+#include "map_writer_interface.h"
+
+namespace hector_geotiff{
+
+class MapWriterPluginInterface{
+
+public:
+
+  virtual void initialize(const std::string& name) = 0;
+  virtual void draw(MapWriterInterface* map_writer_interface) = 0;
+
+};
+
+} //namespace hector_geotiff
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper.launch
new file mode 100644
index 0000000..ed96888
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper.launch	
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="trajectory_source_frame_name" default="/base_link"/>
+  <arg name="trajectory_update_rate" default="4"/>
+  <arg name="trajectory_publish_rate" default="0.25"/>
+  <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
+  <arg name="map_file_base_name" default="hector_slam_map"/>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
+    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
+    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(arg map_file_path)" />
+    <param name="map_file_base_name" type="string" value="$(arg map_file_base_name)" />
+    <param name="geotiff_save_period" type="double" value="0" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+    <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter" />
+  </node>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper_only.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper_only.launch
new file mode 100644
index 0000000..5606de5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/launch/geotiff_mapper_only.launch	
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="scanmatcher_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="" />
+    <param name="geotiff_save_period" type="double" value="45" />
+
+    <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter hector_worldmodel_geotiff_plugins/QRCodeMapWriter hector_worldmodel_geotiff_plugins/VictimMapWriter" />
+    <param name="VictimMapWriter/draw_all_objects" value="false" />
+    <param name="VictimMapWriter/class_id" value="victim" />
+    <param name="QRCodeMapWriter/draw_all_objects" value="true" />
+    <param name="QRCodeMapWriter/class_id" value="qrcode" />
+  </node>
+
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/package.xml
new file mode 100644
index 0000000..8f15a0d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/package.xml	
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_geotiff</name>
+  <version>0.3.5</version>
+  <description>
+    hector_geotiff provides a node that can be used to save occupancy grid map, robot trajectory and object of interest data to RoboCup Rescue compliant GeoTiff images.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_geotiff</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hector_map_tools</build_depend>
+  <build_depend>hector_nav_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>libqt4-dev</build_depend>
+  <!--<run_depend>hector_geotiff_plugins</run_depend>-->
+  <run_depend>hector_map_tools</run_depend>
+  <run_depend>hector_nav_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>pluginlib</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>libqt4-dev</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_node.cpp
new file mode 100644
index 0000000..dd09836
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_node.cpp	
@@ -0,0 +1,314 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <cstdio>
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <pluginlib/class_loader.h>
+
+#include <boost/algorithm/string.hpp>
+
+
+#include "nav_msgs/GetMap.h"
+#include "std_msgs/String.h"
+#include "geometry_msgs/Quaternion.h"
+
+#include <Eigen/Geometry>
+
+#include <QtGui/QApplication>
+
+#include <hector_map_tools/HectorMapTools.h>
+
+#include <hector_geotiff/geotiff_writer.h>
+#include <hector_geotiff/map_writer_plugin_interface.h>
+
+#include <hector_nav_msgs/GetRobotTrajectory.h>
+
+using namespace std;
+
+namespace hector_geotiff{
+
+/**
+ * @brief Map generation node.
+ */
+class MapGenerator
+{
+public:
+  MapGenerator()
+    : geotiff_writer_(false)
+    , pn_("~")    
+    , plugin_loader_(0)
+    , running_saved_map_num_(0)
+  {
+    pn_.param("map_file_path", p_map_file_path_, std::string("."));
+    geotiff_writer_.setMapFilePath(p_map_file_path_);
+    geotiff_writer_.setUseUtcTimeSuffix(true);
+
+    pn_.param("map_file_base_name", p_map_file_base_name_, std::string());
+
+    pn_.param("draw_background_checkerboard", p_draw_background_checkerboard_, true);
+    pn_.param("draw_free_space_grid", p_draw_free_space_grid_, true);
+
+    sys_cmd_sub_ = n_.subscribe("syscommand", 1, &MapGenerator::sysCmdCallback, this);
+
+    map_service_client_ = n_.serviceClient<nav_msgs::GetMap>("map");
+    //object_service_client_ = n_.serviceClient<worldmodel_msgs::GetObjectModel>("worldmodel/get_object_model");
+    path_service_client_ = n_.serviceClient<hector_nav_msgs::GetRobotTrajectory>("trajectory");
+
+
+    double p_geotiff_save_period = 0.0;
+    pn_.param("geotiff_save_period", p_geotiff_save_period, 0.0);
+
+    if(p_geotiff_save_period > 0.0){
+      //ros::Timer timer = pn_.createTimer(ros::Duration(p_geotiff_save_period), &MapGenerator::timerSaveGeotiffCallback, false);
+      //publish_trajectory_timer_ = private_nh.createTimer(ros::Duration(1.0 / p_trajectory_publish_rate_), &PathContainer::publishTrajectoryTimerCallback, this, false);
+      map_save_timer_ = pn_.createTimer(ros::Duration(p_geotiff_save_period), &MapGenerator::timerSaveGeotiffCallback, this, false );
+    }
+
+
+    pn_.param("plugins", p_plugin_list_, std::string(""));
+
+    std::vector<std::string> plugin_list;
+    boost::algorithm::split(plugin_list, p_plugin_list_, boost::is_any_of("\t "));
+
+    //We always have at least one element containing "" in the string list
+    if ((plugin_list.size() > 0) && (plugin_list[0].length() > 0)){
+      plugin_loader_ = new pluginlib::ClassLoader<hector_geotiff::MapWriterPluginInterface>("hector_geotiff", "hector_geotiff::MapWriterPluginInterface");
+
+      for (size_t i = 0; i < plugin_list.size(); ++i){
+        try
+        {
+          boost::shared_ptr<hector_geotiff::MapWriterPluginInterface> tmp (plugin_loader_->createInstance(plugin_list[i]));
+          tmp->initialize(plugin_loader_->getName(plugin_list[i]));
+          plugin_vector_.push_back(tmp);
+        }
+        catch(pluginlib::PluginlibException& ex)
+        {
+          ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
+        }
+      }
+    }else{
+      ROS_INFO("No plugins loaded for geotiff node");
+    }
+
+    ROS_INFO("Geotiff node started");
+  }
+
+  ~MapGenerator()
+  {
+    if (plugin_loader_){
+      delete plugin_loader_;
+    }
+  }
+
+  void writeGeotiff()
+  {
+    ros::Time start_time (ros::Time::now());
+
+    std::stringstream ssStream;
+
+    nav_msgs::GetMap srv_map;
+    if (map_service_client_.call(srv_map))
+    {
+      ROS_INFO("GeotiffNode: Map service called successfully");
+      const nav_msgs::OccupancyGrid& map (srv_map.response.map);
+
+      std::string map_file_name = p_map_file_base_name_;
+      std::string competition_name;
+      std::string team_name;
+      std::string mission_name;
+      std::string postfix;
+      if (n_.getParamCached("/competition", competition_name) && !competition_name.empty()) map_file_name = map_file_name + "_" + competition_name;
+      if (n_.getParamCached("/team", team_name)               && !team_name.empty())        map_file_name = map_file_name + "_" + team_name;
+      if (n_.getParamCached("/mission", mission_name)         && !mission_name.empty())     map_file_name = map_file_name + "_" + mission_name;
+      if (pn_.getParamCached("map_file_postfix", postfix)     && !postfix.empty())          map_file_name = map_file_name + "_" + postfix;
+      if (map_file_name.substr(0, 1) == "_") map_file_name = map_file_name.substr(1);
+      if (map_file_name.empty()) map_file_name = "GeoTiffMap";
+      geotiff_writer_.setMapFileName(map_file_name);
+      bool transformSuccess = geotiff_writer_.setupTransforms(map);
+
+      if(!transformSuccess){
+        ROS_INFO("Couldn't set map transform");
+        return;
+      }
+
+      geotiff_writer_.setupImageSize();
+
+      if (p_draw_background_checkerboard_){
+        geotiff_writer_.drawBackgroundCheckerboard();
+      }
+
+      geotiff_writer_.drawMap(map, p_draw_free_space_grid_);
+      geotiff_writer_.drawCoords();
+
+      //ROS_INFO("Sum: %ld", (long int)srv.response.sum);
+    }
+    else
+    {
+      ROS_ERROR("Failed to call map service");
+      return;
+    }
+
+    for (size_t i = 0; i < plugin_vector_.size(); ++i){
+      plugin_vector_[i]->draw(&geotiff_writer_);
+    }
+
+    /**
+      * No Victims for now, first  agree on a common standard for representation
+      */
+    /*
+    if (req_object_model_){
+      worldmodel_msgs::GetObjectModel srv_objects;
+      if (object_service_client_.call(srv_objects))
+      {
+        ROS_INFO("GeotiffNode: Object service called successfully");
+
+        const worldmodel_msgs::ObjectModel& objects_model (srv_objects.response.model);
+
+        size_t size = objects_model.objects.size();
+
+
+        unsigned int victim_num  = 1;
+
+        for (size_t i = 0; i < size; ++i){
+          const worldmodel_msgs::Object& object (objects_model.objects[i]);
+
+          if (object.state.state == worldmodel_msgs::ObjectState::CONFIRMED){
+            geotiff_writer_.drawVictim(Eigen::Vector2f(object.pose.pose.position.x,object.pose.pose.position.y),victim_num);
+            victim_num++;
+          }
+        }
+      }
+      else
+      {
+        ROS_ERROR("Failed to call objects service");
+      }
+    }
+    */
+
+    /*
+    hector_nav_msgs::GetRobotTrajectory srv_path;
+
+    if (path_service_client_.call(srv_path))
+    {
+      ROS_INFO("GeotiffNode: Path service called successfully");
+
+      std::vector<geometry_msgs::PoseStamped>& traj_vector (srv_path.response.trajectory.poses);
+
+      size_t size = traj_vector.size();
+
+      std::vector<Eigen::Vector2f> pointVec;
+      pointVec.resize(size);
+
+      for (size_t i = 0; i < size; ++i){
+        const geometry_msgs::PoseStamped& pose (traj_vector[i]);
+
+        pointVec[i] = Eigen::Vector2f(pose.pose.position.x, pose.pose.position.y);
+      }
+
+      if (size > 0){
+        //Eigen::Vector3f startVec(pose_vector[0].x,pose_vector[0].y,pose_vector[0].z);
+        Eigen::Vector3f startVec(pointVec[0].x(),pointVec[0].y(),0.0f);
+        geotiff_writer_.drawPath(startVec, pointVec);
+      }
+    }
+    else
+    {
+      ROS_ERROR("Failed to call path service");
+    }
+    */
+
+
+    geotiff_writer_.writeGeotiffImage();
+    running_saved_map_num_++;
+
+    ros::Duration elapsed_time (ros::Time::now() - start_time);
+
+    ROS_INFO("GeoTiff created in %f seconds", elapsed_time.toSec());
+  }
+
+  void timerSaveGeotiffCallback(const ros::TimerEvent& e)
+  {
+    this->writeGeotiff();
+  }
+
+  void sysCmdCallback(const std_msgs::String& sys_cmd)
+  {
+    if ( !(sys_cmd.data == "savegeotiff")){
+      return;
+    }
+
+    this->writeGeotiff();
+  }
+
+  std::string p_map_file_path_;
+  std::string p_map_file_base_name_;
+  std::string p_plugin_list_;
+  bool p_draw_background_checkerboard_;
+  bool p_draw_free_space_grid_;
+
+  //double p_geotiff_save_period_;
+
+  GeotiffWriter geotiff_writer_;
+
+  ros::ServiceClient map_service_client_;// = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
+  ros::ServiceClient object_service_client_;
+  ros::ServiceClient path_service_client_;
+
+  ros::Subscriber sys_cmd_sub_;
+
+  ros::NodeHandle n_;
+  ros::NodeHandle pn_;
+
+  std::vector<boost::shared_ptr<hector_geotiff::MapWriterPluginInterface> > plugin_vector_;
+
+  pluginlib::ClassLoader<hector_geotiff::MapWriterPluginInterface>* plugin_loader_;
+
+  ros::Timer map_save_timer_;
+
+  unsigned int running_saved_map_num_;
+};
+
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "geotiff_node");
+
+  hector_geotiff::MapGenerator mg;
+
+  //ros::NodeHandle pn_;
+  //double p_geotiff_save_period = 60.0f;
+  //pn_.param("geotiff_save_period", p_geotiff_save_period, 60.0);
+  //ros::Timer timer = pn_.createTimer(ros::Duration(p_geotiff_save_period), &MapGenerator::timerSaveGeotiffCallback, &mg, false);
+
+  ros::spin();
+
+  return 0;
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_saver.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_saver.cpp
new file mode 100644
index 0000000..7dff369
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_saver.cpp	
@@ -0,0 +1,125 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <cstdio>
+#include "ros/ros.h"
+#include "ros/console.h"
+#include "nav_msgs/GetMap.h"
+#include "geometry_msgs/Quaternion.h"
+
+#include <Eigen/Geometry>
+
+#include <QtGui/QApplication>
+
+#include <hector_map_tools/HectorMapTools.h>
+
+#include <hector_geotiff/geotiff_writer.h>
+
+using namespace std;
+
+namespace hector_geotiff{
+
+/**
+ * @brief Map generation node.
+ */
+class MapGenerator
+{
+  public:
+    MapGenerator(const std::string& mapname) : mapname_(mapname)
+    {
+      ros::NodeHandle n;
+      ROS_INFO("Waiting for the map");
+      map_sub_ = n.subscribe("map", 1, &MapGenerator::mapCallback, this);
+    }
+
+    void mapCallback(const nav_msgs::OccupancyGridConstPtr& map)
+    {
+      ros::Time start_time (ros::Time::now());
+
+      geotiff_writer.setMapFileName(mapname_);
+      geotiff_writer.setupTransforms(*map);
+      geotiff_writer.drawBackgroundCheckerboard();
+      geotiff_writer.drawMap(*map);
+      geotiff_writer.drawCoords();
+
+      geotiff_writer.writeGeotiffImage();
+
+      ros::Duration elapsed_time (ros::Time::now() - start_time);
+      ROS_INFO("GeoTiff created in %f seconds", elapsed_time.toSec());
+    }
+
+    GeotiffWriter geotiff_writer;
+
+    std::string mapname_;
+    ros::Subscriber map_sub_;
+};
+
+}
+
+#define USAGE "Usage: \n" \
+              "  geotiff_saver -h\n"\
+              "  geotiff_saver [-f <mapname>] [ROS remapping args]"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "map_saver");
+  std::string mapname = "map";
+
+  for(int i=1; i<argc; i++)
+  {
+    if(!strcmp(argv[i], "-h"))
+    {
+      puts(USAGE);
+      return 0;
+    }
+    else if(!strcmp(argv[i], "-f"))
+    {
+      if(++i < argc)
+        mapname = argv[i];
+      else
+      {
+        puts(USAGE);
+        return 1;
+      }
+    }
+    else
+    {
+      puts(USAGE);
+      return 1;
+    }
+  }
+
+  //GeotiffWriter geotiff_writer;
+  //geotiff_writer.setMapName("test");
+  hector_geotiff::MapGenerator mg(mapname);
+
+  ros::spin();
+
+  return 0;
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_writer/geotiff_writer.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_writer/geotiff_writer.cpp
new file mode 100644
index 0000000..b6e0f0b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff/src/geotiff_writer/geotiff_writer.cpp	
@@ -0,0 +1,596 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <ros/console.h>
+#include <hector_geotiff/geotiff_writer.h>
+
+#include <QtGui/QPainter>
+#include <QtGui/QImageWriter>
+#include <QtGui/QApplication>
+#include <QtCore/QFile>
+//#include <QtCore/QDateTime>
+#include <QtCore/QTime>
+#include <QtCore/QTextStream>
+
+namespace hector_geotiff{
+
+
+GeotiffWriter::GeotiffWriter(bool useCheckerboardCacheIn)
+  : useCheckerboardCache(useCheckerboardCacheIn)
+  , use_utc_time_suffix_(true)
+{
+  cached_map_meta_data_.height = -1;
+  cached_map_meta_data_.width = -1;
+  cached_map_meta_data_.resolution = -1.0f;
+
+  fake_argc_ = 0;
+
+  //Create a QApplication cause otherwise drawing text will crash
+  app = new QApplication(fake_argc_, fake_argv_, false);
+
+  map_file_name_ = "";
+  map_file_path_ = "";
+}
+
+GeotiffWriter::~GeotiffWriter()
+{
+  delete app;
+}
+
+void GeotiffWriter::setMapFileName(const std::string& mapFileName)
+{
+  map_file_name_ = mapFileName;
+
+  if (use_utc_time_suffix_){
+    //QDateTime now (QDateTime::currentDateTimeUtc());
+    //std::string current_time_string = now.toString(Qt::ISODate).toStdString();
+    QTime now (QTime::currentTime());
+    std::string current_time_string = now.toString(Qt::ISODate).toStdString();
+
+    map_file_name_ += "_" + current_time_string;
+  }
+}
+
+void GeotiffWriter::setMapFilePath(const std::string& mapFilePath)
+{
+  map_file_path_ = mapFilePath;
+}
+
+void GeotiffWriter::setUseUtcTimeSuffix(bool useSuffix)
+{
+  use_utc_time_suffix_ = useSuffix;
+}
+
+
+bool GeotiffWriter::setupTransforms(const nav_msgs::OccupancyGrid& map)
+{
+  resolution = static_cast<float>(map.info.resolution);
+  origin = Eigen::Vector2f(map.info.origin.position.x, map.info.origin.position.y);
+
+  resolutionFactor = 3;
+  resolutionFactorf = static_cast<float>(resolutionFactor);
+
+  pixelsPerMapMeter = 1.0f / map.info.resolution;
+  pixelsPerGeoTiffMeter = pixelsPerMapMeter * static_cast<float>(resolutionFactor);
+
+  minCoordsMap = Eigen::Vector2i::Zero();
+  maxCoordsMap = Eigen::Vector2i(map.info.width, map.info.height);
+
+  if(!HectorMapTools::getMapExtends(map, minCoordsMap, maxCoordsMap)){
+    ROS_INFO("Cannot determine map extends!");
+    return false;
+  }
+
+  sizeMap = Eigen::Vector2i(maxCoordsMap - minCoordsMap);
+  sizeMapf = ((maxCoordsMap - minCoordsMap).cast<float>());
+
+
+  rightBottomMarginMeters = Eigen::Vector2f(1.0f, 1.0f);
+  rightBottomMarginPixelsf = Eigen::Vector2f( rightBottomMarginMeters.array() * pixelsPerGeoTiffMeter);
+  rightBottomMarginPixels = ((rightBottomMarginPixelsf.array() +0.5f).cast<int>());
+
+  leftTopMarginMeters= Eigen::Vector2f(3.0f, 3.0f);
+
+  totalMeters = (rightBottomMarginMeters + sizeMapf* map.info.resolution + leftTopMarginMeters);
+  //std::cout << "\n" << totalMeters;
+
+  totalMeters.x() = ceil(totalMeters.x());
+  totalMeters.y() = ceil(totalMeters.y());
+  //std::cout << "\n" << totalMeters;
+
+  geoTiffSizePixels = ( (totalMeters.array() * pixelsPerGeoTiffMeter).cast<int>());
+
+
+  mapOrigInGeotiff = (rightBottomMarginPixelsf);
+  mapEndInGeotiff = (rightBottomMarginPixelsf + sizeMapf * resolutionFactorf);
+  //std::cout << "\n mapOrig\n" << mapOrigInGeotiff;
+  //std::cout << "\n mapOrig\n" << mapEndInGeotiff;
+
+  world_map_transformer_.setTransforms(map);
+
+  map_geo_transformer_.setTransformsBetweenCoordSystems(mapOrigInGeotiff,mapEndInGeotiff, minCoordsMap.cast<float>(),maxCoordsMap.cast<float>());
+
+  /*
+  Eigen::Vector2f temp_zero_map_g (map_geo_transformer_.getC2Coords(Eigen::Vector2f::Zero()));
+
+  Eigen::Vector2f temp_zero_map_g_floor (floor(temp_zero_map_g.x()), floor(temp_zero_map_g.x()));
+
+  Eigen::Vector2f diff (temp_zero_map_g - temp_zero_map_g_floor);
+
+  map*/
+
+
+  Eigen::Vector2f p1_w (Eigen::Vector2f::Zero());
+  Eigen::Vector2f p2_w (Eigen::Vector2f(100.0f, 100.0f));
+
+  Eigen::Vector2f p1_m (world_map_transformer_.getC2Coords(p1_w));
+  Eigen::Vector2f p2_m (world_map_transformer_.getC2Coords(p2_w));
+
+  Eigen::Vector2f p1_g (map_geo_transformer_.getC2Coords(p1_m));
+  Eigen::Vector2f p2_g (map_geo_transformer_.getC2Coords(p2_m));
+
+  world_geo_transformer_.setTransformsBetweenCoordSystems(p1_g, p2_g, p1_w, p2_w);
+
+  map_draw_font_ = QFont();
+  map_draw_font_.setPixelSize(6*resolutionFactor);
+
+  if (useCheckerboardCache){
+
+    if ((cached_map_meta_data_.height != map.info.height) ||
+        (cached_map_meta_data_.width != map.info.width) ||
+        (cached_map_meta_data_.resolution = map.info.resolution)){
+
+      cached_map_meta_data_ = map.info;
+
+      Eigen::Vector2f img_size (Eigen::Vector2f(map.info.width,map.info.height)* resolutionFactorf + (rightBottomMarginMeters + leftTopMarginMeters)*pixelsPerGeoTiffMeter );
+      checkerboard_cache = QImage(img_size.y(),img_size.x(), QImage::Format_RGB32);
+
+      QPainter qPainter(&image);
+      transformPainterToImgCoords(qPainter);
+
+      QBrush c1 = QBrush(QColor(226, 226, 227));
+      QBrush c2 = QBrush(QColor(237, 237, 238));
+      QRectF background_grid_tile(0.0f, 0.0f, pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter);
+
+
+      int xMaxGeo = geoTiffSizePixels[0];
+      int yMaxGeo = geoTiffSizePixels[1];
+
+      for (int y = 0; y < yMaxGeo; ++y){
+        for (int x = 0; x < xMaxGeo; ++x){
+          //std::cout << "\n" << x << " " << y;
+
+          if ((x + y) % 2 == 0) {
+            //qPainter.fillRect(background_grid_tile, c1);
+            qPainter.fillRect(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter, c1);
+
+          } else {
+            //qPainter.fillRect(background_grid_tile, c2);
+            qPainter.fillRect(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter, c2);
+          }
+          //background_grid_tile.moveTo(QPointF(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter));
+        }
+      }
+
+    }
+
+  }
+
+  return true;
+}
+
+void GeotiffWriter::setupImageSize()
+{
+  bool painter_rotate = true;
+
+  int xMaxGeo = geoTiffSizePixels[0];
+  int yMaxGeo = geoTiffSizePixels[1];
+
+  if (!useCheckerboardCache){
+    if (painter_rotate){
+      image = QImage(yMaxGeo, xMaxGeo, QImage::Format_RGB32);
+    }else{
+      image = QImage(xMaxGeo, yMaxGeo, QImage::Format_RGB32);
+    }
+
+    QPainter qPainter(&image);
+
+    QBrush grey = QBrush(QColor(128, 128, 128));
+
+    qPainter.fillRect(image.rect(), grey);
+
+  }
+}
+
+void GeotiffWriter::drawBackgroundCheckerboard()
+{
+  int xMaxGeo = geoTiffSizePixels[0];
+  int yMaxGeo = geoTiffSizePixels[1];
+
+  bool painter_rotate = true;
+
+  if (!useCheckerboardCache){
+
+    QPainter qPainter(&image);
+
+    if (painter_rotate){
+      transformPainterToImgCoords(qPainter);
+    }
+
+    //*********************** Background checkerboard pattern **********************
+    QBrush c1 = QBrush(QColor(226, 226, 227));
+    QBrush c2 = QBrush(QColor(237, 237, 238));
+    QRectF background_grid_tile(0.0f, 0.0f, pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter);
+
+
+
+    for (int y = 0; y < yMaxGeo; ++y){
+      for (int x = 0; x < xMaxGeo; ++x){
+        //std::cout << "\n" << x << " " << y;
+
+        if ((x + y) % 2 == 0) {
+          //qPainter.fillRect(background_grid_tile, c1);
+          qPainter.fillRect(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter, c1);
+
+        } else {
+          //qPainter.fillRect(background_grid_tile, c2);
+          qPainter.fillRect(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter,pixelsPerGeoTiffMeter, c2);
+        }
+        //background_grid_tile.moveTo(QPointF(static_cast<float>(x)*pixelsPerGeoTiffMeter,static_cast<float>(y)*pixelsPerGeoTiffMeter));
+      }
+    }
+  }else{
+    image = checkerboard_cache.copy(0,0,geoTiffSizePixels[0],geoTiffSizePixels[1]);
+  }
+}
+
+void GeotiffWriter::drawMap(const nav_msgs::OccupancyGrid& map, bool draw_explored_space_grid)
+{
+  QPainter qPainter(&image);
+
+  transformPainterToImgCoords(qPainter);
+
+  //this->drawCoordSystem(qPainter);
+
+  QRectF map_cell_grid_tile(0.0f, 0.0f, resolutionFactor, resolutionFactor);
+
+  QBrush occupied_brush(QColor(0, 40, 120));
+  QBrush free_brush(QColor(255, 255, 255));
+  QBrush explored_space_grid_brush(QColor(190,190,191));
+
+  int width = map.info.width;
+
+  float explored_space_grid_resolution_pixels = pixelsPerGeoTiffMeter * 0.5f;
+
+  float yGeo = 0.0f;
+  float currYLimit = 0.0f;
+
+  bool drawY = false;
+
+  for (int y = minCoordsMap[1] ; y < maxCoordsMap[1]; ++y){
+
+    float xGeo = 0.0f;
+
+    if(yGeo >= currYLimit ){
+      drawY = true;
+    }
+
+    float currXLimit = 0.0f;
+    bool drawX = false;
+
+    for (int x = minCoordsMap[0] ; x < maxCoordsMap[0]; ++x){
+
+      unsigned int i = y*width + x;
+
+      int8_t data = map.data[i];
+
+      if (xGeo >= currXLimit){
+        drawX = true;
+      }
+
+      if (data == 0){
+
+        Eigen::Vector2f coords(mapOrigInGeotiff + (Eigen::Vector2f(xGeo,yGeo)));
+        qPainter.fillRect(coords[0],coords[1],resolutionFactorf, resolutionFactorf, free_brush);
+
+
+        if (draw_explored_space_grid){
+          if (drawY){
+            qPainter.fillRect(coords[0],mapOrigInGeotiff.y() + currYLimit, resolutionFactorf, 1.0f, explored_space_grid_brush);
+          }
+
+          if (drawX){
+            qPainter.fillRect(mapOrigInGeotiff.x() + currXLimit, coords[1], 1.0f, resolutionFactorf, explored_space_grid_brush);
+          }
+        }
+
+      }else if(data == 100){
+        qPainter.fillRect(mapOrigInGeotiff.x()+xGeo, mapOrigInGeotiff.y()+yGeo,resolutionFactorf, resolutionFactorf, occupied_brush);
+      }
+
+      if(drawX){
+        currXLimit += explored_space_grid_resolution_pixels;
+        drawX=false;
+      }
+
+      xGeo+=resolutionFactorf;
+    }
+
+    if(drawY){
+      drawY=false;
+      currYLimit += explored_space_grid_resolution_pixels;
+    }
+
+    yGeo+= resolutionFactorf;
+  }
+}
+
+void GeotiffWriter::drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color)
+{
+  QPainter qPainter(&image);
+
+  transformPainterToImgCoords(qPainter);
+
+
+  //qPainter.setPen(ellipse_pen_);
+
+  Eigen::Vector2f map_coords  (world_map_transformer_.getC2Coords(coords) );
+
+  Eigen::Vector2f coords_g (world_geo_transformer_.getC2Coords(coords));
+
+  qPainter.translate(coords_g[0],coords_g[1]);
+
+  qPainter.rotate(90);
+
+  qPainter.setRenderHint(QPainter::Antialiasing, true);
+
+  float radius = pixelsPerGeoTiffMeter * 0.175f;
+
+  QRectF ellipse_shape( - radius, - radius, radius*2.0f, radius*2.0f);
+  qPainter.save();
+
+
+  QBrush tmpBrush(QColor(color.r,color.g,color.b));
+  QPen tmpPen(Qt::NoPen);
+  qPainter.setBrush(tmpBrush);
+  qPainter.setPen(tmpPen);
+
+  qPainter.drawEllipse(ellipse_shape);
+  qPainter.restore();
+
+
+  QString tmp (txt.c_str());
+  //tmp.setNum(number);
+
+  if (tmp.length() < 2){
+    qPainter.setFont(map_draw_font_);
+  }else{
+    QFont tmp_font;
+    tmp_font.setPixelSize(3*resolutionFactor);
+    qPainter.setFont(tmp_font);
+  }
+
+
+
+  qPainter.setPen(Qt::white);
+  qPainter.scale(-1.0,1.0);
+
+  qPainter.drawText(ellipse_shape,Qt::AlignCenter , tmp);
+}
+
+void GeotiffWriter::drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points,int color_r, int color_g, int color_b)
+{
+  QPainter qPainter(&image);
+
+  transformPainterToImgCoords(qPainter);
+
+  Eigen::Vector2f start_geo (world_geo_transformer_.getC2Coords(start.head<2>()));
+
+
+
+  size_t size = points.size();
+
+  QPolygonF polygon;
+  polygon.reserve(size);
+
+  polygon.push_back(QPointF(start_geo.x(), start_geo.y()));
+
+  for (size_t i = 0; i < size; ++i){
+    const Eigen::Vector2f vec (world_geo_transformer_.getC2Coords(points[i]));
+    polygon.push_back(QPointF(vec.x(), vec.y()));
+  }
+
+  QPen pen(qPainter.pen());
+  pen.setColor(QColor(color_r, color_g, color_b));
+  pen.setWidth(3);
+
+  qPainter.setPen(pen);
+
+  //qPainter.setPen(QColor(120,0,240));
+
+
+  qPainter.drawPolyline(polygon);
+
+  qPainter.save();
+  qPainter.translate(start_geo.x(), start_geo.y());
+  qPainter.rotate(start.z());
+  qPainter.setRenderHint(QPainter::Antialiasing, true);
+  drawArrow(qPainter);
+  //drawCoordSystem(qPainter);
+  qPainter.restore();
+}
+
+std::string GeotiffWriter::getBasePathAndFileName() const
+{
+  return std::string (map_file_path_ +"/" + map_file_name_);
+}
+
+void GeotiffWriter::writeGeotiffImage()
+{
+  //Only works with recent Qt versions
+  //QDateTime now (QDateTime::currentDateTimeUtc());
+  //std::string current_time_string = now.toString(Qt::ISODate).toStdString();
+
+
+  std::string complete_file_string ( map_file_path_ +"/" + map_file_name_ +".tif");
+  QImageWriter imageWriter(QString::fromStdString(complete_file_string));
+  imageWriter.setCompression(1);
+
+  bool success = imageWriter.write(image);
+
+  std::string tfw_file_name (map_file_path_ +"/" + map_file_name_ + ".tfw");
+  QFile tfwFile(QString::fromStdString(tfw_file_name));
+
+  tfwFile.open(QIODevice::WriteOnly);
+
+  QTextStream out(&tfwFile);
+
+  float resolution_geo = resolution / resolutionFactorf;
+
+  QString resolution_string;
+  resolution_string.setNum(resolution_geo,'f',10);
+
+  //positive x resolution
+  out << resolution_string << "\n";
+
+  QString zero_string;
+  zero_string.setNum(0.0f, 'f', 10);
+
+  //rotation, translation
+  out << zero_string << "\n" << zero_string << "\n";
+
+  //negative y resolution
+  out << "-" << resolution_string << "\n";
+
+  QString top_left_string_x;
+  QString top_left_string_y;
+
+  //Eigen::Vector2f zero_map_w = world_map_transformer_.getC1Coords(Eigen::Vector2f::Zero());
+  Eigen::Vector2f zero_geo_w (world_geo_transformer_.getC1Coords((geoTiffSizePixels.array()+1).cast<float>()));
+
+
+  top_left_string_x.setNum(-zero_geo_w.y(),'f',10);
+  top_left_string_y.setNum(zero_geo_w.x(),'f',10);
+
+  out << top_left_string_x << "\n" << top_left_string_y << "\n";
+
+  tfwFile.close();
+
+  if(!success){
+    ROS_INFO("Writing image with file %s failed with error %s", complete_file_string.c_str(), imageWriter.errorString().toStdString().c_str());
+  }else{
+    ROS_INFO("Successfully wrote geotiff to %s", complete_file_string.c_str());
+  }
+}
+
+void GeotiffWriter::transformPainterToImgCoords(QPainter& painter)
+{
+  painter.rotate(-90);
+  painter.translate(-geoTiffSizePixels.x(),geoTiffSizePixels.y());
+  painter.scale(1.0,-1.0);
+}
+
+void GeotiffWriter::drawCoords()
+{
+  QPainter qPainter(&image);
+  qPainter.setFont(map_draw_font_);
+
+  float arrowOffset = pixelsPerGeoTiffMeter * 0.15f;
+
+  // MAP ORIENTATION
+  qPainter.setPen(QColor(0, 50, 140));
+  qPainter.drawLine(pixelsPerGeoTiffMeter / 2, pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter / 2, 2.0f * pixelsPerGeoTiffMeter);
+  qPainter.drawLine(pixelsPerGeoTiffMeter * 2 / 5, pixelsPerGeoTiffMeter - 1, pixelsPerGeoTiffMeter * 3 / 5, pixelsPerGeoTiffMeter - 1);
+  qPainter.drawLine(pixelsPerGeoTiffMeter * 2 / 5, 2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter * 3 / 5, 2 * pixelsPerGeoTiffMeter);
+
+
+
+  qPainter.drawLine(pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter);
+  qPainter.drawLine(pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter + arrowOffset, 2 * pixelsPerGeoTiffMeter - arrowOffset);
+  qPainter.drawLine(pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter + arrowOffset, 2 * pixelsPerGeoTiffMeter + arrowOffset);
+
+  qPainter.drawLine(2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter);
+  qPainter.drawLine(2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter + arrowOffset, pixelsPerGeoTiffMeter + arrowOffset);
+  qPainter.drawLine(2 * pixelsPerGeoTiffMeter, pixelsPerGeoTiffMeter, 2 * pixelsPerGeoTiffMeter - arrowOffset, pixelsPerGeoTiffMeter + arrowOffset);
+
+  qPainter.drawText(0.6 * pixelsPerGeoTiffMeter, 1.6 * pixelsPerGeoTiffMeter, QString("1m"));
+
+  qPainter.drawText(2.2 * pixelsPerGeoTiffMeter, 1.1 * pixelsPerGeoTiffMeter, QString("x"));
+  qPainter.drawText(1.2 * pixelsPerGeoTiffMeter, 1.8 * pixelsPerGeoTiffMeter, QString("y"));
+
+  qPainter.drawText (0.5f*pixelsPerGeoTiffMeter,0.75f*pixelsPerGeoTiffMeter, QString((map_file_name_ + ".tif").c_str()));
+}
+
+void GeotiffWriter::drawCross(QPainter& painter, const Eigen::Vector2f& coords)
+{
+  painter.drawLine(QPointF(coords[0]-1.0f, coords[1]), QPointF(coords[0]+1.0f, coords[1]));
+  painter.drawLine(QPointF(coords[0]  , coords[1]-1.0f), QPointF(coords[0], coords[1]+1.0f));
+}
+
+void GeotiffWriter::drawArrow(QPainter& painter)
+{
+  float tip_distance = pixelsPerGeoTiffMeter * 0.3f;
+
+  QPolygonF polygon;
+
+  polygon << QPointF(tip_distance, 0.0f) << QPointF(-tip_distance*0.5f, -tip_distance*0.5f) << QPointF(0.0f, 0.0f) << QPointF(-tip_distance*0.5f, tip_distance*0.5f);
+
+  painter.save();
+
+  QBrush tmpBrush(QColor(255,200,0));
+  QPen tmpPen(Qt::NoPen);
+  painter.setBrush(tmpBrush);
+  painter.setPen(tmpPen);
+
+  painter.drawPolygon(polygon);
+
+  painter.restore();
+}
+
+void GeotiffWriter::drawCoordSystem(QPainter& painter)
+{
+  painter.save();
+  QPointF zero_point (0.0f, 0.0f);
+  QPointF x_point (pixelsPerGeoTiffMeter, 0.0f);
+  QPointF y_point (0.0f, pixelsPerGeoTiffMeter);
+
+  QPen tmp = painter.pen();
+  tmp.setWidth(5);
+  tmp.setColor(QColor(255.0,0.0,0.0));
+  //painter.setPen(QPen::setWidth(5));
+  painter.setPen(tmp);
+  painter.drawLine(zero_point,x_point);
+
+  tmp.setColor(QColor(0,255,0));
+  painter.setPen(tmp);
+  painter.drawLine(zero_point,y_point);
+
+  painter.restore();
+}
+
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CHANGELOG.rst
new file mode 100644
index 0000000..7496550
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CHANGELOG.rst	
@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_geotiff_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* hector_geotiff/hector_geotiff_plugins: added possibility to specify Color of robot path in the geotiff file in order to allow multiple color robot paths
+* Contributors: Dorothea Koert
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* readded PLUGINLIB_DECLARE_CLASS macro for fuerte compatibility
+* use hector_geotiff_plugins/TrajectoryMapWriter as legacy lookup name for the trajectory geotiff plugin to not break old launch files
+* fixed warnings for deprecated pluginlib method/macro calls
+* added changelogs
+* added cmake dependencies to catkin exported targets to force message targets to be built before any cpp target using them
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CMakeLists.txt
new file mode 100644
index 0000000..0f153b9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/CMakeLists.txt	
@@ -0,0 +1,131 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_geotiff_plugins)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS hector_geotiff hector_nav_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_geotiff_plugins
+#  CATKIN_DEPENDS hector_geotiff hector_nav_msgs
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+add_library(hector_geotiff_plugins
+  src/trajectory_geotiff_plugin.cpp
+)
+
+## Declare a cpp executable
+# add_executable(hector_geotiff_node src/hector_geotiff_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(hector_geotiff_plugins ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hector_geotiff_plugins
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_geotiff_plugins
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(FILES
+  hector_geotiff_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_geotiff.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/hector_geotiff_plugins.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/hector_geotiff_plugins.xml
new file mode 100644
index 0000000..987c6f8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/hector_geotiff_plugins.xml	
@@ -0,0 +1,7 @@
+<library path="lib/libhector_geotiff_plugins">
+  <class name="hector_geotiff_plugins/TrajectoryMapWriter" type="hector_geotiff_plugins::TrajectoryMapWriter" base_class_type="hector_geotiff::MapWriterPluginInterface">
+    <description>
+      This is a MapWriter plugin that draws the robot's trajectory in the map.
+    </description>
+  </class>
+</library>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/package.xml
new file mode 100644
index 0000000..a05f37a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/package.xml	
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_geotiff_plugins</name>
+  <version>0.3.5</version>
+  <description>
+    hector_geotiff_plugins contains plugins that extend geotiff maps generated by hector_geotiff.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_geotiff_plugins</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+  <author>Gregor Gebhardt</author>
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hector_geotiff</build_depend>
+  <build_depend>hector_nav_msgs</build_depend>
+  <run_depend>hector_geotiff</run_depend>
+  <run_depend>hector_nav_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+    <hector_geotiff plugin="${prefix}/hector_geotiff_plugins.xml" />
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp
new file mode 100644
index 0000000..5aaf960
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp	
@@ -0,0 +1,128 @@
+//=================================================================================================
+// Copyright (c) 2012, Gregor Gebhardt, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Flight Systems and Automatic Control group,
+//       TU Darmstadt, nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <hector_geotiff/map_writer_interface.h>
+#include <hector_geotiff/map_writer_plugin_interface.h>
+
+#include <ros/ros.h>
+#include <hector_nav_msgs/GetRobotTrajectory.h>
+
+#include <pluginlib/class_loader.h>
+#include <fstream>
+
+namespace hector_geotiff_plugins
+{
+
+using namespace hector_geotiff;
+
+class TrajectoryMapWriter : public MapWriterPluginInterface
+{
+public:
+  TrajectoryMapWriter();
+  virtual ~TrajectoryMapWriter();
+
+  virtual void initialize(const std::string& name);
+  virtual void draw(MapWriterInterface *interface);
+
+protected:
+  ros::NodeHandle nh_;
+  ros::ServiceClient service_client_;
+
+  bool initialized_;
+  std::string name_;
+  bool draw_all_objects_;
+  std::string class_id_;
+  int path_color_r_;
+  int path_color_g_;
+  int path_color_b_;
+};
+
+TrajectoryMapWriter::TrajectoryMapWriter()
+    : initialized_(false)
+{}
+
+TrajectoryMapWriter::~TrajectoryMapWriter()
+{}
+
+void TrajectoryMapWriter::initialize(const std::string& name)
+{
+  ros::NodeHandle plugin_nh("~/" + name);
+  std::string service_name_;
+
+
+  plugin_nh.param("service_name", service_name_, std::string("trajectory"));
+  plugin_nh.param("path_color_r", path_color_r_, 120);
+  plugin_nh.param("path_color_g", path_color_g_, 0);
+  plugin_nh.param("path_color_b", path_color_b_, 240);
+
+  service_client_ = nh_.serviceClient<hector_nav_msgs::GetRobotTrajectory>(service_name_);
+
+  initialized_ = true;
+  this->name_ = name;
+  ROS_INFO_NAMED(name_, "Successfully initialized hector_geotiff MapWriter plugin %s.", name_.c_str());
+}
+
+void TrajectoryMapWriter::draw(MapWriterInterface *interface)
+{
+    if(!initialized_) return;
+
+    hector_nav_msgs::GetRobotTrajectory srv_path;
+    if (!service_client_.call(srv_path)) {
+      ROS_ERROR_NAMED(name_, "Cannot draw trajectory, service %s failed", service_client_.getService().c_str());
+      return;
+    }
+
+    std::vector<geometry_msgs::PoseStamped>& traj_vector (srv_path.response.trajectory.poses);
+
+    size_t size = traj_vector.size();
+
+    std::vector<Eigen::Vector2f> pointVec;
+    pointVec.resize(size);
+
+    for (size_t i = 0; i < size; ++i){
+      const geometry_msgs::PoseStamped& pose (traj_vector[i]);
+
+      pointVec[i] = Eigen::Vector2f(pose.pose.position.x, pose.pose.position.y);
+    }
+
+    if (size > 0){
+      //Eigen::Vector3f startVec(pose_vector[0].x,pose_vector[0].y,pose_vector[0].z);
+      Eigen::Vector3f startVec(pointVec[0].x(),pointVec[0].y(),0.0f);
+      interface->drawPath(startVec, pointVec, path_color_r_, path_color_g_, path_color_b_);
+    }
+}
+
+} // namespace
+
+//register this planner as a MapWriterPluginInterface plugin
+#include <pluginlib/class_list_macros.h>
+#ifdef PLUGINLIB_EXPORT_CLASS
+  PLUGINLIB_EXPORT_CLASS(hector_geotiff_plugins::TrajectoryMapWriter, hector_geotiff::MapWriterPluginInterface)
+#else
+  PLUGINLIB_DECLARE_CLASS(hector_geotiff_plugins, TrajectoryMapWriter, hector_geotiff_plugins::TrajectoryMapWriter, hector_geotiff::MapWriterPluginInterface)
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CHANGELOG.rst
new file mode 100644
index 0000000..c314a2d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CHANGELOG.rst	
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_imu_attitude_to_tf
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* hector_imu_attitude_to_tf: fixed default values of the base_frame and base_stabilized_frame parameters (fix #20)
+* Contributors: Johannes Meyer
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added missing install rule for launch files
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CMakeLists.txt
new file mode 100644
index 0000000..b1f21aa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/CMakeLists.txt	
@@ -0,0 +1,136 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_imu_attitude_to_tf)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs tf)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_imu_attitude_to_tf
+#  CATKIN_DEPENDS roscpp sensor_msgs tf
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_imu_attitude_to_tf
+#   src/${PROJECT_NAME}/hector_imu_attitude_to_tf.cpp
+# )
+
+## Declare a cpp executable
+add_executable(imu_attitude_to_tf_node src/imu_attitude_to_tf_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_imu_attitude_to_tf_node hector_imu_attitude_to_tf_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(imu_attitude_to_tf_node
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS imu_attitude_to_tf_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_imu_attitude_to_tf.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/launch/example.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/launch/example.launch
new file mode 100644
index 0000000..f770b22
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/launch/example.launch	
@@ -0,0 +1,7 @@
+<launch>
+  <node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
+    <remap from="imu_topic" to="thumper_imu" />
+    <param name="base_stabilized_frame" type="string" value="base_stabilized" />
+    <param name="base_frame" type="string" value="base_footprint" />
+  </node>
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/package.xml
new file mode 100644
index 0000000..22efc38
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/package.xml	
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_imu_attitude_to_tf</name>
+  <version>0.3.5</version>
+  <description>
+    hector_imu_attitude_to_tf is a lightweight node that can be used to publish the roll/pitch attitude angles reported via a imu message to tf.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <url type="website">http://ros.org/wiki/hector_imu_attitude_to_tf</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/src/imu_attitude_to_tf_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/src/imu_attitude_to_tf_node.cpp
new file mode 100644
index 0000000..fc4dbcd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_attitude_to_tf/src/imu_attitude_to_tf_node.cpp	
@@ -0,0 +1,84 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#include "ros/ros.h"
+#include "tf/transform_broadcaster.h"
+#include "sensor_msgs/Imu.h"
+
+std::string p_base_stabilized_frame_;
+std::string p_base_frame_;
+tf::TransformBroadcaster* tfB_;
+tf::StampedTransform transform_;
+tf::Quaternion tmp_;
+
+#ifndef TF_MATRIX3x3_H
+  typedef btScalar tfScalar;
+  namespace tf { typedef btMatrix3x3 Matrix3x3; }
+#endif
+
+void imuMsgCallback(const sensor_msgs::Imu& imu_msg)
+{
+  tf::quaternionMsgToTF(imu_msg.orientation, tmp_);
+
+  tfScalar yaw, pitch, roll;
+  tf::Matrix3x3(tmp_).getRPY(roll, pitch, yaw);
+
+  tmp_.setRPY(roll, pitch, 0.0);
+
+  transform_.setRotation(tmp_);
+
+  transform_.stamp_ = imu_msg.header.stamp;
+
+  tfB_->sendTransform(transform_);
+}
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv, ROS_PACKAGE_NAME);
+
+  ros::NodeHandle n;
+  ros::NodeHandle pn("~");
+
+  pn.param("base_stabilized_frame", p_base_stabilized_frame_, std::string("base_stabilized"));
+  pn.param("base_frame", p_base_frame_, std::string("base_link"));
+  
+  tfB_ = new tf::TransformBroadcaster();
+  transform_.getOrigin().setX(0.0);
+  transform_.getOrigin().setY(0.0);
+  transform_.getOrigin().setZ(0.0);
+  transform_.frame_id_ = p_base_stabilized_frame_;
+  transform_.child_frame_id_ = p_base_frame_;
+
+  ros::Subscriber imu_subscriber = n.subscribe("imu_topic", 10, imuMsgCallback);
+
+  ros::spin();
+
+  delete tfB_;
+
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CHANGELOG.rst
new file mode 100644
index 0000000..83395c5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CHANGELOG.rst	
@@ -0,0 +1,22 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_imu_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* Fix sim setup
+* remap for bertl setup
+* Contributors: Florian Kunz, kohlbrecher
+
+0.3.3 (2014-06-15)
+------------------
+* hector_imu_tools: Basics of simple height etimation
+* hector_imu_tools: Add tf publishers in hector_imu_tools
+* hector_imu_tools: Also write out fake odometry
+* hector_imu_tools: Fix typo
+* hector_imu_tools: Prevent race conditions in slam, formatting
+* hector_imu_tools: Small executable for generating a IMU message out of a (2d) pose and roll/pitch imu message
+* Contributors: Stefan Kohlbrecher
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CMakeLists.txt
new file mode 100644
index 0000000..709eb74
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/CMakeLists.txt	
@@ -0,0 +1,136 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_imu_tools)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs geometry_msgs nav_msgs tf)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_imu_attitude_to_tf
+#  CATKIN_DEPENDS roscpp sensor_msgs tf
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_imu_attitude_to_tf
+#   src/${PROJECT_NAME}/hector_imu_attitude_to_tf.cpp
+# )
+
+## Declare a cpp executable
+add_executable(pose_and_orientation_to_imu_node src/pose_and_orientation_to_imu_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_imu_attitude_to_tf_node hector_imu_attitude_to_tf_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(pose_and_orientation_to_imu_node
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS pose_and_orientation_to_imu_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_imu_attitude_to_tf.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/bertl_robot.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/bertl_robot.launch
new file mode 100644
index 0000000..cce56ad
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/bertl_robot.launch	
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+
+<launch>
+  <node pkg="hector_imu_tools" type="pose_and_orientation_to_imu_node" name="pose_and_orientation_to_imu_node" output="screen">
+    <remap from="/imu" to="/imu_quat" />
+    <remap from="/fused_imu" to="/imu_in" />
+    <remap from="/pose" to="/slam_out_pose" />
+    <!--<remap from="/state" to="/state_imu" />-->
+  </node>
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/jasmine_robot.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/jasmine_robot.launch
new file mode 100644
index 0000000..c5d6904
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/launch/jasmine_robot.launch	
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+
+<launch>
+  <node pkg="hector_imu_tools" type="pose_and_orientation_to_imu_node" name="pose_and_orientation_to_imu_node" output="screen">
+    <remap from="/imu" to="/imu_quat" />
+    <remap from="/fused_imu" to="/imu_in" />
+    <remap from="/pose" to="/slam_out_pose" />
+  </node>
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/package.xml
new file mode 100644
index 0000000..6d6a6e4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/package.xml	
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_imu_tools</name>
+  <version>0.3.5</version>
+  <description>
+    hector_imu_tools provides some tools for processing IMU messages
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <url type="website">http://ros.org/wiki/hector_imu_attitude_to_tf</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/src/pose_and_orientation_to_imu_node.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/src/pose_and_orientation_to_imu_node.cpp
new file mode 100644
index 0000000..a17acfb
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_imu_tools/src/pose_and_orientation_to_imu_node.cpp	
@@ -0,0 +1,190 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#include "ros/ros.h"
+#include "tf/transform_broadcaster.h"
+#include <sensor_msgs/Imu.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/Odometry.h>
+
+std::string p_map_frame_;
+std::string p_base_footprint_frame_;
+std::string p_base_stabilized_frame_;
+std::string p_base_frame_;
+tf::TransformBroadcaster* tfB_;
+tf::StampedTransform transform_;
+
+tf::Quaternion robot_pose_quaternion_;
+tf::Point robot_pose_position_;
+tf::Transform robot_pose_transform_;
+
+tf::Quaternion tmp_;
+tf::Quaternion orientation_quaternion_;
+
+sensor_msgs::ImuConstPtr last_imu_msg_;
+sensor_msgs::Imu fused_imu_msg_;
+nav_msgs::Odometry odom_msg_;
+geometry_msgs::PoseStampedConstPtr last_pose_msg_;
+
+ros::Publisher fused_imu_publisher_;
+ros::Publisher odometry_publisher_;
+
+size_t callback_count_;
+
+#ifndef TF_MATRIX3x3_H
+typedef btScalar tfScalar;
+namespace tf { typedef btMatrix3x3 Matrix3x3; }
+#endif
+
+void imuMsgCallback(const sensor_msgs::Imu::ConstPtr& imu_msg)
+{
+  callback_count_++;
+
+  tf::quaternionMsgToTF(imu_msg->orientation, tmp_);
+
+  tfScalar imu_yaw, imu_pitch, imu_roll;
+  tf::Matrix3x3(tmp_).getRPY(imu_roll, imu_pitch, imu_yaw);
+
+  tf::Transform transform;
+  transform.setIdentity();
+  tf::Quaternion quat;
+
+  quat.setRPY(imu_roll, imu_pitch, 0.0);
+
+  if (true){
+    transform.setRotation(quat);
+    tfB_->sendTransform(tf::StampedTransform(transform, imu_msg->header.stamp, p_base_stabilized_frame_, p_base_frame_));
+  }
+
+  tfScalar pose_yaw, pose_pitch, pose_roll;
+
+  if (last_pose_msg_ != 0){
+    tf::quaternionMsgToTF(last_pose_msg_->pose.orientation, tmp_);
+
+    tf::Matrix3x3(tmp_).getRPY(pose_roll, pose_pitch, pose_yaw);
+  }else{
+    pose_yaw = 0.0;
+  }
+
+  orientation_quaternion_.setRPY(imu_roll, imu_pitch, pose_yaw);
+
+  fused_imu_msg_.header.stamp = imu_msg->header.stamp;
+
+  fused_imu_msg_.orientation.x = orientation_quaternion_.getX();
+  fused_imu_msg_.orientation.y = orientation_quaternion_.getY();
+  fused_imu_msg_.orientation.z = orientation_quaternion_.getZ();
+  fused_imu_msg_.orientation.w = orientation_quaternion_.getW();
+
+  fused_imu_publisher_.publish(fused_imu_msg_);
+
+  //If no pose message received, yaw is set to 0.
+  //@TODO: Check for timestamp of pose and disable sending if too old
+  if (last_pose_msg_ != 0){
+    if ( (callback_count_ % 5) == 0){
+      odom_msg_.header.stamp = imu_msg->header.stamp;
+      odom_msg_.pose.pose.orientation = fused_imu_msg_.orientation;
+      odom_msg_.pose.pose.position = last_pose_msg_->pose.position;
+
+      odometry_publisher_.publish(odom_msg_);
+    }
+  }
+
+}
+
+void poseMsgCallback(const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
+{
+
+  std::vector<tf::StampedTransform> transforms;
+  transforms.resize(2);
+
+  tf::quaternionMsgToTF(pose_msg->pose.orientation, robot_pose_quaternion_);
+  tf::pointMsgToTF(pose_msg->pose.position, robot_pose_position_);
+
+  robot_pose_transform_.setRotation(robot_pose_quaternion_);
+  robot_pose_transform_.setOrigin(robot_pose_position_);
+
+  tf::Transform height_transform;
+  height_transform.setIdentity();
+  height_transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
+
+  transforms[0] = tf::StampedTransform(robot_pose_transform_, pose_msg->header.stamp, p_map_frame_, p_base_footprint_frame_);
+  transforms[1] = tf::StampedTransform(height_transform, pose_msg->header.stamp, p_base_footprint_frame_, p_base_stabilized_frame_);
+
+  tfB_->sendTransform(transforms);
+
+  // Perform simple estimation of vehicle altitude based on orientation
+  if (last_pose_msg_){
+    tf::Vector3 plane_normal = tf::Matrix3x3(orientation_quaternion_) * tf::Vector3(0.0, 0.0, 1.0);
+
+    tf::Vector3 last_position;
+    tf::pointMsgToTF(last_pose_msg_->pose.position, last_position);
+
+    double height_difference =
+        (-plane_normal.getX() * (robot_pose_position_.getX() - last_position.getX())
+         -plane_normal.getY() * (robot_pose_position_.getY() - last_position.getY())
+         +plane_normal.getZ() * last_position.getZ()) / last_position.getZ();
+
+  }
+
+
+
+  last_pose_msg_ = pose_msg;
+
+}
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv, ROS_PACKAGE_NAME);
+
+  ros::NodeHandle n;
+  ros::NodeHandle pn("~");
+
+  pn.param("map_frame", p_map_frame_, std::string("map"));
+  pn.param("base_footprint_frame", p_base_footprint_frame_, std::string("base_footprint"));
+  pn.param("base_stabilized_frame", p_base_stabilized_frame_, std::string("base_stabilized"));
+  pn.param("base_frame", p_base_frame_, std::string("base_link"));
+
+  fused_imu_msg_.header.frame_id = p_base_stabilized_frame_;
+  odom_msg_.header.frame_id = "map";
+
+  tfB_ = new tf::TransformBroadcaster();
+
+  fused_imu_publisher_ = n.advertise<sensor_msgs::Imu>("/fused_imu",1,false);
+  odometry_publisher_ = n.advertise<nav_msgs::Odometry>("/state", 1, false);
+
+  ros::Subscriber imu_subscriber = n.subscribe("/imu", 10, imuMsgCallback);
+  ros::Subscriber pose_subscriber = n.subscribe("/pose", 10, poseMsgCallback);
+
+  callback_count_ = 0;
+
+  ros::spin();
+
+  delete tfB_;
+
+  return 0;
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CHANGELOG.rst
new file mode 100644
index 0000000..652cf4b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CHANGELOG.rst	
@@ -0,0 +1,24 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_map_server
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+* added cmake dependencies to catkin exported targets to force message targets to be built before any cpp target using them
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CMakeLists.txt
new file mode 100644
index 0000000..2bf8c0c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/CMakeLists.txt	
@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_map_server)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp hector_map_tools hector_marker_drawing hector_nav_msgs nav_msgs tf)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_map_server
+#  CATKIN_DEPENDS roscpp hector_map_tools hector_marker_drawing hector_nav_msgs nav_msgs tf
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_map_server
+#   src/${PROJECT_NAME}/hector_map_server.cpp
+# )
+
+## Declare a cpp executable
+add_executable(hector_map_server src/hector_map_server.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(hector_map_server ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hector_map_server
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_map_server
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_map_server.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/package.xml
new file mode 100644
index 0000000..400186d
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/package.xml	
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_map_server</name>
+  <version>0.3.5</version>
+  <description>
+    hector_map_server provides a service for retrieving the map, as well as for raycasting based obstacle queries (finds next obstacle in the map, given start and endpoint
+    in any tf coordinate frame).
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_map_server</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>hector_map_tools</build_depend>
+  <build_depend>hector_marker_drawing</build_depend>
+  <build_depend>hector_nav_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>hector_map_tools</run_depend>
+  <run_depend>hector_marker_drawing</run_depend>
+  <run_depend>hector_nav_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/src/hector_map_server.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/src/hector_map_server.cpp
new file mode 100644
index 0000000..54bba39
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_server/src/hector_map_server.cpp	
@@ -0,0 +1,331 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, Johannes Meyer TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <stdio.h>
+#include <stdlib.h>
+//#include <libgen.h>
+//#include <fstream>
+
+#include "ros/ros.h"
+#include "ros/console.h"
+#include "nav_msgs/MapMetaData.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+#include <boost/thread.hpp>
+
+#include <tf/transform_listener.h>
+
+#include "nav_msgs/GetMap.h"
+
+#include "hector_marker_drawing/HectorDrawings.h"
+#include "hector_map_tools/HectorMapTools.h"
+
+#include "hector_nav_msgs/GetDistanceToObstacle.h"
+#include "hector_nav_msgs/GetSearchPosition.h"
+
+
+class OccupancyGridContainer
+{
+public:
+  OccupancyGridContainer(std::string sub_topic, std::string prefix, ros::NodeHandle& nh, HectorDrawings* drawing_provider, tf::TransformListener* tf_)
+    : drawing_provider_(drawing_provider)
+    , tf_(tf_)
+  {
+
+    std::string service_name = "map";
+    map_service_ = nh.advertiseService(service_name, &OccupancyGridContainer::mapServiceCallback, this);
+
+    ros::NodeHandle pnh("~");
+    std::string lookup_service_name = "get_distance_to_obstacle";
+    dist_lookup_service_ = pnh.advertiseService(lookup_service_name, &OccupancyGridContainer::lookupServiceCallback, this);
+
+    std::string get_search_pos_service_name = "get_search_position";
+    get_search_pos_service_ = pnh.advertiseService(get_search_pos_service_name, &OccupancyGridContainer::getSearchPosServiceCallback, this);
+
+    map_sub_ = nh.subscribe("map", 1, &OccupancyGridContainer::mapCallback, this);
+  }
+
+  ~OccupancyGridContainer()
+  {}
+
+  bool mapServiceCallback(nav_msgs::GetMap::Request  &req,
+                          nav_msgs::GetMap::Response &res )
+  {
+    ROS_INFO("hector_map_server map service called");
+
+    if (!map_ptr_){
+      ROS_INFO("map_server has no map yet, no map service available");
+      return false;
+    }
+
+    res.map = *map_ptr_;
+
+    return true;
+  }
+
+  bool lookupServiceCallback(hector_nav_msgs::GetDistanceToObstacle::Request  &req,
+                          hector_nav_msgs::GetDistanceToObstacle::Response &res )
+  {
+    //ROS_INFO("hector_map_server lookup service called");
+
+
+    if (!map_ptr_){
+      ROS_INFO("map_server has no map yet, no lookup service available");
+      return false;
+    }
+
+    tf::StampedTransform stamped_pose;
+
+
+
+    try{
+      tf_->waitForTransform(map_ptr_->header.frame_id,req.point.header.frame_id, req.point.header.stamp, ros::Duration(1.0));
+      tf_->lookupTransform(map_ptr_->header.frame_id, req.point.header.frame_id, req.point.header.stamp, stamped_pose);
+
+      tf::Point v2_tf;
+      tf::pointMsgToTF(req.point.point,v2_tf);
+
+      tf::Vector3 v1 = stamped_pose * tf::Vector3(0.0, 0.0, 0.0);
+      tf::Vector3 v2 = stamped_pose * v2_tf;
+      tf::Vector3 diff = v2 - v1;
+      v2 = v1 + diff / tf::Vector3(diff.x(), diff.y(), 0.0).length() * 5.0f;
+
+      Eigen::Vector2f start(v1.x(),v1.y());
+      Eigen::Vector2f end(v2.x(),v2.y());
+
+      Eigen::Vector2f hit_world;
+      //float dist = dist_meas_.getDist(start,end, &hit_world);
+      float dist = dist_meas_.getDist(start,end,&hit_world);
+
+      if (dist >=0.0f){
+        tf::Vector3 diff (v2-v1);
+
+        float angle = diff.angle(tf::Vector3(diff.x(),diff.y(),0.0f));
+
+        res.distance = dist/cos(angle);
+
+      }else{
+        res.distance = -1.0f;
+      }
+
+      //debug drawing
+      if (false){
+
+        float cube_scale = map_ptr_->info.resolution;
+        drawing_provider_->setColor(1.0, 0.0, 0.0);
+        drawing_provider_->setScale(static_cast<double>(cube_scale));
+
+        drawing_provider_->drawPoint(start);
+
+        drawing_provider_->setColor(0.0, 1.0, 0.0);
+        drawing_provider_->drawPoint(end);
+
+        if (dist >= 0.0f){
+          drawing_provider_->setColor(0.0, 0.0, 1.0);
+          drawing_provider_->drawPoint(hit_world);
+        }
+
+        drawing_provider_->sendAndResetData();
+      }
+
+      return true;
+
+    }
+    catch(tf::TransformException e)
+    {
+      ROS_ERROR("Transform failed in lookup distance service call: %s",e.what());
+    }
+
+    return false;
+  }
+
+  bool getSearchPosServiceCallback(hector_nav_msgs::GetSearchPosition::Request  &req,
+                                   hector_nav_msgs::GetSearchPosition::Response &res )
+  {
+    if (!map_ptr_){
+      ROS_INFO("map_server has no map yet, no get best search pos service available");
+      return false;
+    }
+
+    try{
+
+      tf::Stamped<tf::Pose> ooi_pose, transformed_pose, search_position;
+      tf::poseStampedMsgToTF(req.ooi_pose, ooi_pose);
+
+      tf_->waitForTransform(map_ptr_->header.frame_id, req.ooi_pose.header.frame_id, req.ooi_pose.header.stamp, ros::Duration(1.0));
+      tf_->transformPose(map_ptr_->header.frame_id, ooi_pose, transformed_pose);
+
+      tf::Vector3 direction(-req.distance, 0.0, 0.0);
+      search_position = transformed_pose;
+      search_position.setOrigin(transformed_pose.getOrigin() + transformed_pose.getBasis() * direction);
+
+      tf::poseStampedTFToMsg(search_position, res.search_pose);
+
+      return true;
+
+//      //tf::Point v2_tf;
+//      //tf::pointMsgToTF(req.point.point,v2_tf);
+
+//      tf::Vector3 v1 = stamped_pose * tf::Vector3(0.0, 0.0, 0.0);
+
+//      //warning: 3D!
+//      tf::Vector3 v2 = stamped_pose * tf::Vector3(-1.0, 0.0, 0.0);
+
+//      tf::Vector3 dir = v2-v1;
+
+//      Eigen::Vector2f dir_2d (dir.x(), dir.y());
+
+//      dir_2d.normalize();
+
+//      Eigen::Vector2f searchPos (Eigen::Vector2f(v1.x(),v1.y()) + (dir_2d*0.5f));
+
+//      //copy original pose message but set translation
+//      res.search_pose.pose = ooi_pose.pose;
+
+//      res.search_pose.pose.position.x = searchPos.x();
+//      res.search_pose.pose.position.y = searchPos.y();
+
+      //return true;
+
+
+      //Eigen::Vector2f ooi_pos(v1.x(),v1.y());
+      //Eigen::Vector2f sample_point_pos(v2.x(),v2.y());
+
+
+      //float dist_from_target = dist_meas_.getDist(ooi_pos,sample_point_pos);
+      //float dist_from_sample_point = dist_meas_.getDist(sample_point_pos, ooi_pos);
+
+
+
+/*
+      if (dist >=0.0f){
+        tf::Vector3 diff (v2-v1);
+
+        float angle = diff.angle(tf::Vector3(diff.x(),diff.y(),0.0f));
+
+        res.distance = dist/cos(angle);
+
+
+        //debug drawing
+        if (true){
+
+          float cube_scale = map_ptr_->info.resolution;
+          drawing_provider_->setColor(1.0, 0.0, 0.0);
+          drawing_provider_->setScale(static_cast<double>(cube_scale));
+
+          drawing_provider_->drawPoint(start);
+          drawing_provider_->drawPoint(end);
+
+          if (dist >= 0.0f){
+            drawing_provider_->setColor(0.0, 0.0, 1.0);
+            drawing_provider_->drawPoint(hit_world);
+          }
+
+          drawing_provider_->sendAndResetData();
+        }
+
+      }
+      */
+      //return true;
+
+    }    catch(tf::TransformException e){
+      ROS_ERROR("Transform failed in getSearchPosition service call: %s",e.what());
+    }
+
+    return false;
+  }
+
+  void mapCallback(const nav_msgs::OccupancyGridConstPtr& map)
+  {
+    map_ptr_ = map;
+
+    dist_meas_.setMap(map_ptr_);
+  }
+
+  //Services
+  ros::ServiceServer map_service_;
+  ros::ServiceServer dist_lookup_service_;
+  ros::ServiceServer get_search_pos_service_;
+
+  //Subscriber
+  ros::Subscriber map_sub_;
+
+  HectorMapTools::DistanceMeasurementProvider dist_meas_;
+
+  HectorDrawings* drawing_provider_;
+  tf::TransformListener* tf_;
+
+  //nav_msgs::MapMetaData meta_data_message_;
+  nav_msgs::GetMap::Response map_resp_;
+
+  nav_msgs::OccupancyGridConstPtr map_ptr_;
+};
+
+class HectorMapServer
+{
+  public:
+    /** Trivial constructor */
+    HectorMapServer(ros::NodeHandle& private_nh)
+    {
+      std::string frame_id;
+
+      hector_drawings_ = new HectorDrawings();
+      hector_drawings_->setNamespace("map_server");
+
+      mapContainer = new OccupancyGridContainer("map", "" ,private_nh, hector_drawings_,&tf_);
+    }
+
+    ~HectorMapServer()
+    {
+      delete mapContainer;
+
+
+      delete hector_drawings_;
+    }
+
+
+public:
+    OccupancyGridContainer* mapContainer;
+private:
+
+    HectorDrawings* hector_drawings_;
+    tf::TransformListener tf_;
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "hector_map_server");
+  ros::NodeHandle nh;
+
+  HectorMapServer ms(nh);
+
+  ros::spin();
+
+  return 0;
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CHANGELOG.rst
new file mode 100644
index 0000000..c8dc419
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CHANGELOG.rst	
@@ -0,0 +1,25 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_map_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* -Fix severe bug when not using square size maps (would results in completely wrong obstacle distances and coordinates)
+* Contributors: Stefan Kohlbrecher
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CMakeLists.txt
new file mode 100644
index 0000000..d872b25
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/CMakeLists.txt	
@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_map_tools)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS nav_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES hector_map_tools
+  CATKIN_DEPENDS nav_msgs
+  DEPENDS Eigen
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_map_tools
+#   src/${PROJECT_NAME}/hector_map_tools.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hector_map_tools_node src/hector_map_tools_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_map_tools_node hector_map_tools_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hector_map_tools_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hector_map_tools hector_map_tools_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_map_tools.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/include/hector_map_tools/HectorMapTools.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/include/hector_map_tools/HectorMapTools.h
new file mode 100644
index 0000000..fef2326
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/include/hector_map_tools/HectorMapTools.h	
@@ -0,0 +1,293 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __HectorMapTools_h_
+#define __HectorMapTools_h_
+
+#include <nav_msgs/OccupancyGrid.h>
+#include <nav_msgs/MapMetaData.h>
+
+#include<Eigen/Core>
+
+class HectorMapTools{
+public:
+
+  template<typename ConcreteScalar>
+  class CoordinateTransformer{
+  public:
+
+    CoordinateTransformer()
+    {
+
+    }
+
+    CoordinateTransformer(const nav_msgs::OccupancyGridConstPtr map)
+    {
+      this->setTransforms(*map);
+    }
+
+
+    void setTransforms(const nav_msgs::OccupancyGrid& map)
+    {
+      this->setTransforms(map.info);
+    }
+
+    void setTransforms(const nav_msgs::MapMetaData& meta)
+    {
+      origo_ = (Eigen::Matrix<ConcreteScalar, 2, 1>(static_cast<ConcreteScalar>(meta.origin.position.x),static_cast<ConcreteScalar>(meta.origin.position.y)));
+      scale_ = (static_cast<ConcreteScalar>(meta.resolution));
+      inv_scale_ = (static_cast<ConcreteScalar>(1.0f / meta.resolution));
+    }
+
+    void setTransformsBetweenCoordSystems(const Eigen::Matrix<ConcreteScalar, 2, 1>& origoCS1, const Eigen::Matrix<ConcreteScalar, 2, 1>& endCS1,
+                                          const Eigen::Matrix<ConcreteScalar, 2, 1>& origoCS2, const Eigen::Matrix<ConcreteScalar, 2, 1>& endCS2)
+    {
+      Eigen::Matrix<ConcreteScalar, 2, 1> map_t_geotiff_x_factors = getLinearTransform(Eigen::Vector2f(origoCS1[0], endCS1[0]), Eigen::Vector2f(origoCS2[0], endCS2[0]));
+      Eigen::Matrix<ConcreteScalar, 2, 1> map_t_geotiff_y_factors = getLinearTransform(Eigen::Vector2f(origoCS1[1], endCS1[1]), Eigen::Vector2f(origoCS2[1], endCS2[1]));
+
+      //std::cout << "\n geo_x: \n" << map_t_geotiff_x_factors << "\n geo_y: \n" << map_t_geotiff_y_factors << "\n";
+
+      origo_.x() = map_t_geotiff_x_factors[1];
+      origo_.y() = map_t_geotiff_y_factors[1];
+
+      scale_ = map_t_geotiff_x_factors[0];
+      inv_scale_ = 1.0 / scale_;
+
+      //std::cout << "\nscale " << scale_ << "\n";
+    }
+
+    Eigen::Matrix<ConcreteScalar, 2, 1> getC1Coords(const  Eigen::Matrix<ConcreteScalar, 2, 1>& mapCoords) const
+    {
+      return origo_ + (mapCoords * scale_);
+    }
+
+    Eigen::Matrix<ConcreteScalar, 2, 1> getC2Coords(const  Eigen::Matrix<ConcreteScalar, 2, 1>& worldCoords) const
+    {
+      return ((worldCoords - origo_) * inv_scale_);
+    }
+
+    ConcreteScalar getC1Scale(float c2_scale) const
+    {
+      return scale_ * c2_scale;
+    }
+
+    ConcreteScalar getC2Scale(float c1_scale) const
+    {
+      return inv_scale_ * c1_scale;
+    }
+
+  protected:
+
+    Eigen::Matrix<ConcreteScalar, 2, 1> getLinearTransform(const Eigen::Matrix<ConcreteScalar, 2, 1>& coordSystem1, const Eigen::Matrix<ConcreteScalar, 2, 1>& coordSystem2)
+    {
+      ConcreteScalar scaling = (coordSystem2[0] - coordSystem2[1]) / (coordSystem1[0] - coordSystem1[1]);
+      ConcreteScalar translation = coordSystem2[0] - coordSystem1[0] * scaling;
+      return Eigen::Vector2f (scaling, translation);
+    }
+
+    Eigen::Matrix<ConcreteScalar, 2, 1> origo_;
+    ConcreteScalar scale_;
+    ConcreteScalar inv_scale_;
+  };
+
+  class DistanceMeasurementProvider
+  {
+  public:
+    DistanceMeasurementProvider()
+    {
+
+    }
+
+    void setMap(const nav_msgs::OccupancyGridConstPtr map)
+    {
+      map_ptr_ = map;
+
+      world_map_transformer_.setTransforms(*map_ptr_);
+    }
+
+    float getDist(const Eigen::Vector2f& begin_world, const Eigen::Vector2f& end_world, Eigen::Vector2f* hitCoords = 0)
+    {
+      Eigen::Vector2i end_point_map;
+
+      Eigen::Vector2i begin_map (world_map_transformer_.getC2Coords(begin_world).cast<int>());
+      Eigen::Vector2i end_map (world_map_transformer_.getC2Coords(end_world).cast<int>());
+      float dist = checkOccupancyBresenhami(begin_map, end_map, &end_point_map);
+
+      if (hitCoords != 0){
+        *hitCoords = world_map_transformer_.getC1Coords(end_point_map.cast<float>());
+      }
+
+      return world_map_transformer_.getC1Scale(dist);
+    }
+
+    inline float checkOccupancyBresenhami( const Eigen::Vector2i& beginMap, const Eigen::Vector2i& endMap, Eigen::Vector2i* hitCoords = 0, unsigned int max_length = UINT_MAX){
+
+      int x0 = beginMap[0];
+      int y0 = beginMap[1];
+
+      int sizeX = map_ptr_->info.width;
+      int sizeY = map_ptr_->info.height;
+
+      //check if beam start point is inside map, cancel update if this is not the case
+      if ((x0 < 0) || (x0 >= sizeX) || (y0 < 0) || (y0 >= sizeY)) {
+        return -1.0f;
+      }
+
+      int x1 = endMap[0];
+      int y1 = endMap[1];
+
+      //std::cout << " x: "<< x1 << " y: " << y1 << " length: " << length << "     ";
+
+      //check if beam end point is inside map, cancel update if this is not the case
+      if ((x1 < 0) || (x1 >= sizeX) || (y1 < 0) || (y1 >= sizeY)) {
+        return -1.0f;
+      }
+
+      int dx = x1 - x0;
+      int dy = y1 - y0;
+
+      unsigned int abs_dx = abs(dx);
+      unsigned int abs_dy = abs(dy);
+
+      int offset_dx =  dx > 0 ? 1 : -1;
+      int offset_dy = (dy > 0 ? 1 : -1) * sizeX;
+
+      unsigned int startOffset = beginMap.y() * sizeX + beginMap.x();
+
+      int end_offset;
+
+      //if x is dominant
+      if(abs_dx >= abs_dy){
+        int error_y = abs_dx / 2;
+        end_offset = bresenham2D(abs_dx, abs_dy, error_y, offset_dx, offset_dy, startOffset,5000);
+      }else{
+        //otherwise y is dominant
+        int error_x = abs_dy / 2;
+        end_offset = bresenham2D(abs_dy, abs_dx, error_x, offset_dy, offset_dx, startOffset,5000);
+      }
+
+      if (end_offset != -1){
+        Eigen::Vector2i end_coords(end_offset % sizeX, end_offset / sizeX);
+
+        int distMap = ((beginMap - end_coords).cast<float>()).norm();
+
+        if (hitCoords != 0){
+          *hitCoords = end_coords;
+        }
+
+        return distMap;
+      }
+
+      return -1.0f;
+
+      //unsigned int endOffset = endMap.y() * sizeX + endMap.x();
+      //this->bresenhamCellOcc(endOffset);
+    }
+
+    inline int bresenham2D(unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b,
+                            unsigned int offset, unsigned int max_length){
+      unsigned int end = std::min(max_length, abs_da);
+
+      const std::vector<int8_t>& data = map_ptr_->data;
+
+      for(unsigned int i = 0; i < end; ++i){
+        if (data[offset] == 100){
+          return static_cast<int>(offset);
+        }
+
+        offset += offset_a;
+        error_b += abs_db;
+        if((unsigned int)error_b >= abs_da){
+          offset += offset_b;
+          error_b -= abs_da;
+        }
+      }
+      return -1;
+      //at(offset);
+    }
+
+  protected:
+    CoordinateTransformer<float> world_map_transformer_;
+    nav_msgs::OccupancyGridConstPtr map_ptr_;
+
+
+  };
+
+  static bool getMapExtends(const nav_msgs::OccupancyGrid& map, Eigen::Vector2i& topLeft, Eigen::Vector2i& bottomRight)
+  {
+    int lowerStart = -1;
+    int upperStart = 10000000;
+
+    int xMaxTemp = lowerStart;
+    int yMaxTemp = lowerStart;
+    int xMinTemp = upperStart;
+    int yMinTemp = upperStart;
+
+    int width = map.info.width;
+    int height = map.info.height;
+
+    for (int y = 0; y < height; ++y){
+      for (int x = 0; x < width; ++x){
+
+        if ( map.data[x+y*width] != -1){
+
+          if (x > xMaxTemp) {
+            xMaxTemp = x;
+          }
+
+          if (x < xMinTemp) {
+            xMinTemp = x;
+          }
+
+          if (y > yMaxTemp) {
+            yMaxTemp = y;
+          }
+
+          if (y < yMinTemp) {
+            yMinTemp = y;
+          }
+        }
+      }
+    }
+
+    if ((xMaxTemp != lowerStart) &&
+        (yMaxTemp != lowerStart) &&
+        (xMinTemp != upperStart) &&
+        (yMinTemp != upperStart)) {
+
+      topLeft = Eigen::Vector2i(xMinTemp,yMinTemp);
+      bottomRight = Eigen::Vector2i(xMaxTemp+1, yMaxTemp+1);
+
+      return true;
+    } else {
+      return false;
+    }
+  };
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/package.xml
new file mode 100644
index 0000000..37b373e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_map_tools/package.xml	
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_map_tools</name>
+  <version>0.3.5</version>
+  <description>
+    hector_map_tools contains some functions related to accessing information from OccupancyGridMap maps.
+    Currently consists of a single header.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_map_tools</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>eigen</build_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>eigen</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CHANGELOG.rst
new file mode 100644
index 0000000..bc77e69
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CHANGELOG.rst	
@@ -0,0 +1,27 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_mapping
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* Contributors: Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* respect ``p_map_frame_``
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
+* hector_mapping: fixed multi-resolution map scan matching index bug in MapRepMultiMap.h
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CMakeLists.txt
new file mode 100644
index 0000000..7b5a3c9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/CMakeLists.txt	
@@ -0,0 +1,157 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_mapping)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp nav_msgs visualization_msgs tf message_filters laser_geometry tf_conversions message_generation)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS thread signals)
+include_directories(${Boost_INCLUDE_DIRS})
+
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  HectorDebugInfo.msg
+  HectorIterData.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES hector_mapping
+  CATKIN_DEPENDS roscpp nav_msgs visualization_msgs tf message_filters laser_geometry tf_conversions message_runtime
+  DEPENDS EIGEN3
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include include/hector_slam_lib)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_mapping
+#   src/${PROJECT_NAME}/hector_mapping.cpp
+# )
+
+## Declare a cpp executable
+add_executable(hector_mapping
+  src/HectorDebugInfoProvider.h
+  src/HectorDrawings.h
+  src/HectorMappingRos.h
+  src/HectorMappingRos.cpp
+  src/main.cpp
+  src/PoseInfoContainer.cpp
+  src/PoseInfoContainer.h
+)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(hector_mapping hector_mapping_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hector_mapping
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_mapping
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_mapping.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMap.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMap.h
new file mode 100644
index 0000000..ce5aa26
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMap.h	
@@ -0,0 +1,45 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMap_h_
+#define __GridMap_h_
+
+#include "OccGridMapBase.h"
+#include "GridMapLogOdds.h"
+#include "GridMapReflectanceCount.h"
+#include "GridMapSimpleCount.h"
+
+namespace hectorslam {
+
+typedef OccGridMapBase<LogOddsCell, GridMapLogOddsFunctions> GridMap;
+//typedef OccGridMapBase<SimpleCountCell, GridMapSimpleCountFunctions> GridMap;
+//typedef OccGridMapBase<ReflectanceCell, GridMapReflectanceFunctions> GridMap;
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapBase.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapBase.h
new file mode 100644
index 0000000..b027a88
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapBase.h	
@@ -0,0 +1,404 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMapBase_h_
+#define __GridMapBase_h_
+
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+
+#include "MapDimensionProperties.h"
+
+namespace hectorslam {
+
+/**
+ * GridMapBase provides basic grid map functionality (creates grid , provides transformation from/to world coordinates).
+ * It serves as the base class for different map representations that may extend it's functionality.
+ */
+template<typename ConcreteCellType>
+class GridMapBase
+{
+
+public:
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * Indicates if given x and y are within map bounds
+   * @return True if coordinates are within map bounds
+   */
+  bool hasGridValue(int x, int y) const
+  {
+    return (x >= 0) && (y >= 0) && (x < this->getSizeX()) && (y < this->getSizeY());
+  }
+
+  const Eigen::Vector2i& getMapDimensions() const { return mapDimensionProperties.getMapDimensions(); };
+  int getSizeX() const { return mapDimensionProperties.getSizeX(); };
+  int getSizeY() const { return mapDimensionProperties.getSizeY(); };
+
+  bool pointOutOfMapBounds(const Eigen::Vector2f& pointMapCoords) const
+  {
+    return mapDimensionProperties.pointOutOfMapBounds(pointMapCoords);
+  }
+
+  virtual void reset()
+  {
+    this->clear();
+  }
+
+  /**
+   * Resets the grid cell values by using the resetGridCell() function.
+   */
+  void clear()
+  {
+    int size = this->getSizeX() * this->getSizeY();
+
+    for (int i = 0; i < size; ++i) {
+      this->mapArray[i].resetGridCell();
+    }
+
+    //this->mapArray[0].set(1.0f);
+    //this->mapArray[size-1].set(1.0f);
+  }
+
+
+  const MapDimensionProperties& getMapDimProperties() const { return mapDimensionProperties; };
+
+  /**
+   * Constructor, creates grid representation and transformations.
+   */
+  GridMapBase(float mapResolution, const Eigen::Vector2i& size, const Eigen::Vector2f& offset)
+    : mapArray(0)
+    , lastUpdateIndex(-1)
+  {
+    Eigen::Vector2i newMapDimensions (size);
+
+    this->setMapGridSize(newMapDimensions);
+    sizeX = size[0];
+
+    setMapTransformation(offset, mapResolution);
+
+    this->clear();
+  }
+
+  /**
+   * Destructor
+   */
+  virtual ~GridMapBase()
+  {
+    deleteArray();
+  }
+
+  /**
+   * Allocates memory for the two dimensional pointer array for map representation.
+   */
+  void allocateArray(const Eigen::Vector2i& newMapDims)
+  {
+    int sizeX = newMapDims.x();
+    int sizeY = newMapDims.y();
+
+    mapArray = new ConcreteCellType [sizeX*sizeY];
+
+    mapDimensionProperties.setMapCellDims(newMapDims);
+  }
+
+  void deleteArray()
+  {
+    if (mapArray != 0){
+
+      delete[] mapArray;
+
+      mapArray = 0;
+      mapDimensionProperties.setMapCellDims(Eigen::Vector2i(-1,-1));
+    }
+  }
+
+  ConcreteCellType& getCell(int x, int y)
+  {
+    return mapArray[y * sizeX + x];
+  }
+
+  const ConcreteCellType& getCell(int x, int y) const
+  {
+    return mapArray[y * sizeX + x];
+  }
+
+  ConcreteCellType& getCell(int index)
+  {
+    return mapArray[index];
+  }
+
+  const ConcreteCellType& getCell(int index) const
+  {
+    return mapArray[index];
+  }
+
+  void setMapGridSize(const Eigen::Vector2i& newMapDims)
+  {
+    if (newMapDims != mapDimensionProperties.getMapDimensions() ){
+     deleteArray();
+     allocateArray(newMapDims);
+     this->reset();
+    }
+  }
+
+  /**
+   * Copy Constructor, only needed if pointer members are present.
+   */
+  GridMapBase(const GridMapBase& other)
+  {
+    allocateArray(other.getMapDimensions());
+    *this = other;
+  }
+
+  /**
+   * Assignment operator, only needed if pointer members are present.
+   */
+  GridMapBase& operator=(const GridMapBase& other)
+  {
+    if ( !(this->mapDimensionProperties == other.mapDimensionProperties)){
+      this->setMapGridSize(other.mapDimensionProperties.getMapDimensions());
+    }
+
+    this->mapDimensionProperties = other.mapDimensionProperties;
+
+    this->worldTmap = other.worldTmap;
+    this->mapTworld = other.mapTworld;
+    this->worldTmap3D = other.worldTmap3D;
+
+    this->scaleToMap = other.scaleToMap;
+
+    //@todo potential resize
+    int sizeX = this->getSizeX();
+    int sizeY = this->getSizeY();
+
+    size_t concreteCellSize = sizeof(ConcreteCellType);
+
+    memcpy(this->mapArray, other.mapArray, sizeX*sizeY*concreteCellSize);
+
+    return *this;
+  }
+
+  /**
+   * Returns the world coordinates for the given map coords.
+   */
+  inline Eigen::Vector2f getWorldCoords(const Eigen::Vector2f& mapCoords) const
+  {
+    return worldTmap * mapCoords;
+  }
+
+  /**
+   * Returns the map coordinates for the given world coords.
+   */
+  inline Eigen::Vector2f getMapCoords(const Eigen::Vector2f& worldCoords) const
+  {
+    return mapTworld * worldCoords;
+  }
+
+  /**
+   * Returns the world pose for the given map pose.
+   */
+  inline Eigen::Vector3f getWorldCoordsPose(const Eigen::Vector3f& mapPose) const
+  {
+    Eigen::Vector2f worldCoords (worldTmap * mapPose.head<2>());
+    return Eigen::Vector3f(worldCoords[0], worldCoords[1], mapPose[2]);
+  }
+
+  /**
+   * Returns the map pose for the given world pose.
+   */
+  inline Eigen::Vector3f getMapCoordsPose(const Eigen::Vector3f& worldPose) const
+  {
+    Eigen::Vector2f mapCoords (mapTworld * worldPose.head<2>());
+    return Eigen::Vector3f(mapCoords[0], mapCoords[1], worldPose[2]);
+  }
+
+  void setDimensionProperties(const Eigen::Vector2f& topLeftOffsetIn, const Eigen::Vector2i& mapDimensionsIn, float cellLengthIn)
+  {
+    setDimensionProperties(MapDimensionProperties(topLeftOffsetIn,mapDimensionsIn,cellLengthIn));
+  }
+
+  void setDimensionProperties(const MapDimensionProperties& newMapDimProps)
+  {
+    //Grid map cell number has changed
+    if (!newMapDimProps.hasEqualDimensionProperties(this->mapDimensionProperties)){
+      this->setMapGridSize(newMapDimProps.getMapDimensions());
+    }
+
+    //Grid map transformation/cell size has changed
+    if(!newMapDimProps.hasEqualTransformationProperties(this->mapDimensionProperties)){
+      this->setMapTransformation(newMapDimProps.getTopLeftOffset(), newMapDimProps.getCellLength());
+    }
+  }
+
+  /**
+   * Set the map transformations
+   * @param xWorld The origin of the map coordinate system on the x axis in world coordinates
+   * @param yWorld The origin of the map coordinate system on the y axis in world coordinates
+   * @param The cell length of the grid map
+   */
+  void setMapTransformation(const Eigen::Vector2f& topLeftOffset, float cellLength)
+  {
+    mapDimensionProperties.setCellLength(cellLength);
+    mapDimensionProperties.setTopLeftOffset(topLeftOffset);
+
+    scaleToMap = 1.0f / cellLength;
+
+    mapTworld = Eigen::AlignedScaling2f(scaleToMap, scaleToMap) * Eigen::Translation2f(topLeftOffset[0], topLeftOffset[1]);
+
+    worldTmap3D = Eigen::AlignedScaling3f(scaleToMap, scaleToMap, 1.0f) * Eigen::Translation3f(topLeftOffset[0], topLeftOffset[1], 0);
+
+    //std::cout << worldTmap3D.matrix() << std::endl;
+    worldTmap3D = worldTmap3D.inverse();
+
+    worldTmap = mapTworld.inverse();
+  }
+
+
+  /**
+   * Returns the scale factor for one unit in world coords to one unit in map coords.
+   * @return The scale factor
+   */
+  float getScaleToMap() const
+  {
+    return scaleToMap;
+  }
+
+  /**
+   * Returns the cell edge length of grid cells in millimeters.
+   * @return the cell edge length in millimeters.
+   */
+  float getCellLength() const
+  {
+    return mapDimensionProperties.getCellLength();
+  }
+
+  /**
+   * Returns a reference to the homogenous 2D transform from map to world coordinates.
+   * @return The homogenous 2D transform.
+   */
+  const Eigen::Affine2f& getWorldTmap() const
+  {
+    return worldTmap;
+  }
+
+  /**
+   * Returns a reference to the homogenous 3D transform from map to world coordinates.
+   * @return The homogenous 3D transform.
+   */
+  const Eigen::Affine3f& getWorldTmap3D() const
+  {
+    return worldTmap3D;
+  }
+
+  /**
+   * Returns a reference to the homogenous 2D transform from world to map coordinates.
+   * @return The homogenous 2D transform.
+   */
+  const Eigen::Affine2f& getMapTworld() const
+  {
+    return mapTworld;
+  }
+
+  void setUpdated() { lastUpdateIndex++; };
+  int getUpdateIndex() const { return lastUpdateIndex; };
+
+  /**
+    * Returns the rectangle ([xMin,yMin],[xMax,xMax]) containing non-default cell values
+    */
+  bool getMapExtends(int& xMax, int& yMax, int& xMin, int& yMin) const
+  {
+    int lowerStart = -1;
+    int upperStart = 10000;
+
+    int xMaxTemp = lowerStart;
+    int yMaxTemp = lowerStart;
+    int xMinTemp = upperStart;
+    int yMinTemp = upperStart;
+
+    int sizeX = this->getSizeX();
+    int sizeY = this->getSizeY();
+
+    for (int x = 0; x < sizeX; ++x) {
+      for (int y = 0; y < sizeY; ++y) {
+        if (this->mapArray[x][y].getValue() != 0.0f) {
+
+          if (x > xMaxTemp) {
+            xMaxTemp = x;
+          }
+
+          if (x < xMinTemp) {
+            xMinTemp = x;
+          }
+
+          if (y > yMaxTemp) {
+            yMaxTemp = y;
+          }
+
+          if (y < yMinTemp) {
+            yMinTemp = y;
+          }
+        }
+      }
+    }
+
+    if ((xMaxTemp != lowerStart) &&
+        (yMaxTemp != lowerStart) &&
+        (xMinTemp != upperStart) &&
+        (yMinTemp != upperStart)) {
+
+      xMax = xMaxTemp;
+      yMax = yMaxTemp;
+      xMin = xMinTemp;
+      yMin = yMinTemp;
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+protected:
+
+  ConcreteCellType *mapArray;    ///< Map representation used with plain pointer array.
+
+  float scaleToMap;              ///< Scaling factor from world to map.
+
+  Eigen::Affine2f worldTmap;     ///< Homogenous 2D transform from map to world coordinates.
+  Eigen::Affine3f worldTmap3D;   ///< Homogenous 3D transform from map to world coordinates.
+  Eigen::Affine2f mapTworld;     ///< Homogenous 2D transform from world to map coordinates.
+
+  MapDimensionProperties mapDimensionProperties;
+  int sizeX;
+
+private:
+  int lastUpdateIndex;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapCacheArray.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapCacheArray.h
new file mode 100644
index 0000000..d4b3ea6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapCacheArray.h	
@@ -0,0 +1,167 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMapCacheArray_h_
+#define __GridMapCacheArray_h_
+
+#include <Eigen/Core>
+
+class CachedMapElement
+{
+public:
+  float val;
+  int index;
+};
+
+/**
+ * Caches filtered grid map accesses in a two dimensional array of the same size as the map.
+ */
+class GridMapCacheArray
+{
+public:
+
+  /**
+   * Constructor
+   */
+  GridMapCacheArray()
+    : cacheArray(0)
+    , arrayDimensions(-1,-1)
+  {
+    currCacheIndex = 0;
+  }
+
+  /**
+   * Destructor
+   */
+  ~GridMapCacheArray()
+  {
+    deleteCacheArray();
+  }
+
+  /**
+   * Resets/deletes the cached data
+   */
+  void resetCache()
+  {
+    currCacheIndex++;
+  }
+
+  /**
+   * Checks wether cached data for coords is available. If this is the case, writes data into val.
+   * @param coords The coordinates
+   * @param val Reference to a float the data is written to if available
+   * @return Indicates if cached data is available
+   */
+  bool containsCachedData(int index, float& val)
+  {
+    const CachedMapElement& elem (cacheArray[index]);
+
+    if (elem.index == currCacheIndex) {
+      val = elem.val;
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  /**
+   * Caches float value val for coordinates coords.
+   * @param coords The coordinates
+   * @param val The value to be cached for coordinates.
+   */
+  void cacheData(int index, float val)
+  {
+    CachedMapElement& elem (cacheArray[index]);
+    elem.index = currCacheIndex;
+    elem.val = val;
+  }
+
+  /**
+   * Sets the map size and resizes the cache array accordingly
+   * @param sizeIn The map size.
+   */
+  void setMapSize(const Eigen::Vector2i& newDimensions)
+  {
+    setArraySize(newDimensions);
+  }
+
+protected:
+
+  /**
+   * Creates a cache array of size sizeIn.
+   * @param sizeIn The size of the array
+   */
+  void createCacheArray(const Eigen::Vector2i& newDimensions)
+  {
+    arrayDimensions = newDimensions;
+
+    int sizeX = arrayDimensions[0];
+    int sizeY = arrayDimensions[1];
+
+    int size = sizeX * sizeY;
+
+    cacheArray = new CachedMapElement [size];
+
+    for (int x = 0; x < size; ++x) {
+      cacheArray[x].index = -1;
+    }
+  }
+
+  /**
+   * Deletes the existing cache array.
+   */
+  void deleteCacheArray()
+  {
+    delete[] cacheArray;
+  }
+
+  /**
+   * Sets a new cache array size
+   */
+  void setArraySize(const Eigen::Vector2i& newDimensions)
+  {
+    if (this->arrayDimensions != newDimensions) {
+      if (cacheArray != 0) {
+        deleteCacheArray();
+        cacheArray = 0;
+      }
+      createCacheArray(newDimensions);
+    }
+  }
+
+protected:
+
+  CachedMapElement* cacheArray;    ///< Array used for caching data.
+  int currCacheIndex;              ///< The cache iteration index value
+
+  Eigen::Vector2i arrayDimensions; ///< The size of the array
+
+};
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapLogOdds.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapLogOdds.h
new file mode 100644
index 0000000..cfbbf7a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapLogOdds.h	
@@ -0,0 +1,212 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMapLogOdds_h_
+#define __GridMapLogOdds_h_
+
+#include <cmath>
+
+/**
+ * Provides a log odds of occupancy probability representation for cells in a occupancy grid map.
+ */
+class LogOddsCell
+{
+public:
+
+  /*
+  void setOccupied()
+  {
+    logOddsVal += 0.7f;
+  };
+
+  void setFree()
+  {
+    logOddsVal -= 0.4f;
+  };
+  */
+
+
+  /**
+   * Sets the cell value to val.
+   * @param val The log odds value.
+   */
+  void set(float val)
+  {
+    logOddsVal = val;
+  }
+
+  /**
+   * Returns the value of the cell.
+   * @return The log odds value.
+   */
+  float getValue() const
+  {
+    return logOddsVal;
+  }
+
+  /**
+   * Returns wether the cell is occupied.
+   * @return Cell is occupied
+   */
+  bool isOccupied() const
+  {
+    return logOddsVal > 0.0f;
+  }
+
+  bool isFree() const
+  {
+    return logOddsVal < 0.0f;
+  }
+
+  /**
+   * Reset Cell to prior probability.
+   */
+  void resetGridCell()
+  {
+    logOddsVal = 0.0f;
+    updateIndex = -1;
+  }
+
+  //protected:
+
+public:
+
+  float logOddsVal; ///< The log odds representation of occupancy probability.
+  int updateIndex;
+
+
+};
+
+/**
+ * Provides functions related to a log odds of occupancy probability respresentation for cells in a occupancy grid map.
+ */
+class GridMapLogOddsFunctions
+{
+public:
+
+  /**
+   * Constructor, sets parameters like free and occupied log odds ratios.
+   */
+  GridMapLogOddsFunctions()
+  {
+    this->setUpdateFreeFactor(0.4f);
+    this->setUpdateOccupiedFactor(0.6f);
+    /*
+    //float probOccupied = 0.6f;
+    float probOccupied = 0.9f;
+    float oddsOccupied = probOccupied / (1.0f - probOccupied);
+    logOddsOccupied = log(oddsOccupied);
+
+    float probFree = 0.4f;
+    float oddsFree = probFree / (1.0f - probFree);
+    logOddsFree = log(oddsFree);
+    */
+  }
+
+  /**
+   * Update cell as occupied
+   * @param cell The cell.
+   */
+  void updateSetOccupied(LogOddsCell& cell) const
+  {
+    if (cell.logOddsVal < 50.0f){
+      cell.logOddsVal += logOddsOccupied;
+    }
+  }
+
+  /**
+   * Update cell as free
+   * @param cell The cell.
+   */
+  void updateSetFree(LogOddsCell& cell) const
+  {
+
+    cell.logOddsVal += logOddsFree;
+
+  }
+
+  void updateUnsetFree(LogOddsCell& cell) const
+  {
+    cell.logOddsVal -= logOddsFree;
+  }
+
+  /**
+   * Get the probability value represented by the grid cell.
+   * @param cell The cell.
+   * @return The probability
+   */
+  float getGridProbability(const LogOddsCell& cell) const
+  {
+    float odds = exp(cell.logOddsVal);
+    return odds / (odds + 1.0f);
+
+    /*
+    float val = cell.logOddsVal;
+
+    //prevent #IND when doing exp(large number).
+    if (val > 50.0f) {
+      return 1.0f;
+    } else {
+      float odds = exp(val);
+      return odds / (odds + 1.0f);
+    }
+    */
+    //return 0.5f;
+  }
+
+  //void getGridValueMap( const LogOddsCell& cell) const{};
+  //void isOccupied(LogOddsCell& cell) {};
+
+  //void resetGridCell() {};
+
+  void setUpdateFreeFactor(float factor)
+  {
+    logOddsFree = probToLogOdds(factor);
+  }
+
+  void setUpdateOccupiedFactor(float factor)
+  {
+    logOddsOccupied = probToLogOdds(factor);
+  }
+
+protected:
+
+  float probToLogOdds(float prob)
+  {
+    float odds = prob / (1.0f - prob);
+    return log(odds);
+  }
+
+  float logOddsOccupied; /// < The log odds representation of probability used for updating cells as occupied
+  float logOddsFree;     /// < The log odds representation of probability used for updating cells as free
+
+
+};
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapReflectanceCount.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapReflectanceCount.h
new file mode 100644
index 0000000..d83ab30
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapReflectanceCount.h	
@@ -0,0 +1,111 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMapReflectanceCount_h_
+#define __GridMapReflectanceCount_h_
+
+/**
+ * Provides a reflectance count representation for cells in a occupancy grid map.
+ */
+class ReflectanceCell
+{
+public:
+
+  void set(float val)
+  {
+    probOccupied = val;
+  }
+
+  float getValue() const
+  {
+    return probOccupied;
+  }
+
+  bool isOccupied() const
+  {
+    return probOccupied > 0.5f;
+  }
+
+  bool isFree() const{
+    return probOccupied < 0.5f;
+  }
+
+  void resetGridCell()
+  {
+    probOccupied = 0.5f;
+    visitedCount = 0.0f;
+    reflectedCount = 0.0f;
+    updateIndex = -1;
+  }
+
+//protected:
+
+  float visitedCount;
+  float reflectedCount;
+  float probOccupied;
+  int updateIndex;
+};
+
+
+class GridMapReflectanceFunctions
+{
+public:
+
+  GridMapReflectanceFunctions()
+  {}
+
+  void updateSetOccupied(ReflectanceCell& cell) const
+  {
+    ++cell.reflectedCount;
+    ++cell.visitedCount;
+    cell.probOccupied = cell.reflectedCount / cell.visitedCount;
+  }
+
+  void updateSetFree(ReflectanceCell& cell) const
+  {
+    ++cell.visitedCount;
+    cell.probOccupied = cell.reflectedCount / cell.visitedCount;
+  }
+
+  void updateUnsetFree(ReflectanceCell& cell) const
+  {
+    --cell.visitedCount;
+    cell.probOccupied = cell.reflectedCount / cell.visitedCount;
+  }
+
+  float getGridProbability(const ReflectanceCell& cell) const
+  {
+    return cell.probOccupied;
+  }
+
+protected:
+
+};
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapSimpleCount.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapSimpleCount.h
new file mode 100644
index 0000000..887df08
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/GridMapSimpleCount.h	
@@ -0,0 +1,159 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __GridMapSimpleCount_h_
+#define __GridMapSimpleCount_h_
+
+
+/**
+ * Provides a (very) simple count based representation of occupancy
+ */
+class SimpleCountCell
+{
+public:
+
+  /**
+   * Sets the cell value to val.
+   * @param val The log odds value.
+   */
+  void set(float val)
+  {
+    simpleOccVal = val;
+  }
+
+  /**
+   * Returns the value of the cell.
+   * @return The log odds value.
+   */
+  float getValue() const
+  {
+    return simpleOccVal;
+  }
+
+  /**
+   * Returns wether the cell is occupied.
+   * @return Cell is occupied
+   */
+  bool isOccupied() const
+  {
+    return (simpleOccVal > 0.5f);
+  }
+
+  bool isFree() const
+  {
+    return (simpleOccVal < 0.5f);
+  }
+
+  /**
+   * Reset Cell to prior probability.
+   */
+  void resetGridCell()
+  {
+    simpleOccVal = 0.5f;
+    updateIndex = -1;
+  }
+
+//protected:
+
+public:
+
+  float simpleOccVal; ///< The log odds representation of occupancy probability.
+  int updateIndex;
+
+
+};
+
+/**
+ * Provides functions related to a log odds of occupancy probability respresentation for cells in a occupancy grid map.
+ */
+class GridMapSimpleCountFunctions
+{
+public:
+
+  /**
+   * Constructor, sets parameters like free and occupied log odds ratios.
+   */
+  GridMapSimpleCountFunctions()
+  {
+    updateFreeVal = -0.10f;
+    updateOccVal  =  0.15f;
+
+    updateFreeLimit = -updateFreeVal + updateFreeVal/100.0f;
+    updateOccLimit  = 1.0f - (updateOccVal + updateOccVal/100.0f);
+  }
+
+  /**
+   * Update cell as occupied
+   * @param cell The cell.
+   */
+  void updateSetOccupied(SimpleCountCell& cell) const
+  {
+    if (cell.simpleOccVal < updateOccLimit){
+      cell.simpleOccVal += updateOccVal;
+    }
+  }
+
+  /**
+   * Update cell as free
+   * @param cell The cell.
+   */
+  void updateSetFree(SimpleCountCell& cell) const
+  {
+    if (cell.simpleOccVal > updateFreeLimit){
+      cell.simpleOccVal += updateFreeVal;
+    }
+  }
+
+  void updateUnsetFree(SimpleCountCell& cell) const
+  {
+    cell.simpleOccVal -= updateFreeVal;
+  }
+
+  /**
+   * Get the probability value represented by the grid cell.
+   * @param cell The cell.
+   * @return The probability
+   */
+  float getGridProbability(const SimpleCountCell& cell) const
+  {
+    return cell.simpleOccVal;
+  }
+
+protected:
+
+  float updateFreeVal;
+  float updateOccVal;
+
+  float updateFreeLimit;
+  float updateOccLimit;
+
+
+};
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/MapDimensionProperties.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/MapDimensionProperties.h
new file mode 100644
index 0000000..fd3915b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/MapDimensionProperties.h	
@@ -0,0 +1,100 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __MapDimensionProperties_h_
+#define __MapDimensionProperties_h_
+
+class MapDimensionProperties
+{
+public:
+  MapDimensionProperties()
+    : topLeftOffset(-1.0f,-1.0f)
+    , mapDimensions(-1,-1)
+    , cellLength(-1.0f)
+  {}
+
+
+  MapDimensionProperties(const Eigen::Vector2f& topLeftOffsetIn, const Eigen::Vector2i& mapDimensionsIn, float cellLengthIn)
+    : topLeftOffset(topLeftOffsetIn)
+    , mapDimensions(mapDimensionsIn)
+    , cellLength(cellLengthIn)
+  {
+    mapLimitsf = (mapDimensionsIn.cast<float>()).array() - 1.0f;
+  }
+
+  bool operator==(const MapDimensionProperties& other) const
+  {
+    return (topLeftOffset == other.topLeftOffset) && (mapDimensions == other.mapDimensions) && (cellLength == other.cellLength);
+  }
+
+  bool hasEqualDimensionProperties(const MapDimensionProperties& other) const
+  {
+    return (mapDimensions == other.mapDimensions);
+  }
+
+  bool hasEqualTransformationProperties(const MapDimensionProperties& other) const
+  {
+     return  (topLeftOffset == other.topLeftOffset) && (cellLength == other.cellLength);
+  }
+
+  bool pointOutOfMapBounds(const Eigen::Vector2f& coords) const
+  {
+    return ((coords[0] < 0.0f) || (coords[0] > mapLimitsf[0]) || (coords[1] < 0.0f) || (coords[1] > mapLimitsf[1]));
+  }
+
+  void setMapCellDims(const Eigen::Vector2i& newDims)
+  {
+    mapDimensions = newDims;
+    mapLimitsf = (newDims.cast<float>()).array() - 2.0f;
+  }
+
+  void setTopLeftOffset(const Eigen::Vector2f& topLeftOffsetIn)
+  {
+    topLeftOffset = topLeftOffsetIn;
+  }
+
+  void setSizeX(int sX) { mapDimensions[0] = sX; };
+  void setSizeY(int sY) { mapDimensions[1] = sY; };
+  void setCellLength(float cl) { cellLength = cl; };
+
+  const Eigen::Vector2f& getTopLeftOffset() const { return topLeftOffset; };
+  const Eigen::Vector2i& getMapDimensions() const { return mapDimensions; };
+  int getSizeX() const { return mapDimensions[0]; };
+  int getSizeY() const { return mapDimensions[1]; };
+  float getCellLength() const { return cellLength; };
+
+protected:
+  Eigen::Vector2f topLeftOffset;
+  Eigen::Vector2i mapDimensions;
+  Eigen::Vector2f mapLimitsf;
+  float cellLength;
+};
+
+#endif
+
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapBase.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapBase.h
new file mode 100644
index 0000000..e3b439a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapBase.h	
@@ -0,0 +1,273 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __OccGridMapBase_h_
+#define __OccGridMapBase_h_
+
+#include "GridMapBase.h"
+
+#include "../scan/DataPointContainer.h"
+#include "../util/UtilFunctions.h"
+
+#include <Eigen/Geometry>
+
+namespace hectorslam {
+
+template<typename ConcreteCellType, typename ConcreteGridFunctions>
+class OccGridMapBase
+  : public GridMapBase<ConcreteCellType>
+{
+
+public:
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  OccGridMapBase(float mapResolution, const Eigen::Vector2i& size, const Eigen::Vector2f& offset)
+    : GridMapBase<ConcreteCellType>(mapResolution, size, offset)
+    , currUpdateIndex(0)
+    , currMarkOccIndex(-1)
+    , currMarkFreeIndex(-1)
+  {}
+
+  virtual ~OccGridMapBase() {}
+
+  void updateSetOccupied(int index)
+  {
+    concreteGridFunctions.updateSetOccupied(this->getCell(index));
+  }
+
+  void updateSetFree(int index)
+  {
+    concreteGridFunctions.updateSetFree(this->getCell(index));
+  }
+
+  void updateUnsetFree(int index)
+  {
+    concreteGridFunctions.updateUnsetFree(this->getCell(index));
+  }
+
+  float getGridProbabilityMap(int index) const
+  {
+    return concreteGridFunctions.getGridProbability(this->getCell(index));
+  }
+
+  bool isOccupied(int xMap, int yMap) const
+  {
+    return (this->getCell(xMap,yMap).isOccupied());
+  }
+
+  bool isFree(int xMap, int yMap) const
+  {
+    return (this->getCell(xMap,yMap).isFree());
+  }
+
+  bool isOccupied(int index) const
+  {
+    return (this->getCell(index).isOccupied());
+  }
+
+  bool isFree(int index) const
+  {
+    return (this->getCell(index).isFree());
+  }
+
+  float getObstacleThreshold() const
+  {
+    ConcreteCellType temp;
+    temp.resetGridCell();
+    return concreteGridFunctions.getGridProbability(temp);
+  }
+
+  void setUpdateFreeFactor(float factor)
+  {
+    concreteGridFunctions.setUpdateFreeFactor(factor);
+  }
+
+  void setUpdateOccupiedFactor(float factor)
+  {
+    concreteGridFunctions.setUpdateOccupiedFactor(factor);
+  }
+
+  /**
+   * Updates the map using the given scan data and robot pose
+   * @param dataContainer Contains the laser scan data
+   * @param robotPoseWorld The 2D robot pose in world coordinates
+   */
+  void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
+  {
+    currMarkFreeIndex = currUpdateIndex + 1;
+    currMarkOccIndex = currUpdateIndex + 2;
+
+    //Get pose in map coordinates from pose in world coordinates
+    Eigen::Vector3f mapPose(this->getMapCoordsPose(robotPoseWorld));
+
+    //Get a 2D homogenous transform that can be left-multiplied to a robot coordinates vector to get world coordinates of that vector
+    Eigen::Affine2f poseTransform((Eigen::Translation2f(
+                                        mapPose[0], mapPose[1]) * Eigen::Rotation2Df(mapPose[2])));
+
+    //Get start point of all laser beams in map coordinates (same for alle beams, stored in robot coords in dataContainer)
+    Eigen::Vector2f scanBeginMapf(poseTransform * dataContainer.getOrigo());
+
+    //Get integer vector of laser beams start point
+    Eigen::Vector2i scanBeginMapi(scanBeginMapf[0] + 0.5f, scanBeginMapf[1] + 0.5f);
+
+    //Get number of valid beams in current scan
+    int numValidElems = dataContainer.getSize();
+
+    //std::cout << "\n maxD: " << maxDist << " num: " << numValidElems << "\n";
+
+    //Iterate over all valid laser beams
+    for (int i = 0; i < numValidElems; ++i) {
+
+      //Get map coordinates of current beam endpoint
+      Eigen::Vector2f scanEndMapf(poseTransform * (dataContainer.getVecEntry(i)));
+      //std::cout << "\ns\n" << scanEndMapf << "\n";
+
+      //add 0.5 to beam endpoint vector for following integer cast (to round, not truncate)
+      scanEndMapf.array() += (0.5f);
+
+      //Get integer map coordinates of current beam endpoint
+      Eigen::Vector2i scanEndMapi(scanEndMapf.cast<int>());
+
+      //Update map using a bresenham variant for drawing a line from beam start to beam endpoint in map coordinates
+      if (scanBeginMapi != scanEndMapi){
+        updateLineBresenhami(scanBeginMapi, scanEndMapi);
+      }
+    }
+
+    //Tell the map that it has been updated
+    this->setUpdated();
+
+    //Increase update index (used for updating grid cells only once per incoming scan)
+    currUpdateIndex += 3;
+  }
+
+  inline void updateLineBresenhami( const Eigen::Vector2i& beginMap, const Eigen::Vector2i& endMap, unsigned int max_length = UINT_MAX){
+
+    int x0 = beginMap[0];
+    int y0 = beginMap[1];
+
+    //check if beam start point is inside map, cancel update if this is not the case
+    if ((x0 < 0) || (x0 >= this->getSizeX()) || (y0 < 0) || (y0 >= this->getSizeY())) {
+      return;
+    }
+
+    int x1 = endMap[0];
+    int y1 = endMap[1];
+
+    //std::cout << " x: "<< x1 << " y: " << y1 << " length: " << length << "     ";
+
+    //check if beam end point is inside map, cancel update if this is not the case
+    if ((x1 < 0) || (x1 >= this->getSizeX()) || (y1 < 0) || (y1 >= this->getSizeY())) {
+      return;
+    }
+
+    int dx = x1 - x0;
+    int dy = y1 - y0;
+
+    unsigned int abs_dx = abs(dx);
+    unsigned int abs_dy = abs(dy);
+
+    int offset_dx = util::sign(dx);
+    int offset_dy = util::sign(dy) * this->sizeX;
+
+    unsigned int startOffset = beginMap.y() * this->sizeX + beginMap.x();
+
+    //if x is dominant
+    if(abs_dx >= abs_dy){
+      int error_y = abs_dx / 2;
+      bresenham2D(abs_dx, abs_dy, error_y, offset_dx, offset_dy, startOffset);
+    }else{
+      //otherwise y is dominant
+      int error_x = abs_dy / 2;
+      bresenham2D(abs_dy, abs_dx, error_x, offset_dy, offset_dx, startOffset);
+    }
+
+    unsigned int endOffset = endMap.y() * this->sizeX + endMap.x();
+    this->bresenhamCellOcc(endOffset);
+
+  }
+
+  inline void bresenhamCellFree(unsigned int offset)
+  {
+    ConcreteCellType& cell (this->getCell(offset));
+
+    if (cell.updateIndex < currMarkFreeIndex) {
+      concreteGridFunctions.updateSetFree(cell);
+      cell.updateIndex = currMarkFreeIndex;
+    }
+  }
+
+  inline void bresenhamCellOcc(unsigned int offset)
+  {
+    ConcreteCellType& cell (this->getCell(offset));
+
+    if (cell.updateIndex < currMarkOccIndex) {
+
+      //if this cell has been updated as free in the current iteration, revert this
+      if (cell.updateIndex == currMarkFreeIndex) {
+        concreteGridFunctions.updateUnsetFree(cell);
+      }
+
+      concreteGridFunctions.updateSetOccupied(cell);
+      //std::cout << " setOcc " << "\n";
+      cell.updateIndex = currMarkOccIndex;
+    }
+  }
+
+  inline void bresenham2D( unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset){
+
+    this->bresenhamCellFree(offset);
+
+    unsigned int end = abs_da-1;
+
+    for(unsigned int i = 0; i < end; ++i){
+      offset += offset_a;
+      error_b += abs_db;
+
+      if((unsigned int)error_b >= abs_da){
+        offset += offset_b;
+        error_b -= abs_da;
+      }
+
+      this->bresenhamCellFree(offset);
+    }
+  }
+
+protected:
+
+  ConcreteGridFunctions concreteGridFunctions;
+  int currUpdateIndex;
+  int currMarkOccIndex;
+  int currMarkFreeIndex;
+};
+
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtil.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtil.h
new file mode 100644
index 0000000..d166391
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtil.h	
@@ -0,0 +1,392 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __OccGridMapUtil_h_
+#define __OccGridMapUtil_h_
+
+#include <cmath>
+
+#include "../scan/DataPointContainer.h"
+#include "../util/UtilFunctions.h"
+
+namespace hectorslam {
+
+template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>
+class OccGridMapUtil
+{
+public:
+
+  OccGridMapUtil(const ConcreteOccGridMap* gridMap)
+    : concreteGridMap(gridMap)
+    , size(0)
+  {
+    mapObstacleThreshold = gridMap->getObstacleThreshold();
+    cacheMethod.setMapSize(gridMap->getMapDimensions());
+  }
+
+  ~OccGridMapUtil()
+  {}
+
+public:
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  inline Eigen::Vector3f getWorldCoordsPose(const Eigen::Vector3f& mapPose) const { return concreteGridMap->getWorldCoordsPose(mapPose); };
+  inline Eigen::Vector3f getMapCoordsPose(const Eigen::Vector3f& worldPose) const { return concreteGridMap->getMapCoordsPose(worldPose); };
+
+  inline Eigen::Vector2f getWorldCoordsPoint(const Eigen::Vector2f& mapPoint) const { return concreteGridMap->getWorldCoords(mapPoint); };
+
+  void getCompleteHessianDerivs(const Eigen::Vector3f& pose, const DataContainer& dataPoints, Eigen::Matrix3f& H, Eigen::Vector3f& dTr)
+  {
+    int size = dataPoints.getSize();
+
+    Eigen::Affine2f transform(getTransformForState(pose));
+
+    float sinRot = sin(pose[2]);
+    float cosRot = cos(pose[2]);
+
+    H = Eigen::Matrix3f::Zero();
+    dTr = Eigen::Vector3f::Zero();
+
+    for (int i = 0; i < size; ++i) {
+
+      const Eigen::Vector2f& currPoint (dataPoints.getVecEntry(i));
+
+      Eigen::Vector3f transformedPointData(interpMapValueWithDerivatives(transform * currPoint));
+
+      float funVal = 1.0f - transformedPointData[0];
+
+      dTr[0] += transformedPointData[1] * funVal;
+      dTr[1] += transformedPointData[2] * funVal;
+
+      float rotDeriv = ((-sinRot * currPoint.x() - cosRot * currPoint.y()) * transformedPointData[1] + (cosRot * currPoint.x() - sinRot * currPoint.y()) * transformedPointData[2]);
+
+      dTr[2] += rotDeriv * funVal;
+
+      H(0, 0) += util::sqr(transformedPointData[1]);
+      H(1, 1) += util::sqr(transformedPointData[2]);
+      H(2, 2) += util::sqr(rotDeriv);
+
+      H(0, 1) += transformedPointData[1] * transformedPointData[2];
+      H(0, 2) += transformedPointData[1] * rotDeriv;
+      H(1, 2) += transformedPointData[2] * rotDeriv;
+    }
+
+    H(1, 0) = H(0, 1);
+    H(2, 0) = H(0, 2);
+    H(2, 1) = H(1, 2);
+
+  }
+
+  Eigen::Matrix3f getCovarianceForPose(const Eigen::Vector3f& mapPose, const DataContainer& dataPoints)
+  {
+
+    float deltaTransX = 1.5f;
+    float deltaTransY = 1.5f;
+    float deltaAng = 0.05f;
+
+    float x = mapPose[0];
+    float y = mapPose[1];
+    float ang = mapPose[2];
+
+    Eigen::Matrix<float, 3, 7> sigmaPoints;
+
+    sigmaPoints.block<3, 1>(0, 0) = Eigen::Vector3f(x + deltaTransX, y, ang);
+    sigmaPoints.block<3, 1>(0, 1) = Eigen::Vector3f(x - deltaTransX, y, ang);
+    sigmaPoints.block<3, 1>(0, 2) = Eigen::Vector3f(x, y + deltaTransY, ang);
+    sigmaPoints.block<3, 1>(0, 3) = Eigen::Vector3f(x, y - deltaTransY, ang);
+    sigmaPoints.block<3, 1>(0, 4) = Eigen::Vector3f(x, y, ang + deltaAng);
+    sigmaPoints.block<3, 1>(0, 5) = Eigen::Vector3f(x, y, ang - deltaAng);
+    sigmaPoints.block<3, 1>(0, 6) = mapPose;
+
+    Eigen::Matrix<float, 7, 1> likelihoods;
+
+    likelihoods[0] = getLikelihoodForState(Eigen::Vector3f(x + deltaTransX, y, ang), dataPoints);
+    likelihoods[1] = getLikelihoodForState(Eigen::Vector3f(x - deltaTransX, y, ang), dataPoints);
+    likelihoods[2] = getLikelihoodForState(Eigen::Vector3f(x, y + deltaTransY, ang), dataPoints);
+    likelihoods[3] = getLikelihoodForState(Eigen::Vector3f(x, y - deltaTransY, ang), dataPoints);
+    likelihoods[4] = getLikelihoodForState(Eigen::Vector3f(x, y, ang + deltaAng), dataPoints);
+    likelihoods[5] = getLikelihoodForState(Eigen::Vector3f(x, y, ang - deltaAng), dataPoints);
+    likelihoods[6] = getLikelihoodForState(Eigen::Vector3f(x, y, ang), dataPoints);
+
+    float invLhNormalizer = 1 / likelihoods.sum();
+
+    std::cout << "\n lhs:\n" << likelihoods;
+
+    Eigen::Vector3f mean(Eigen::Vector3f::Zero());
+
+    for (int i = 0; i < 7; ++i) {
+      mean += (sigmaPoints.block<3, 1>(0, i) * likelihoods[i]);
+    }
+
+    mean *= invLhNormalizer;
+
+    Eigen::Matrix3f covMatrixMap(Eigen::Matrix3f::Zero());
+
+    for (int i = 0; i < 7; ++i) {
+      Eigen::Vector3f sigPointMinusMean(sigmaPoints.block<3, 1>(0, i) - mean);
+      covMatrixMap += (likelihoods[i] * invLhNormalizer) * (sigPointMinusMean * (sigPointMinusMean.transpose()));
+    }
+
+    return covMatrixMap;
+
+    //covMatrix.cwise() * invLhNormalizer;
+    //transform = getTransformForState(Eigen::Vector3f(x-deltaTrans, y, ang);
+  }
+
+  Eigen::Matrix3f getCovMatrixWorldCoords(const Eigen::Matrix3f& covMatMap)
+  {
+
+    //std::cout << "\nCovMap:\n" << covMatMap;
+
+    Eigen::Matrix3f covMatWorld;
+
+    float scaleTrans = concreteGridMap->getCellLength();
+    float scaleTransSq = util::sqr(scaleTrans);
+
+    covMatWorld(0, 0) = covMatMap(0, 0) * scaleTransSq;
+    covMatWorld(1, 1) = covMatMap(1, 1) * scaleTransSq;
+
+    covMatWorld(1, 0) = covMatMap(1, 0) * scaleTransSq;
+    covMatWorld(0, 1) = covMatWorld(1, 0);
+
+    covMatWorld(2, 0) = covMatMap(2, 0) * scaleTrans;
+    covMatWorld(0, 2) = covMatWorld(2, 0);
+
+    covMatWorld(2, 1) = covMatMap(2, 1) * scaleTrans;
+    covMatWorld(1, 2) = covMatWorld(2, 1);
+
+    covMatWorld(2, 2) = covMatMap(2, 2);
+
+    return covMatWorld;
+  }
+
+  float getLikelihoodForState(const Eigen::Vector3f& state, const DataContainer& dataPoints)
+  {
+    float resid = getResidualForState(state, dataPoints);
+
+    return getLikelihoodForResidual(resid, dataPoints.getSize());
+  }
+
+  float getLikelihoodForResidual(float residual, int numDataPoints)
+  {
+    float numDataPointsA = static_cast<int>(numDataPoints);
+    float sizef = static_cast<float>(numDataPointsA);
+
+    return 1 - (residual / sizef);
+  }
+
+  float getResidualForState(const Eigen::Vector3f& state, const DataContainer& dataPoints)
+  {
+    int size = dataPoints.getSize();
+
+    int stepSize = 1;
+    float residual = 0.0f;
+
+
+    Eigen::Affine2f transform(getTransformForState(state));
+
+    for (int i = 0; i < size; i += stepSize) {
+
+      float funval = 1.0f - interpMapValue(transform * dataPoints.getVecEntry(i));
+      residual += funval;
+    }
+
+    return residual;
+  }
+
+  float getUnfilteredGridPoint(Eigen::Vector2i& gridCoords) const
+  {
+    return (concreteGridMap->getGridProbabilityMap(gridCoords.x(), gridCoords.y()));
+  }
+
+  float getUnfilteredGridPoint(int index) const
+  {
+    return (concreteGridMap->getGridProbabilityMap(index));
+  }
+
+  float interpMapValue(const Eigen::Vector2f& coords)
+  {
+    //check if coords are within map limits.
+    if (concreteGridMap->pointOutOfMapBounds(coords)){
+      return 0.0f;
+    }
+
+    //map coords are alway positive, floor them by casting to int
+    Eigen::Vector2i indMin(coords.cast<int>());
+
+    //get factors for bilinear interpolation
+    Eigen::Vector2f factors(coords - indMin.cast<float>());
+
+    int sizeX = concreteGridMap->getSizeX();
+
+    int index = indMin[1] * sizeX + indMin[0];
+
+    // get grid values for the 4 grid points surrounding the current coords. Check cached data first, if not contained
+    // filter gridPoint with gaussian and store in cache.
+    if (!cacheMethod.containsCachedData(index, intensities[0])) {
+      intensities[0] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[0]);
+    }
+
+    ++index;
+
+    if (!cacheMethod.containsCachedData(index, intensities[1])) {
+      intensities[1] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[1]);
+    }
+
+    index += sizeX-1;
+
+    if (!cacheMethod.containsCachedData(index, intensities[2])) {
+      intensities[2] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[2]);
+    }
+
+    ++index;
+
+    if (!cacheMethod.containsCachedData(index, intensities[3])) {
+      intensities[3] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[3]);
+    }
+
+    float xFacInv = (1.0f - factors[0]);
+    float yFacInv = (1.0f - factors[1]);
+
+    return
+      ((intensities[0] * xFacInv + intensities[1] * factors[0]) * (yFacInv)) +
+      ((intensities[2] * xFacInv + intensities[3] * factors[0]) * (factors[1]));
+
+  }
+
+  Eigen::Vector3f interpMapValueWithDerivatives(const Eigen::Vector2f& coords)
+  {
+    //check if coords are within map limits.
+    if (concreteGridMap->pointOutOfMapBounds(coords)){
+      return Eigen::Vector3f(0.0f, 0.0f, 0.0f);
+    }
+
+    //map coords are always positive, floor them by casting to int
+    Eigen::Vector2i indMin(coords.cast<int>());
+
+    //get factors for bilinear interpolation
+    Eigen::Vector2f factors(coords - indMin.cast<float>());
+
+    int sizeX = concreteGridMap->getSizeX();
+
+    int index = indMin[1] * sizeX + indMin[0];
+
+    // get grid values for the 4 grid points surrounding the current coords. Check cached data first, if not contained
+    // filter gridPoint with gaussian and store in cache.
+    if (!cacheMethod.containsCachedData(index, intensities[0])) {
+      intensities[0] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[0]);
+    }
+
+    ++index;
+
+    if (!cacheMethod.containsCachedData(index, intensities[1])) {
+      intensities[1] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[1]);
+    }
+
+    index += sizeX-1;
+
+    if (!cacheMethod.containsCachedData(index, intensities[2])) {
+      intensities[2] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[2]);
+    }
+
+    ++index;
+
+    if (!cacheMethod.containsCachedData(index, intensities[3])) {
+      intensities[3] = getUnfilteredGridPoint(index);
+      cacheMethod.cacheData(index, intensities[3]);
+    }
+
+    float dx1 = intensities[0] - intensities[1];
+    float dx2 = intensities[2] - intensities[3];
+
+    float dy1 = intensities[0] - intensities[2];
+    float dy2 = intensities[1] - intensities[3];
+
+    float xFacInv = (1.0f - factors[0]);
+    float yFacInv = (1.0f - factors[1]);
+
+    return Eigen::Vector3f(
+      ((intensities[0] * xFacInv + intensities[1] * factors[0]) * (yFacInv)) +
+      ((intensities[2] * xFacInv + intensities[3] * factors[0]) * (factors[1])),
+      -((dx1 * xFacInv) + (dx2 * factors[0])),
+      -((dy1 * yFacInv) + (dy2 * factors[1]))
+    );
+  }
+
+  Eigen::Affine2f getTransformForState(const Eigen::Vector3f& transVector) const
+  {
+    return Eigen::Translation2f(transVector[0], transVector[1]) * Eigen::Rotation2Df(transVector[2]);
+  }
+
+  Eigen::Translation2f getTranslationForState(const Eigen::Vector3f& transVector) const
+  {
+    return Eigen::Translation2f(transVector[0], transVector[1]);
+  }
+
+  void resetCachedData()
+  {
+    cacheMethod.resetCache();
+  }
+
+  void resetSamplePoints()
+  {
+    samplePoints.clear();
+  }
+
+  const std::vector<Eigen::Vector3f>& getSamplePoints() const
+  {
+    return samplePoints;
+  }
+
+protected:
+
+  Eigen::Vector4f intensities;
+
+  ConcreteCacheMethod cacheMethod;
+
+  const ConcreteOccGridMap* concreteGridMap;
+
+  std::vector<Eigen::Vector3f> samplePoints;
+
+  int size;
+
+  float mapObstacleThreshold;
+};
+
+}
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtilConfig.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtilConfig.h
new file mode 100644
index 0000000..f37f979
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtilConfig.h	
@@ -0,0 +1,58 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __OccGridMapUtilConfig_h_
+#define __OccGridMapUtilConfig_h_
+
+#include "OccGridMapUtil.h"
+
+//#define SLAM_USE_HASH_CACHING
+#ifdef SLAM_USE_HASH_CACHING
+#include "GridMapCacheHash.h"
+typedef GridMapCacheHash GridMapCacheMethod;
+#else
+#include "GridMapCacheArray.h"
+typedef GridMapCacheArray GridMapCacheMethod;
+#endif
+
+namespace hectorslam {
+
+template<typename ConcreteOccGridMap>
+class OccGridMapUtilConfig
+  : public OccGridMapUtil<ConcreteOccGridMap, GridMapCacheMethod>
+{
+public:
+
+  OccGridMapUtilConfig(ConcreteOccGridMap* gridMap = 0)
+    : OccGridMapUtil<ConcreteOccGridMap, GridMapCacheMethod>(gridMap)
+  {}
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/matcher/ScanMatcher.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/matcher/ScanMatcher.h
new file mode 100644
index 0000000..ad777e9
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/matcher/ScanMatcher.h	
@@ -0,0 +1,252 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _scanmatcher_h__
+#define _scanmatcher_h__
+
+#include <Eigen/Geometry>
+#include "../scan/DataPointContainer.h"
+#include "../util/UtilFunctions.h"
+
+#include "../util/DrawInterface.h"
+#include "../util/HectorDebugInfoInterface.h"
+
+namespace hectorslam{
+
+template<typename ConcreteOccGridMapUtil>
+class ScanMatcher
+{
+public:
+
+  ScanMatcher(DrawInterface* drawInterfaceIn = 0, HectorDebugInfoInterface* debugInterfaceIn = 0)
+    : drawInterface(drawInterfaceIn)
+    , debugInterface(debugInterfaceIn)
+  {}
+
+  ~ScanMatcher()
+  {}
+
+  Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, ConcreteOccGridMapUtil& gridMapUtil, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix, int maxIterations)
+  {
+    if (drawInterface){
+      drawInterface->setScale(0.05f);
+      drawInterface->setColor(0.0f,1.0f, 0.0f);
+      drawInterface->drawArrow(beginEstimateWorld);
+
+      Eigen::Vector3f beginEstimateMap(gridMapUtil.getMapCoordsPose(beginEstimateWorld));
+
+      drawScan(beginEstimateMap, gridMapUtil, dataContainer);
+
+      drawInterface->setColor(1.0,0.0,0.0);
+    }
+
+    if (dataContainer.getSize() != 0) {
+
+      Eigen::Vector3f beginEstimateMap(gridMapUtil.getMapCoordsPose(beginEstimateWorld));
+
+      Eigen::Vector3f estimate(beginEstimateMap);
+
+      estimateTransformationLogLh(estimate, gridMapUtil, dataContainer);
+      //bool notConverged = estimateTransformationLogLh(estimate, gridMapUtil, dataContainer);
+
+      /*
+      const Eigen::Matrix2f& hessian (H.block<2,2>(0,0));
+
+
+      Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> eig(hessian);
+
+      const Eigen::Vector2f& eigValues (eig.eigenvalues());
+
+      float cond = eigValues[1] / eigValues[0];
+      float determinant = (hessian.determinant());
+      */
+      //std::cout << "\n cond: " << cond << " det: " << determinant << "\n";
+
+
+      int numIter = maxIterations;
+
+
+      for (int i = 0; i < numIter; ++i) {
+        //std::cout << "\nest:\n" << estimate;
+
+        estimateTransformationLogLh(estimate, gridMapUtil, dataContainer);
+        //notConverged = estimateTransformationLogLh(estimate, gridMapUtil, dataContainer);
+
+        if(drawInterface){
+          float invNumIterf = 1.0f/static_cast<float> (numIter);
+          drawInterface->setColor(static_cast<float>(i)*invNumIterf,0.0f, 0.0f);
+          drawInterface->drawArrow(gridMapUtil.getWorldCoordsPose(estimate));
+          //drawInterface->drawArrow(Eigen::Vector3f(0.0f, static_cast<float>(i)*0.05, 0.0f));
+        }
+
+        if(debugInterface){
+          debugInterface->addHessianMatrix(H);
+        }
+      }
+
+      if (drawInterface){
+        drawInterface->setColor(0.0,0.0,1.0);
+        drawScan(estimate, gridMapUtil, dataContainer);
+      }
+        /*
+        Eigen::Matrix2f testMat(Eigen::Matrix2f::Identity());
+        testMat(0,0) = 2.0f;
+
+        float angleWorldCoords = util::toRad(30.0f);
+        float sinAngle = sin(angleWorldCoords);
+        float cosAngle = cos(angleWorldCoords);
+
+        Eigen::Matrix2f rotMat;
+        rotMat << cosAngle, -sinAngle, sinAngle, cosAngle;
+        Eigen::Matrix2f covarianceRotated (rotMat * testMat * rotMat.transpose());
+
+        drawInterface->setColor(0.0,0.0,1.0,0.5);
+        drawInterface->drawCovariance(gridMapUtil.getWorldCoordsPoint(estimate.start<2>()), covarianceRotated);
+        */
+
+
+
+        /*
+        Eigen::Matrix3f covMatMap (gridMapUtil.getCovarianceForPose(estimate, dataContainer));
+        std::cout << "\nestim:" << estimate;
+        std::cout << "\ncovMap\n" << covMatMap;
+        drawInterface->setColor(0.0,0.0,1.0,0.5);
+
+
+        Eigen::Matrix3f covMatWorld(gridMapUtil.getCovMatrixWorldCoords(covMatMap));
+         std::cout << "\ncovWorld\n" << covMatWorld;
+
+        drawInterface->drawCovariance(gridMapUtil.getWorldCoordsPoint(estimate.start<2>()), covMatMap.block<2,2>(0,0));
+
+        drawInterface->setColor(1.0,0.0,0.0,0.5);
+        drawInterface->drawCovariance(gridMapUtil.getWorldCoordsPoint(estimate.start<2>()), covMatWorld.block<2,2>(0,0));
+
+        std::cout << "\nH:\n" << H;
+
+        float determinant = H.determinant();
+        std::cout << "\nH_det: " << determinant;
+        */
+
+        /*
+        Eigen::Matrix2f covFromHessian(H.block<2,2>(0,0) * 1.0f);
+        //std::cout << "\nCovFromHess:\n" << covFromHessian;
+
+        drawInterface->setColor(0.0, 1.0, 0.0, 0.5);
+        drawInterface->drawCovariance(gridMapUtil.getWorldCoordsPoint(estimate.start<2>()),covFromHessian.inverse());
+
+        Eigen::Matrix3f covFromHessian3d(H * 1.0f);
+        //std::cout << "\nCovFromHess:\n" << covFromHessian;
+
+        drawInterface->setColor(1.0, 0.0, 0.0, 0.8);
+        drawInterface->drawCovariance(gridMapUtil.getWorldCoordsPoint(estimate.start<2>()),(covFromHessian3d.inverse()).block<2,2>(0,0));
+        */
+
+
+      estimate[2] = util::normalize_angle(estimate[2]);
+
+      covMatrix = Eigen::Matrix3f::Zero();
+      //covMatrix.block<2,2>(0,0) = (H.block<2,2>(0,0).inverse());
+      //covMatrix.block<2,2>(0,0) = (H.block<2,2>(0,0));
+
+
+      /*
+      covMatrix(0,0) = 1.0/(0.1*0.1);
+      covMatrix(1,1) = 1.0/(0.1*0.1);
+      covMatrix(2,2) = 1.0/((M_PI / 18.0f) * (M_PI / 18.0f));
+      */
+
+
+      covMatrix = H;
+
+      return gridMapUtil.getWorldCoordsPose(estimate);
+    }
+
+    return beginEstimateWorld;
+  }
+
+protected:
+
+  bool estimateTransformationLogLh(Eigen::Vector3f& estimate, ConcreteOccGridMapUtil& gridMapUtil, const DataContainer& dataPoints)
+  {
+    gridMapUtil.getCompleteHessianDerivs(estimate, dataPoints, H, dTr);
+    //std::cout << "\nH\n" << H  << "\n";
+    //std::cout << "\ndTr\n" << dTr  << "\n";
+
+
+    if ((H(0, 0) != 0.0f) && (H(1, 1) != 0.0f)) {
+
+
+      //H += Eigen::Matrix3f::Identity() * 1.0f;
+      Eigen::Vector3f searchDir (H.inverse() * dTr);
+
+      //std::cout << "\nsearchdir\n" << searchDir  << "\n";
+
+      if (searchDir[2] > 0.2f) {
+        searchDir[2] = 0.2f;
+        std::cout << "SearchDir angle change too large\n";
+      } else if (searchDir[2] < -0.2f) {
+        searchDir[2] = -0.2f;
+        std::cout << "SearchDir angle change too large\n";
+      }
+
+      updateEstimatedPose(estimate, searchDir);
+      return true;
+    }
+    return false;
+  }
+
+  void updateEstimatedPose(Eigen::Vector3f& estimate, const Eigen::Vector3f& change)
+  {
+    estimate += change;
+  }
+
+  void drawScan(const Eigen::Vector3f& pose, const ConcreteOccGridMapUtil& gridMapUtil, const DataContainer& dataContainer)
+  {
+    drawInterface->setScale(0.02);
+
+    Eigen::Affine2f transform(gridMapUtil.getTransformForState(pose));
+
+    int size = dataContainer.getSize();
+    for (int i = 0; i < size; ++i) {
+      const Eigen::Vector2f& currPoint (dataContainer.getVecEntry(i));
+      drawInterface->drawPoint(gridMapUtil.getWorldCoordsPoint(transform * currPoint));
+    }
+  }
+
+protected:
+  Eigen::Vector3f dTr;
+  Eigen::Matrix3f H;
+
+  DrawInterface* drawInterface;
+  HectorDebugInfoInterface* debugInterface;
+};
+
+}
+
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/scan/DataPointContainer.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/scan/DataPointContainer.h
new file mode 100644
index 0000000..409d2c4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/scan/DataPointContainer.h	
@@ -0,0 +1,100 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef __DataPointContainer_h_
+#define __DataPointContainer_h_
+
+#include <vector>
+
+namespace hectorslam {
+
+template<typename DataPointType>
+class DataPointContainer
+{
+public:
+
+  DataPointContainer(int size = 1000)
+  {
+    dataPoints.reserve(size);
+  }
+
+  void setFrom(const DataPointContainer& other, float factor)
+  {
+    origo = other.getOrigo()*factor;
+
+    dataPoints = other.dataPoints;
+
+    unsigned int size = dataPoints.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      dataPoints[i] *= factor;
+    }
+
+  }
+
+  void add(const DataPointType& dataPoint)
+  {
+    dataPoints.push_back(dataPoint);
+  }
+
+  void clear()
+  {
+    dataPoints.clear();
+  }
+
+  int getSize() const
+  {
+    return dataPoints.size();
+  }
+
+  const DataPointType& getVecEntry(int index) const
+  {
+    return dataPoints[index];
+  }
+
+  DataPointType getOrigo() const
+  {
+    return origo;
+  }
+
+  void setOrigo(const DataPointType& origoIn)
+  {
+    origo = origoIn;
+  }
+
+protected:
+
+  std::vector<DataPointType> dataPoints;
+  DataPointType origo;
+};
+
+typedef DataPointContainer<Eigen::Vector2f> DataContainer;
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/HectorSlamProcessor.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/HectorSlamProcessor.h
new file mode 100644
index 0000000..0b79fc1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/HectorSlamProcessor.h	
@@ -0,0 +1,158 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _hectorslamprocessor_h__
+#define _hectorslamprocessor_h__
+
+#include "../map/GridMap.h"
+#include "../map/OccGridMapUtilConfig.h"
+#include "../matcher/ScanMatcher.h"
+#include "../scan/DataPointContainer.h"
+
+#include "../util/UtilFunctions.h"
+#include "../util/DrawInterface.h"
+#include "../util/HectorDebugInfoInterface.h"
+#include "../util/MapLockerInterface.h"
+
+#include "MapRepresentationInterface.h"
+#include "MapRepMultiMap.h"
+
+
+#include <float.h>
+
+namespace hectorslam{
+
+class HectorSlamProcessor
+{
+public:
+
+  HectorSlamProcessor(float mapResolution, int mapSizeX, int mapSizeY , const Eigen::Vector2f& startCoords, int multi_res_size, DrawInterface* drawInterfaceIn = 0, HectorDebugInfoInterface* debugInterfaceIn = 0)
+    : drawInterface(drawInterfaceIn)
+    , debugInterface(debugInterfaceIn)
+  {
+    mapRep = new MapRepMultiMap(mapResolution, mapSizeX, mapSizeY, multi_res_size, startCoords, drawInterfaceIn, debugInterfaceIn);
+
+    this->reset();
+
+    this->setMapUpdateMinDistDiff(0.4f *1.0f);
+    this->setMapUpdateMinAngleDiff(0.13f * 1.0f);
+  }
+
+  ~HectorSlamProcessor()
+  {
+    delete mapRep;
+  }
+
+  void update(const DataContainer& dataContainer, const Eigen::Vector3f& poseHintWorld, bool map_without_matching = false)
+  {
+    //std::cout << "\nph:\n" << poseHintWorld << "\n";
+
+    Eigen::Vector3f newPoseEstimateWorld;
+
+    if (!map_without_matching){
+        newPoseEstimateWorld = (mapRep->matchData(poseHintWorld, dataContainer, lastScanMatchCov));
+    }else{
+        newPoseEstimateWorld = poseHintWorld;
+    }
+
+    lastScanMatchPose = newPoseEstimateWorld;
+
+    //std::cout << "\nt1:\n" << newPoseEstimateWorld << "\n";
+
+    //std::cout << "\n1";
+    //std::cout << "\n" << lastScanMatchPose << "\n";
+    if(util::poseDifferenceLargerThan(newPoseEstimateWorld, lastMapUpdatePose, paramMinDistanceDiffForMapUpdate, paramMinAngleDiffForMapUpdate) || map_without_matching){
+
+      mapRep->updateByScan(dataContainer, newPoseEstimateWorld);
+
+      mapRep->onMapUpdated();
+      lastMapUpdatePose = newPoseEstimateWorld;
+    }
+
+    if(drawInterface){
+      const GridMap& gridMapRef (mapRep->getGridMap());
+      drawInterface->setColor(1.0, 0.0, 0.0);
+      drawInterface->setScale(0.15);
+
+      drawInterface->drawPoint(gridMapRef.getWorldCoords(Eigen::Vector2f::Zero()));
+      drawInterface->drawPoint(gridMapRef.getWorldCoords((gridMapRef.getMapDimensions().array()-1).cast<float>()));
+      drawInterface->drawPoint(Eigen::Vector2f(1.0f, 1.0f));
+
+      drawInterface->sendAndResetData();
+    }
+
+    if (debugInterface)
+    {
+      debugInterface->sendAndResetData();
+    }
+  }
+
+  void reset()
+  {
+    lastMapUpdatePose = Eigen::Vector3f(FLT_MAX, FLT_MAX, FLT_MAX);
+    lastScanMatchPose = Eigen::Vector3f::Zero();
+    //lastScanMatchPose.x() = -10.0f;
+    //lastScanMatchPose.y() = -15.0f;
+    //lastScanMatchPose.z() = M_PI*0.15f;
+
+    mapRep->reset();
+  }
+
+  const Eigen::Vector3f& getLastScanMatchPose() const { return lastScanMatchPose; };
+  const Eigen::Matrix3f& getLastScanMatchCovariance() const { return lastScanMatchCov; };
+  float getScaleToMap() const { return mapRep->getScaleToMap(); };
+
+  int getMapLevels() const { return mapRep->getMapLevels(); };
+  const GridMap& getGridMap(int mapLevel = 0) const { return mapRep->getGridMap(mapLevel); };
+
+  void addMapMutex(int i, MapLockerInterface* mapMutex) { mapRep->addMapMutex(i, mapMutex); };
+  MapLockerInterface* getMapMutex(int i) { return mapRep->getMapMutex(i); };
+
+  void setUpdateFactorFree(float free_factor) { mapRep->setUpdateFactorFree(free_factor); };
+  void setUpdateFactorOccupied(float occupied_factor) { mapRep->setUpdateFactorOccupied(occupied_factor); };
+  void setMapUpdateMinDistDiff(float minDist) { paramMinDistanceDiffForMapUpdate = minDist; };
+  void setMapUpdateMinAngleDiff(float angleChange) { paramMinAngleDiffForMapUpdate = angleChange; };
+
+protected:
+
+  MapRepresentationInterface* mapRep;
+
+  Eigen::Vector3f lastMapUpdatePose;
+  Eigen::Vector3f lastScanMatchPose;
+  Eigen::Matrix3f lastScanMatchCov;
+
+  float paramMinDistanceDiffForMapUpdate;
+  float paramMinAngleDiffForMapUpdate;
+
+  DrawInterface* drawInterface;
+  HectorDebugInfoInterface* debugInterface;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapProcContainer.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapProcContainer.h
new file mode 100644
index 0000000..46cfe13
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapProcContainer.h	
@@ -0,0 +1,126 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _hectormapproccontainer_h__
+#define _hectormapproccontainer_h__
+
+#include "../map/GridMap.h"
+#include "../map/OccGridMapUtilConfig.h"
+#include "../matcher/ScanMatcher.h"
+#include "../util/MapLockerInterface.h"
+
+class GridMap;
+class ConcreteOccGridMapUtil;
+class DataContainer;
+
+namespace hectorslam{
+
+class MapProcContainer
+{
+public:
+  MapProcContainer(GridMap* gridMapIn, OccGridMapUtilConfig<GridMap>* gridMapUtilIn, ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcherIn)
+    : gridMap(gridMapIn)
+    , gridMapUtil(gridMapUtilIn)
+    , scanMatcher(scanMatcherIn)
+    , mapMutex(0)
+  {}
+
+  virtual ~MapProcContainer()
+  {}
+
+  void cleanup()
+  {
+    delete gridMap;
+    delete gridMapUtil;
+    delete scanMatcher;
+
+    if (mapMutex){
+      delete mapMutex;
+    }
+  }
+
+  void reset()
+  {
+    gridMap->reset();
+    gridMapUtil->resetCachedData();
+  }
+
+  void resetCachedData()
+  {
+    gridMapUtil->resetCachedData();
+  }
+
+  float getScaleToMap() const { return gridMap->getScaleToMap(); };
+
+  const GridMap& getGridMap() const { return *gridMap; };
+  GridMap& getGridMap() { return *gridMap; };
+
+  void addMapMutex(MapLockerInterface* mapMutexIn)
+  {
+    if (mapMutex)
+    {
+      delete mapMutex;
+    }
+
+    mapMutex = mapMutexIn;
+  }
+
+  MapLockerInterface* getMapMutex()
+  {
+    return mapMutex;
+  }
+
+  Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix, int maxIterations)
+  {
+    return scanMatcher->matchData(beginEstimateWorld, *gridMapUtil, dataContainer, covMatrix, maxIterations);
+  }
+
+  void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
+  {
+    if (mapMutex)
+    {
+      mapMutex->lockMap();
+    }
+
+    gridMap->updateByScan(dataContainer, robotPoseWorld);
+
+    if (mapMutex)
+    {
+      mapMutex->unlockMap();
+    }
+  }
+
+  GridMap* gridMap;
+  OccGridMapUtilConfig<GridMap>* gridMapUtil;
+  ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcher;
+  MapLockerInterface* mapMutex;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepMultiMap.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepMultiMap.h
new file mode 100644
index 0000000..635d9e1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepMultiMap.h	
@@ -0,0 +1,176 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _hectormaprepmultimap_h__
+#define _hectormaprepmultimap_h__
+
+#include "MapRepresentationInterface.h"
+#include "MapProcContainer.h"
+
+#include "../map/GridMap.h"
+#include "../map/OccGridMapUtilConfig.h"
+#include "../matcher/ScanMatcher.h"
+
+#include "../util/DrawInterface.h"
+#include "../util/HectorDebugInfoInterface.h"
+
+namespace hectorslam{
+
+class MapRepMultiMap : public MapRepresentationInterface
+{
+
+public:
+  MapRepMultiMap(float mapResolution, int mapSizeX, int mapSizeY, unsigned int numDepth, const Eigen::Vector2f& startCoords, DrawInterface* drawInterfaceIn, HectorDebugInfoInterface* debugInterfaceIn)
+  {
+    //unsigned int numDepth = 3;
+    Eigen::Vector2i resolution(mapSizeX, mapSizeY);
+
+    float totalMapSizeX = mapResolution * static_cast<float>(mapSizeX);
+    float mid_offset_x = totalMapSizeX * startCoords.x();
+
+    float totalMapSizeY = mapResolution * static_cast<float>(mapSizeY);
+    float mid_offset_y = totalMapSizeY * startCoords.y();
+
+    for (unsigned int i = 0; i < numDepth; ++i){
+      std::cout << "HectorSM map lvl " << i << ": cellLength: " << mapResolution << " res x:" << resolution.x() << " res y: " << resolution.y() << "\n";
+      GridMap* gridMap = new hectorslam::GridMap(mapResolution,resolution, Eigen::Vector2f(mid_offset_x, mid_offset_y));
+      OccGridMapUtilConfig<GridMap>* gridMapUtil = new OccGridMapUtilConfig<GridMap>(gridMap);
+      ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcher = new hectorslam::ScanMatcher<OccGridMapUtilConfig<GridMap> >(drawInterfaceIn, debugInterfaceIn);
+
+      mapContainer.push_back(MapProcContainer(gridMap, gridMapUtil, scanMatcher));
+
+      resolution /= 2;
+      mapResolution*=2.0f;
+    }
+
+    dataContainers.resize(numDepth-1);
+  }
+
+  virtual ~MapRepMultiMap()
+  {
+    unsigned int size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      mapContainer[i].cleanup();
+    }
+  }
+
+  virtual void reset()
+  {
+    unsigned int size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      mapContainer[i].reset();
+    }
+  }
+
+  virtual float getScaleToMap() const { return mapContainer[0].getScaleToMap(); };
+
+  virtual int getMapLevels() const { return mapContainer.size(); };
+  virtual const GridMap& getGridMap(int mapLevel) const { return mapContainer[mapLevel].getGridMap(); };
+
+  virtual void addMapMutex(int i, MapLockerInterface* mapMutex)
+  {
+    mapContainer[i].addMapMutex(mapMutex);
+  }
+
+  MapLockerInterface* getMapMutex(int i)
+  {
+    return mapContainer[i].getMapMutex();
+  }
+
+  virtual void onMapUpdated()
+  {
+    unsigned int size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      mapContainer[i].resetCachedData();
+    }
+  }
+
+  virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix)
+  {
+    size_t size = mapContainer.size();
+
+    Eigen::Vector3f tmp(beginEstimateWorld);
+
+    for (int index = size - 1; index >= 0; --index){
+      //std::cout << " m " << i;
+      if (index == 0){
+        tmp  = (mapContainer[index].matchData(tmp, dataContainer, covMatrix, 5));
+      }else{
+        dataContainers[index-1].setFrom(dataContainer, static_cast<float>(1.0 / pow(2.0, static_cast<double>(index))));
+        tmp  = (mapContainer[index].matchData(tmp, dataContainers[index-1], covMatrix, 3));
+      }
+    }
+    return tmp;
+  }
+
+  virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
+  {
+    unsigned int size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      //std::cout << " u " <<  i;
+      if (i==0){
+        mapContainer[i].updateByScan(dataContainer, robotPoseWorld);
+      }else{
+        mapContainer[i].updateByScan(dataContainers[i-1], robotPoseWorld);
+      }
+    }
+    //std::cout << "\n";
+  }
+
+  virtual void setUpdateFactorFree(float free_factor)
+  {
+    size_t size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      GridMap& map = mapContainer[i].getGridMap();
+      map.setUpdateFreeFactor(free_factor);
+    }
+  }
+
+  virtual void setUpdateFactorOccupied(float occupied_factor)
+  {
+    size_t size = mapContainer.size();
+
+    for (unsigned int i = 0; i < size; ++i){
+      GridMap& map = mapContainer[i].getGridMap();
+      map.setUpdateOccupiedFactor(occupied_factor);
+    }
+  }
+
+protected:
+  std::vector<MapProcContainer> mapContainer;
+  std::vector<DataContainer> dataContainers;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepSingleMap.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepSingleMap.h
new file mode 100644
index 0000000..2bdfab5
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepSingleMap.h	
@@ -0,0 +1,97 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _hectormaprepsinglemap_h__
+#define _hectormaprepsinglemap_h__
+
+#include "MapRepresentationInterface.h"
+
+#include "../map/GridMap.h"
+#include "../map/OccGridMapUtilConfig.h"
+#include "../matcher/ScanMatcher.h"
+
+#include "../util/DrawInterface.h"
+#include "../util/HectorDebugInfoInterface.h"
+
+namespace hectorslam{
+
+class MapRepSingleMap : public MapRepresentationInterface
+{
+
+public:
+  MapRepSingleMap(float mapResolution, DrawInterface* drawInterfaceIn, HectorDebugInfoInterface* debugInterfaceIn)
+  {
+    gridMap = new hectorslam::GridMap(mapResolution,Eigen::Vector2i(1024,1024), Eigen::Vector2f(20.0f, 20.0f));
+    gridMapUtil = new OccGridMapUtilConfig<GridMap>(gridMap);
+    scanMatcher = new hectorslam::ScanMatcher<OccGridMapUtilConfig<GridMap> >(drawInterfaceIn, debugInterfaceIn);
+  }
+
+  virtual ~MapRepSingleMap()
+  {
+    delete gridMap;
+    delete gridMapUtil;
+    delete scanMatcher;
+  }
+
+  virtual void reset()
+  {
+    gridMap->reset();
+    gridMapUtil->resetCachedData();
+  }
+
+  virtual float getScaleToMap() const { return gridMap->getScaleToMap(); };
+
+  virtual int getMapLevels() const { return 1; };
+  virtual const GridMap& getGridMap(int mapLevel) const { return *gridMap; };
+
+  virtual void onMapUpdated()
+  {
+    gridMapUtil->resetCachedData();
+  }
+
+  virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix)
+  {
+    return scanMatcher->matchData(beginEstimateWorld, *gridMapUtil, dataContainer, covMatrix, 20);
+  }
+
+  virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
+  {
+    gridMap->updateByScan(dataContainer, robotPoseWorld);
+  }
+
+protected:
+  GridMap* gridMap;
+  OccGridMapUtilConfig<GridMap>* gridMapUtil;
+  ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcher;
+};
+
+}
+
+#endif
+
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepresentationInterface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepresentationInterface.h
new file mode 100644
index 0000000..2cb5a22
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/slam_main/MapRepresentationInterface.h	
@@ -0,0 +1,66 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef _hectormaprepresentationinterface_h__
+#define _hectormaprepresentationinterface_h__
+
+class GridMap;
+class ConcreteOccGridMapUtil;
+class DataContainer;
+
+namespace hectorslam{
+
+class MapRepresentationInterface
+{
+public:
+
+  virtual ~MapRepresentationInterface() {};
+
+  virtual void reset() = 0;
+
+  virtual float getScaleToMap() const = 0;
+
+  virtual int getMapLevels() const = 0;
+  virtual const GridMap& getGridMap(int mapLevel = 0) const = 0;
+
+  virtual void addMapMutex(int i, MapLockerInterface* mapMutex) = 0;
+  virtual MapLockerInterface* getMapMutex(int i) = 0;
+
+  virtual void onMapUpdated() = 0;
+
+  virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix) = 0;
+
+  virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld) = 0;
+
+  virtual void setUpdateFactorFree(float free_factor) = 0;
+  virtual void setUpdateFactorOccupied(float occupied_factor) = 0;
+};
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/DrawInterface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/DrawInterface.h
new file mode 100644
index 0000000..b98932c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/DrawInterface.h	
@@ -0,0 +1,44 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef drawinterface_h__
+#define drawinterface_h__
+
+class DrawInterface{
+public:
+  virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame) = 0;
+  virtual void drawArrow(const Eigen::Vector3f& poseWorld) = 0;
+  virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& cov) = 0;
+
+  virtual void setScale(double scale) = 0;
+  virtual void setColor(double r, double g, double b, double a = 1.0) = 0;
+
+  virtual void sendAndResetData() = 0;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/HectorDebugInfoInterface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/HectorDebugInfoInterface.h
new file mode 100644
index 0000000..435494e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/HectorDebugInfoInterface.h	
@@ -0,0 +1,40 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef hectordebuginfointerface_h__
+#define hectordebuginfointerface_h__
+
+class HectorDebugInfoInterface{
+public:
+
+  virtual void sendAndResetData() = 0;
+  virtual void addHessianMatrix(const Eigen::Matrix3f& hessian) = 0;
+  virtual void addPoseLikelihood(float lh) = 0;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/MapLockerInterface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/MapLockerInterface.h
new file mode 100644
index 0000000..3db5db7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/MapLockerInterface.h	
@@ -0,0 +1,39 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef maplockerinterface_h__
+#define maplockerinterface_h__
+
+class MapLockerInterface
+{
+public:
+  virtual void lockMap() = 0;
+  virtual void unlockMap() = 0;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/UtilFunctions.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/UtilFunctions.h
new file mode 100644
index 0000000..cfb913f
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/include/hector_slam_lib/util/UtilFunctions.h	
@@ -0,0 +1,95 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef utilfunctions_h__
+#define utilfunctions_h__
+
+#include <cmath>
+
+namespace util{
+
+static inline float normalize_angle_pos(float angle)
+{
+  return fmod(fmod(angle, 2.0f*M_PI) + 2.0f*M_PI, 2.0f*M_PI);
+}
+
+static inline float normalize_angle(float angle)
+{
+  float a = normalize_angle_pos(angle);
+  if (a > M_PI){
+    a -= 2.0f*M_PI;
+  }
+  return a;
+}
+
+static inline float sqr(float val)
+{
+  return val*val;
+}
+
+static inline int sign(int x)
+{
+  return x > 0 ? 1 : -1;
+}
+
+template<typename T>
+static T toDeg(const T radVal)
+{
+  return radVal * static_cast<T>(180.0 / M_PI);
+}
+
+template<typename T>
+static T toRad(const T degVal)
+{
+  return degVal * static_cast<T>(M_PI / 180.0);
+}
+
+static bool poseDifferenceLargerThan(const Eigen::Vector3f& pose1, const Eigen::Vector3f& pose2, float distanceDiffThresh, float angleDiffThresh)
+{
+  //check distance
+  if ( ( (pose1.head<2>() - pose2.head<2>()).norm() ) > distanceDiffThresh){
+    return true;
+  }
+
+  float angleDiff = (pose1.z() - pose2.z());
+
+  if (angleDiff > M_PI) {
+    angleDiff -= M_PI * 2.0f;
+  } else if (angleDiff < -M_PI) {
+    angleDiff += M_PI * 2.0f;
+  }
+
+  if (abs(angleDiff) > angleDiffThresh){
+    return true;
+  }
+  return false;
+}
+
+}
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/launch/mapping_default.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/launch/mapping_default.launch
new file mode 100644
index 0000000..9af61bf
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/launch/mapping_default.launch	
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
+  <arg name="base_frame" default="base_footprint"/>
+  <arg name="odom_frame" default="nav"/>
+  <arg name="pub_map_odom_transform" default="true"/>
+  <arg name="scan_subscriber_queue_size" default="5"/>
+  <arg name="scan_topic" default="scan"/>
+  <arg name="map_size" default="2048"/>
+  
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+    
+    <!-- Frame names -->
+    <param name="map_frame" value="map" />
+    <param name="base_frame" value="$(arg base_frame)" />
+    <param name="odom_frame" value="$(arg odom_frame)" />
+    
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
+    
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="$(arg map_size)"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+    <param name="map_multi_res_levels" value="2" />
+    
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />    
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+    <param name="laser_z_min_value" value = "-1.0" />
+    <param name="laser_z_max_value" value = "1.0" />
+    
+    <!-- Advertising config --> 
+    <param name="advertise_map_service" value="true"/>
+    
+    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
+    <param name="scan_topic" value="$(arg scan_topic)"/>
+    
+    <!-- Debug parameters -->
+    <!--
+      <param name="output_timing" value="false"/>
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
+  </node>
+    
+  <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
+</launch>
+  
+  
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorDebugInfo.msg b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorDebugInfo.msg
new file mode 100644
index 0000000..a6b8b2a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorDebugInfo.msg	
@@ -0,0 +1 @@
+HectorIterData[] iterData
\ No newline at end of file
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorIterData.msg b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorIterData.msg
new file mode 100644
index 0000000..a0792ba
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/msg/HectorIterData.msg	
@@ -0,0 +1,5 @@
+float64[9] hessian
+float64 conditionNum
+float64 determinant
+float64 conditionNum2d
+float64 determinant2d
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/package.xml
new file mode 100644
index 0000000..564bca7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/package.xml	
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_mapping</name>
+  <version>0.3.5</version>
+  <description>
+    hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both).
+    It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX).
+    While the system does not provide explicit loop closing ability, it is sufficiently accurate for many real world scenarios. The system has successfully been used on
+    Unmanned Ground Robots, Unmanned Surface Vehicles, Handheld Mapping Devices and logged data from quadrotor UAVs.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_mapping</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>message_filters</build_depend>
+  <build_depend>laser_geometry</build_depend>
+  <build_depend>tf_conversions</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>boost</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>message_filters</run_depend>
+  <run_depend>laser_geometry</run_depend>
+  <run_depend>tf_conversions</run_depend>
+  <run_depend>eigen</run_depend>
+  <run_depend>boost</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDebugInfoProvider.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDebugInfoProvider.h
new file mode 100644
index 0000000..0b2ba66
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDebugInfoProvider.h	
@@ -0,0 +1,94 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_DEBUG_INFO_PROVIDER_H__
+#define HECTOR_DEBUG_INFO_PROVIDER_H__
+
+#include "util/HectorDebugInfoInterface.h"
+#include "util/UtilFunctions.h"
+
+#include "ros/ros.h"
+
+#include "hector_mapping/HectorDebugInfo.h"
+
+
+class HectorDebugInfoProvider : public HectorDebugInfoInterface
+{
+public:
+
+  HectorDebugInfoProvider()
+  {
+    ros::NodeHandle nh_;
+
+    debugInfoPublisher_ = nh_.advertise<hector_mapping::HectorDebugInfo>("hector_debug_info", 50, true);
+  };
+
+  virtual void sendAndResetData()
+  {
+    debugInfoPublisher_.publish(debugInfo);
+    debugInfo.iterData.clear();
+  }
+
+
+  virtual void addHessianMatrix(const Eigen::Matrix3f& hessian)
+  {
+    hector_mapping::HectorIterData iterData;
+
+    for (int i=0; i < 9; ++i){
+      iterData.hessian[i] = static_cast<double>(hessian.data()[i]);
+      iterData.determinant = hessian.determinant();
+
+      Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eig(hessian);
+
+      const Eigen::Vector3f& eigValues (eig.eigenvalues());
+      iterData.conditionNum = eigValues[2] / eigValues[0];
+
+
+      iterData.determinant2d = hessian.block<2,2>(0,0).determinant();
+      Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> eig2d(hessian.block<2,2>(0,0));
+
+      const Eigen::Vector2f& eigValues2d (eig2d.eigenvalues());
+      iterData.conditionNum2d = eigValues2d[1] / eigValues2d[0];
+    }
+
+    debugInfo.iterData.push_back(iterData);
+  }
+
+  virtual void addPoseLikelihood(float lh)
+  {
+
+  }
+
+
+  hector_mapping::HectorDebugInfo debugInfo;
+
+  ros::Publisher debugInfoPublisher_;
+
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDrawings.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDrawings.h
new file mode 100644
index 0000000..e3694da
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorDrawings.h	
@@ -0,0 +1,171 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_DRAWINGS_H__
+#define HECTOR_DRAWINGS_H__
+
+#include "util/DrawInterface.h"
+#include "util/UtilFunctions.h"
+
+#include "ros/ros.h"
+
+#include <visualization_msgs/MarkerArray.h>
+
+#include <Eigen/Dense>
+
+
+class HectorDrawings : public DrawInterface
+{
+public:
+
+  HectorDrawings()
+  {
+    idCounter = 0;
+
+    ros::NodeHandle nh_;
+
+    markerPublisher_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1, true);
+    markerArrayPublisher_ = nh_.advertise<visualization_msgs::MarkerArray>("visualization_marker_array", 1, true);
+
+    tempMarker.header.frame_id = "map";
+    tempMarker.ns = "slam";
+
+    this->setScale(1.0);
+    this->setColor(1.0, 1.0, 1.0);
+
+    tempMarker.action = visualization_msgs::Marker::ADD;
+  };
+
+  virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame)
+  {
+    tempMarker.id = idCounter++;
+
+    tempMarker.pose.position.x = pointWorldFrame.x();
+    tempMarker.pose.position.y = pointWorldFrame.y();
+
+    tempMarker.pose.orientation.w = 0.0;
+    tempMarker.pose.orientation.z = 0.0;
+    tempMarker.type = visualization_msgs::Marker::CUBE;
+
+    //markerPublisher_.publish(tempMarker);
+
+    markerArray.markers.push_back(tempMarker);
+  }
+
+  virtual void drawArrow(const Eigen::Vector3f& poseWorld)
+  {
+    tempMarker.id = idCounter++;
+
+    tempMarker.pose.position.x = poseWorld.x();
+    tempMarker.pose.position.y = poseWorld.y();
+
+    tempMarker.pose.orientation.w = cos(poseWorld.z()*0.5f);
+    tempMarker.pose.orientation.z = sin(poseWorld.z()*0.5f);
+
+    tempMarker.type = visualization_msgs::Marker::ARROW;
+
+    //markerPublisher_.publish(tempMarker);
+
+    markerArray.markers.push_back(tempMarker);
+
+  }
+
+  virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& covMatrix)
+  {
+    tempMarker.pose.position.x = mean[0];
+    tempMarker.pose.position.y = mean[1];
+
+    Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> eig(covMatrix);
+
+    const Eigen::Vector2f& eigValues (eig.eigenvalues());
+    const Eigen::Matrix2f& eigVectors (eig.eigenvectors());
+
+    float angle = (atan2(eigVectors(1, 0), eigVectors(0, 0)));
+
+    tempMarker.type = visualization_msgs::Marker::CYLINDER;
+
+    double lengthMajor = sqrt(eigValues[0]);
+    double lengthMinor = sqrt(eigValues[1]);
+
+    tempMarker.scale.x = lengthMajor;
+    tempMarker.scale.y = lengthMinor;
+    tempMarker.scale.z = 0.001;
+
+
+    tempMarker.pose.orientation.w = cos(angle*0.5);
+    tempMarker.pose.orientation.z = sin(angle*0.5);
+
+    tempMarker.id = idCounter++;
+    markerArray.markers.push_back(tempMarker);
+
+    //drawLine(Eigen::Vector3f(0,0,0), Eigen::Vector3f(lengthMajor ,0,0));
+    //drawLine(Eigen::Vector3f(0,0,0), Eigen::Vector3f(0,lengthMinor,0));
+
+    //glScalef(lengthMajor, lengthMinor, 0);
+    //glCallList(dlCircle);
+    //this->popCS();
+  }
+
+  virtual void setScale(double scale)
+  {
+    tempMarker.scale.x = scale;
+    tempMarker.scale.y = scale;
+    tempMarker.scale.z = scale;
+  }
+
+  virtual void setColor(double r, double g, double b, double a = 1.0)
+  {
+    tempMarker.color.r = r;
+    tempMarker.color.g = g;
+    tempMarker.color.b = b;
+    tempMarker.color.a = a;
+  }
+
+  virtual void sendAndResetData()
+  {
+    markerArrayPublisher_.publish(markerArray);
+    markerArray.markers.clear();
+    idCounter = 0;
+  }
+
+  void setTime(const ros::Time& time)
+  {
+    tempMarker.header.stamp = time;
+  }
+
+
+  ros::Publisher markerPublisher_;
+  ros::Publisher markerArrayPublisher_;
+
+  visualization_msgs::Marker tempMarker;
+  visualization_msgs::MarkerArray markerArray;
+
+  int idCounter;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMapMutex.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMapMutex.h
new file mode 100644
index 0000000..f2826a3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMapMutex.h	
@@ -0,0 +1,24 @@
+#ifndef hectormapmutex_h__
+#define hectormapmutex_h__
+
+#include "util/MapLockerInterface.h"
+
+#include <boost/thread/mutex.hpp>
+
+class HectorMapMutex : public MapLockerInterface
+{
+public:
+  virtual void lockMap()
+  {
+    mapModifyMutex_.lock();
+  }
+
+  virtual void unlockMap()
+  {
+    mapModifyMutex_.unlock();
+  }
+
+  boost::mutex mapModifyMutex_;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.cpp
new file mode 100644
index 0000000..906c2cd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.cpp	
@@ -0,0 +1,555 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "HectorMappingRos.h"
+
+#include "map/GridMap.h"
+
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <nav_msgs/Odometry.h>
+
+#include "sensor_msgs/PointCloud2.h"
+
+#include "HectorDrawings.h"
+#include "HectorDebugInfoProvider.h"
+#include "HectorMapMutex.h"
+
+#ifndef TF_SCALAR_H
+  typedef btScalar tfScalar;
+#endif
+
+HectorMappingRos::HectorMappingRos()
+  : debugInfoProvider(0)
+  , hectorDrawings(0)
+  , lastGetMapUpdateIndex(-100)
+  , tfB_(0)
+  , map__publish_thread_(0)
+  , initial_pose_set_(false)
+{
+  ros::NodeHandle private_nh_("~");
+
+  std::string mapTopic_ = "map";
+
+  private_nh_.param("pub_drawings", p_pub_drawings, false);
+  private_nh_.param("pub_debug_output", p_pub_debug_output_, false);
+  private_nh_.param("pub_map_odom_transform", p_pub_map_odom_transform_,true);
+  private_nh_.param("pub_odometry", p_pub_odometry_,false);
+  private_nh_.param("advertise_map_service", p_advertise_map_service_,true);
+  private_nh_.param("scan_subscriber_queue_size", p_scan_subscriber_queue_size_, 5);
+
+  private_nh_.param("map_resolution", p_map_resolution_, 0.025);
+  private_nh_.param("map_size", p_map_size_, 1024);
+  private_nh_.param("map_start_x", p_map_start_x_, 0.5);
+  private_nh_.param("map_start_y", p_map_start_y_, 0.5);
+  private_nh_.param("map_multi_res_levels", p_map_multi_res_levels_, 3);
+
+  private_nh_.param("update_factor_free", p_update_factor_free_, 0.4);
+  private_nh_.param("update_factor_occupied", p_update_factor_occupied_, 0.9);
+
+  private_nh_.param("map_update_distance_thresh", p_map_update_distance_threshold_, 0.4);
+  private_nh_.param("map_update_angle_thresh", p_map_update_angle_threshold_, 0.9);
+
+  private_nh_.param("scan_topic", p_scan_topic_, std::string("scan"));
+  private_nh_.param("sys_msg_topic", p_sys_msg_topic_, std::string("syscommand"));
+  private_nh_.param("pose_update_topic", p_pose_update_topic_, std::string("poseupdate"));
+
+  private_nh_.param("use_tf_scan_transformation", p_use_tf_scan_transformation_,true);
+  private_nh_.param("use_tf_pose_start_estimate", p_use_tf_pose_start_estimate_,false);
+  private_nh_.param("map_with_known_poses", p_map_with_known_poses_, false);
+
+  private_nh_.param("base_frame", p_base_frame_, std::string("base_link"));
+  private_nh_.param("map_frame", p_map_frame_, std::string("map"));
+  private_nh_.param("odom_frame", p_odom_frame_, std::string("odom"));
+
+  private_nh_.param("pub_map_scanmatch_transform", p_pub_map_scanmatch_transform_,true);
+  private_nh_.param("tf_map_scanmatch_transform_frame_name", p_tf_map_scanmatch_transform_frame_name_, std::string("scanmatcher_frame"));
+
+  private_nh_.param("output_timing", p_timing_output_,false);
+
+  private_nh_.param("map_pub_period", p_map_pub_period_, 2.0);
+
+  double tmp = 0.0;
+  private_nh_.param("laser_min_dist", tmp, 0.4);
+  p_sqr_laser_min_dist_ = static_cast<float>(tmp*tmp);
+
+  private_nh_.param("laser_max_dist", tmp, 30.0);
+  p_sqr_laser_max_dist_ = static_cast<float>(tmp*tmp);
+
+  private_nh_.param("laser_z_min_value", tmp, -1.0);
+  p_laser_z_min_value_ = static_cast<float>(tmp);
+
+  private_nh_.param("laser_z_max_value", tmp, 1.0);
+  p_laser_z_max_value_ = static_cast<float>(tmp);
+
+  if (p_pub_drawings)
+  {
+    ROS_INFO("HectorSM publishing debug drawings");
+    hectorDrawings = new HectorDrawings();
+  }
+
+  if(p_pub_debug_output_)
+  {
+    ROS_INFO("HectorSM publishing debug info");
+    debugInfoProvider = new HectorDebugInfoProvider();
+  }
+
+  if(p_pub_odometry_)
+  {
+    odometryPublisher_ = node_.advertise<nav_msgs::Odometry>("scanmatch_odom", 50);
+  }
+
+  slamProcessor = new hectorslam::HectorSlamProcessor(static_cast<float>(p_map_resolution_), p_map_size_, p_map_size_, Eigen::Vector2f(p_map_start_x_, p_map_start_y_), p_map_multi_res_levels_, hectorDrawings, debugInfoProvider);
+  slamProcessor->setUpdateFactorFree(p_update_factor_free_);
+  slamProcessor->setUpdateFactorOccupied(p_update_factor_occupied_);
+  slamProcessor->setMapUpdateMinDistDiff(p_map_update_distance_threshold_);
+  slamProcessor->setMapUpdateMinAngleDiff(p_map_update_angle_threshold_);
+
+  int mapLevels = slamProcessor->getMapLevels();
+  mapLevels = 1;
+
+  for (int i = 0; i < mapLevels; ++i)
+  {
+    mapPubContainer.push_back(MapPublisherContainer());
+    slamProcessor->addMapMutex(i, new HectorMapMutex());
+
+    std::string mapTopicStr(mapTopic_);
+
+    if (i != 0)
+    {
+      mapTopicStr.append("_" + boost::lexical_cast<std::string>(i));
+    }
+
+    std::string mapMetaTopicStr(mapTopicStr);
+    mapMetaTopicStr.append("_metadata");
+
+    MapPublisherContainer& tmp = mapPubContainer[i];
+    tmp.mapPublisher_ = node_.advertise<nav_msgs::OccupancyGrid>(mapTopicStr, 1, true);
+    tmp.mapMetadataPublisher_ = node_.advertise<nav_msgs::MapMetaData>(mapMetaTopicStr, 1, true);
+
+    if ( (i == 0) && p_advertise_map_service_)
+    {
+      tmp.dynamicMapServiceServer_ = node_.advertiseService("dynamic_map", &HectorMappingRos::mapCallback, this);
+    }
+
+    setServiceGetMapData(tmp.map_, slamProcessor->getGridMap(i));
+
+    if ( i== 0){
+      mapPubContainer[i].mapMetadataPublisher_.publish(mapPubContainer[i].map_.map.info);
+    }
+  }
+
+  ROS_INFO("HectorSM p_base_frame_: %s", p_base_frame_.c_str());
+  ROS_INFO("HectorSM p_map_frame_: %s", p_map_frame_.c_str());
+  ROS_INFO("HectorSM p_odom_frame_: %s", p_odom_frame_.c_str());
+  ROS_INFO("HectorSM p_scan_topic_: %s", p_scan_topic_.c_str());
+  ROS_INFO("HectorSM p_use_tf_scan_transformation_: %s", p_use_tf_scan_transformation_ ? ("true") : ("false"));
+  ROS_INFO("HectorSM p_pub_map_odom_transform_: %s", p_pub_map_odom_transform_ ? ("true") : ("false"));
+  ROS_INFO("HectorSM p_scan_subscriber_queue_size_: %d", p_scan_subscriber_queue_size_);
+  ROS_INFO("HectorSM p_map_pub_period_: %f", p_map_pub_period_);
+  ROS_INFO("HectorSM p_update_factor_free_: %f", p_update_factor_free_);
+  ROS_INFO("HectorSM p_update_factor_occupied_: %f", p_update_factor_occupied_);
+  ROS_INFO("HectorSM p_map_update_distance_threshold_: %f ", p_map_update_distance_threshold_);
+  ROS_INFO("HectorSM p_map_update_angle_threshold_: %f", p_map_update_angle_threshold_);
+  ROS_INFO("HectorSM p_laser_z_min_value_: %f", p_laser_z_min_value_);
+  ROS_INFO("HectorSM p_laser_z_max_value_: %f", p_laser_z_max_value_);
+
+  scanSubscriber_ = node_.subscribe(p_scan_topic_, p_scan_subscriber_queue_size_, &HectorMappingRos::scanCallback, this);
+  sysMsgSubscriber_ = node_.subscribe(p_sys_msg_topic_, 2, &HectorMappingRos::sysMsgCallback, this);
+
+  poseUpdatePublisher_ = node_.advertise<geometry_msgs::PoseWithCovarianceStamped>(p_pose_update_topic_, 1, false);
+  posePublisher_ = node_.advertise<geometry_msgs::PoseStamped>("slam_out_pose", 1, false);
+
+  scan_point_cloud_publisher_ = node_.advertise<sensor_msgs::PointCloud>("slam_cloud",1,false);
+
+  tfB_ = new tf::TransformBroadcaster();
+  ROS_ASSERT(tfB_);
+
+  /*
+  bool p_use_static_map_ = false;
+
+  if (p_use_static_map_){
+    mapSubscriber_ = node_.subscribe(mapTopic_, 1, &HectorMappingRos::staticMapCallback, this);
+  }
+  */
+
+  initial_pose_sub_ = new message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>(node_, "initialpose", 2);
+  initial_pose_filter_ = new tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>(*initial_pose_sub_, tf_, p_map_frame_, 2);
+  initial_pose_filter_->registerCallback(boost::bind(&HectorMappingRos::initialPoseCallback, this, _1));
+
+
+  map__publish_thread_ = new boost::thread(boost::bind(&HectorMappingRos::publishMapLoop, this, p_map_pub_period_));
+
+  map_to_odom_.setIdentity();
+
+  lastMapPublishTime = ros::Time(0,0);
+}
+
+HectorMappingRos::~HectorMappingRos()
+{
+  delete slamProcessor;
+
+  if (hectorDrawings)
+    delete hectorDrawings;
+
+  if (debugInfoProvider)
+    delete debugInfoProvider;
+
+  if (tfB_)
+    delete tfB_;
+
+  if(map__publish_thread_)
+    delete map__publish_thread_;
+}
+
+void HectorMappingRos::scanCallback(const sensor_msgs::LaserScan& scan)
+{
+  if (hectorDrawings)
+  {
+    hectorDrawings->setTime(scan.header.stamp);
+  }
+
+  ros::WallTime startTime = ros::WallTime::now();
+
+  if (!p_use_tf_scan_transformation_)
+  {
+    if (rosLaserScanToDataContainer(scan, laserScanContainer,slamProcessor->getScaleToMap()))
+    {
+      slamProcessor->update(laserScanContainer,slamProcessor->getLastScanMatchPose());
+    }
+  }
+  else
+  {
+    ros::Duration dur (0.5);
+
+    if (tf_.waitForTransform(p_base_frame_,scan.header.frame_id, scan.header.stamp,dur))
+    {
+      tf::StampedTransform laserTransform;
+      tf_.lookupTransform(p_base_frame_,scan.header.frame_id, scan.header.stamp, laserTransform);
+
+      //projector_.transformLaserScanToPointCloud(p_base_frame_ ,scan, pointCloud,tf_);
+      projector_.projectLaser(scan, laser_point_cloud_,30.0);
+
+      if (scan_point_cloud_publisher_.getNumSubscribers() > 0){
+        scan_point_cloud_publisher_.publish(laser_point_cloud_);
+      }
+
+      Eigen::Vector3f startEstimate(Eigen::Vector3f::Zero());
+
+      if(rosPointCloudToDataContainer(laser_point_cloud_, laserTransform, laserScanContainer, slamProcessor->getScaleToMap()))
+      {
+        if (initial_pose_set_){
+          initial_pose_set_ = false;
+          startEstimate = initial_pose_;
+        }else if (p_use_tf_pose_start_estimate_){
+
+          try
+          {
+            tf::StampedTransform stamped_pose;
+
+            tf_.waitForTransform(p_map_frame_,p_base_frame_, scan.header.stamp, ros::Duration(0.5));
+            tf_.lookupTransform(p_map_frame_, p_base_frame_,  scan.header.stamp, stamped_pose);
+
+            tfScalar yaw, pitch, roll;
+            stamped_pose.getBasis().getEulerYPR(yaw, pitch, roll);
+
+            startEstimate = Eigen::Vector3f(stamped_pose.getOrigin().getX(),stamped_pose.getOrigin().getY(), yaw);
+          }
+          catch(tf::TransformException e)
+          {
+            ROS_ERROR("Transform from %s to %s failed\n", p_map_frame_.c_str(), p_base_frame_.c_str());
+            startEstimate = slamProcessor->getLastScanMatchPose();
+          }
+
+        }else{
+          startEstimate = slamProcessor->getLastScanMatchPose();
+        }
+
+
+        if (p_map_with_known_poses_){
+          slamProcessor->update(laserScanContainer, startEstimate, true);
+        }else{
+          slamProcessor->update(laserScanContainer, startEstimate);
+        }
+      }
+
+    }else{
+      ROS_INFO("lookupTransform %s to %s timed out. Could not transform laser scan into base_frame.", p_base_frame_.c_str(), scan.header.frame_id.c_str());
+      return;
+    }
+  }
+
+  if (p_timing_output_)
+  {
+    ros::WallDuration duration = ros::WallTime::now() - startTime;
+    ROS_INFO("HectorSLAM Iter took: %f milliseconds", duration.toSec()*1000.0f );
+  }
+
+  //If we're just building a map with known poses, we're finished now. Code below this point publishes the localization results.
+  if (p_map_with_known_poses_)
+  {
+    return;
+  }
+
+  poseInfoContainer_.update(slamProcessor->getLastScanMatchPose(), slamProcessor->getLastScanMatchCovariance(), scan.header.stamp, p_map_frame_);
+
+  poseUpdatePublisher_.publish(poseInfoContainer_.getPoseWithCovarianceStamped());
+  posePublisher_.publish(poseInfoContainer_.getPoseStamped());
+
+  if(p_pub_odometry_)
+  {
+    nav_msgs::Odometry tmp;
+    tmp.pose = poseInfoContainer_.getPoseWithCovarianceStamped().pose;
+
+    tmp.header = poseInfoContainer_.getPoseWithCovarianceStamped().header;
+    odometryPublisher_.publish(tmp);
+  }
+
+  if (p_pub_map_odom_transform_)
+  {
+    tf::StampedTransform odom_to_base;
+
+    try
+    {
+      tf_.waitForTransform(p_odom_frame_, p_base_frame_, scan.header.stamp, ros::Duration(0.5));
+      tf_.lookupTransform(p_odom_frame_, p_base_frame_, scan.header.stamp, odom_to_base);
+    }
+    catch(tf::TransformException e)
+    {
+      ROS_ERROR("Transform failed during publishing of map_odom transform: %s",e.what());
+      odom_to_base.setIdentity();
+    }
+    map_to_odom_ = tf::Transform(poseInfoContainer_.getTfTransform() * odom_to_base.inverse());
+    tfB_->sendTransform( tf::StampedTransform (map_to_odom_, scan.header.stamp, p_map_frame_, p_odom_frame_));
+  }
+
+  if (p_pub_map_scanmatch_transform_){
+    tfB_->sendTransform( tf::StampedTransform(poseInfoContainer_.getTfTransform(), scan.header.stamp, p_map_frame_, p_tf_map_scanmatch_transform_frame_name_));
+  }
+}
+
+void HectorMappingRos::sysMsgCallback(const std_msgs::String& string)
+{
+  ROS_INFO("HectorSM sysMsgCallback, msg contents: %s", string.data.c_str());
+
+  if (string.data == "reset")
+  {
+    ROS_INFO("HectorSM reset");
+    slamProcessor->reset();
+  }
+}
+
+bool HectorMappingRos::mapCallback(nav_msgs::GetMap::Request  &req,
+                                   nav_msgs::GetMap::Response &res)
+{
+  ROS_INFO("HectorSM Map service called");
+  res = mapPubContainer[0].map_;
+  return true;
+}
+
+void HectorMappingRos::publishMap(MapPublisherContainer& mapPublisher, const hectorslam::GridMap& gridMap, ros::Time timestamp, MapLockerInterface* mapMutex)
+{
+  nav_msgs::GetMap::Response& map_ (mapPublisher.map_);
+
+  //only update map if it changed
+  if (lastGetMapUpdateIndex != gridMap.getUpdateIndex())
+  {
+
+    int sizeX = gridMap.getSizeX();
+    int sizeY = gridMap.getSizeY();
+
+    int size = sizeX * sizeY;
+
+    std::vector<int8_t>& data = map_.map.data;
+
+    //std::vector contents are guaranteed to be contiguous, use memset to set all to unknown to save time in loop
+    memset(&data[0], -1, sizeof(int8_t) * size);
+
+    if (mapMutex)
+    {
+      mapMutex->lockMap();
+    }
+
+    for(int i=0; i < size; ++i)
+    {
+      if(gridMap.isFree(i))
+      {
+        data[i] = 0;
+      }
+      else if (gridMap.isOccupied(i))
+      {
+        data[i] = 100;
+      }
+    }
+
+    lastGetMapUpdateIndex = gridMap.getUpdateIndex();
+
+    if (mapMutex)
+    {
+      mapMutex->unlockMap();
+    }
+  }
+
+  map_.map.header.stamp = timestamp;
+
+  mapPublisher.mapPublisher_.publish(map_.map);
+}
+
+bool HectorMappingRos::rosLaserScanToDataContainer(const sensor_msgs::LaserScan& scan, hectorslam::DataContainer& dataContainer, float scaleToMap)
+{
+  size_t size = scan.ranges.size();
+
+  float angle = scan.angle_min;
+
+  dataContainer.clear();
+
+  dataContainer.setOrigo(Eigen::Vector2f::Zero());
+
+  float maxRangeForContainer = scan.range_max - 0.1f;
+
+  for (size_t i = 0; i < size; ++i)
+  {
+    float dist = scan.ranges[i];
+
+    if ( (dist > scan.range_min) && (dist < maxRangeForContainer))
+    {
+      dist *= scaleToMap;
+      dataContainer.add(Eigen::Vector2f(cos(angle) * dist, sin(angle) * dist));
+    }
+
+    angle += scan.angle_increment;
+  }
+
+  return true;
+}
+
+bool HectorMappingRos::rosPointCloudToDataContainer(const sensor_msgs::PointCloud& pointCloud, const tf::StampedTransform& laserTransform, hectorslam::DataContainer& dataContainer, float scaleToMap)
+{
+  size_t size = pointCloud.points.size();
+  //ROS_INFO("size: %d", size);
+
+  dataContainer.clear();
+
+  tf::Vector3 laserPos (laserTransform.getOrigin());
+  dataContainer.setOrigo(Eigen::Vector2f(laserPos.x(), laserPos.y())*scaleToMap);
+
+  for (size_t i = 0; i < size; ++i)
+  {
+
+    const geometry_msgs::Point32& currPoint(pointCloud.points[i]);
+
+    float dist_sqr = currPoint.x*currPoint.x + currPoint.y* currPoint.y;
+
+    if ( (dist_sqr > p_sqr_laser_min_dist_) && (dist_sqr < p_sqr_laser_max_dist_) ){
+
+      if ( (currPoint.x < 0.0f) && (dist_sqr < 0.50f)){
+        continue;
+      }
+
+      tf::Vector3 pointPosBaseFrame(laserTransform * tf::Vector3(currPoint.x, currPoint.y, currPoint.z));
+
+      float pointPosLaserFrameZ = pointPosBaseFrame.z() - laserPos.z();
+
+      if (pointPosLaserFrameZ > p_laser_z_min_value_ && pointPosLaserFrameZ < p_laser_z_max_value_)
+      {
+        dataContainer.add(Eigen::Vector2f(pointPosBaseFrame.x(),pointPosBaseFrame.y())*scaleToMap);
+      }
+    }
+  }
+
+  return true;
+}
+
+void HectorMappingRos::setServiceGetMapData(nav_msgs::GetMap::Response& map_, const hectorslam::GridMap& gridMap)
+{
+  Eigen::Vector2f mapOrigin (gridMap.getWorldCoords(Eigen::Vector2f::Zero()));
+  mapOrigin.array() -= gridMap.getCellLength()*0.5f;
+
+  map_.map.info.origin.position.x = mapOrigin.x();
+  map_.map.info.origin.position.y = mapOrigin.y();
+  map_.map.info.origin.orientation.w = 1.0;
+
+  map_.map.info.resolution = gridMap.getCellLength();
+
+  map_.map.info.width = gridMap.getSizeX();
+  map_.map.info.height = gridMap.getSizeY();
+
+  map_.map.header.frame_id = p_map_frame_;
+  map_.map.data.resize(map_.map.info.width * map_.map.info.height);
+}
+
+/*
+void HectorMappingRos::setStaticMapData(const nav_msgs::OccupancyGrid& map)
+{
+  float cell_length = map.info.resolution;
+  Eigen::Vector2f mapOrigin (map.info.origin.position.x + cell_length*0.5f,
+                             map.info.origin.position.y + cell_length*0.5f);
+
+  int map_size_x = map.info.width;
+  int map_size_y = map.info.height;
+
+  slamProcessor = new hectorslam::HectorSlamProcessor(cell_length, map_size_x, map_size_y, Eigen::Vector2f(0.0f, 0.0f), 1, hectorDrawings, debugInfoProvider);
+}
+*/
+
+
+void HectorMappingRos::publishMapLoop(double map_pub_period)
+{
+  ros::Rate r(1.0 / map_pub_period);
+  while(ros::ok())
+  {
+    //ros::WallTime t1 = ros::WallTime::now();
+    ros::Time mapTime (ros::Time::now());
+    //publishMap(mapPubContainer[2],slamProcessor->getGridMap(2), mapTime);
+    //publishMap(mapPubContainer[1],slamProcessor->getGridMap(1), mapTime);
+    publishMap(mapPubContainer[0],slamProcessor->getGridMap(0), mapTime, slamProcessor->getMapMutex(0));
+
+    //ros::WallDuration t2 = ros::WallTime::now() - t1;
+
+    //std::cout << "time s: " << t2.toSec();
+    //ROS_INFO("HectorSM ms: %4.2f", t2.toSec()*1000.0f);
+
+    r.sleep();
+  }
+}
+
+void HectorMappingRos::staticMapCallback(const nav_msgs::OccupancyGrid& map)
+{
+
+}
+
+void HectorMappingRos::initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg)
+{
+  initial_pose_set_ = true;
+
+  tf::Pose pose;
+  tf::poseMsgToTF(msg->pose.pose, pose);
+  initial_pose_ = Eigen::Vector3f(msg->pose.pose.position.x, msg->pose.pose.position.y, tf::getYaw(pose.getRotation()));
+  ROS_INFO("Setting initial pose with world coords x: %f y: %f yaw: %f", initial_pose_[0], initial_pose_[1], initial_pose_[2]);
+}
+
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.h
new file mode 100644
index 0000000..ad96f8b
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/HectorMappingRos.h	
@@ -0,0 +1,193 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef HECTOR_MAPPING_ROS_H__
+#define HECTOR_MAPPING_ROS_H__
+
+#include "ros/ros.h"
+
+#include "tf/transform_listener.h"
+#include "tf/transform_broadcaster.h"
+#include "tf/message_filter.h"
+#include "message_filters/subscriber.h"
+
+#include "sensor_msgs/LaserScan.h"
+#include <std_msgs/String.h>
+
+#include "laser_geometry/laser_geometry.h"
+#include "nav_msgs/GetMap.h"
+
+#include "slam_main/HectorSlamProcessor.h"
+
+#include "scan/DataPointContainer.h"
+#include "util/MapLockerInterface.h"
+
+#include <boost/thread.hpp>
+
+#include "PoseInfoContainer.h"
+
+
+class HectorDrawings;
+class HectorDebugInfoProvider;
+
+class MapPublisherContainer
+{
+public:
+  ros::Publisher mapPublisher_;
+  ros::Publisher mapMetadataPublisher_;
+  nav_msgs::GetMap::Response map_;
+  ros::ServiceServer dynamicMapServiceServer_;
+};
+
+class HectorMappingRos
+{
+public:
+  HectorMappingRos();
+  ~HectorMappingRos();
+
+
+  void scanCallback(const sensor_msgs::LaserScan& scan);
+  void sysMsgCallback(const std_msgs::String& string);
+
+  bool mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res);
+
+  void publishMap(MapPublisherContainer& map_, const hectorslam::GridMap& gridMap, ros::Time timestamp, MapLockerInterface* mapMutex = 0);
+
+  bool rosLaserScanToDataContainer(const sensor_msgs::LaserScan& scan, hectorslam::DataContainer& dataContainer, float scaleToMap);
+  bool rosPointCloudToDataContainer(const sensor_msgs::PointCloud& pointCloud, const tf::StampedTransform& laserTransform, hectorslam::DataContainer& dataContainer, float scaleToMap);
+
+  void setServiceGetMapData(nav_msgs::GetMap::Response& map_, const hectorslam::GridMap& gridMap);
+
+  void publishTransformLoop(double p_transform_pub_period_);
+  void publishMapLoop(double p_map_pub_period_);
+  void publishTransform();
+
+  void staticMapCallback(const nav_msgs::OccupancyGrid& map);
+  void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg);
+
+  /*
+  void setStaticMapData(const nav_msgs::OccupancyGrid& map);
+  */
+protected:
+
+  HectorDebugInfoProvider* debugInfoProvider;
+  HectorDrawings* hectorDrawings;
+
+  int lastGetMapUpdateIndex;
+
+  ros::NodeHandle node_;
+
+  ros::Subscriber scanSubscriber_;
+  ros::Subscriber sysMsgSubscriber_;
+
+  ros::Subscriber mapSubscriber_;
+  message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>* initial_pose_sub_;
+  tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>* initial_pose_filter_;
+
+  ros::Publisher posePublisher_;
+  ros::Publisher poseUpdatePublisher_;
+  ros::Publisher twistUpdatePublisher_;
+  ros::Publisher odometryPublisher_;
+  ros::Publisher scan_point_cloud_publisher_;
+
+  std::vector<MapPublisherContainer> mapPubContainer;
+
+  tf::TransformListener tf_;
+  tf::TransformBroadcaster* tfB_;
+
+  laser_geometry::LaserProjection projector_;
+
+  tf::Transform map_to_odom_;
+
+  boost::thread* map__publish_thread_;
+
+  hectorslam::HectorSlamProcessor* slamProcessor;
+  hectorslam::DataContainer laserScanContainer;
+
+  PoseInfoContainer poseInfoContainer_;
+
+  sensor_msgs::PointCloud laser_point_cloud_;
+
+  ros::Time lastMapPublishTime;
+  ros::Time lastScanTime;
+  Eigen::Vector3f lastSlamPose;
+
+  bool initial_pose_set_;
+  Eigen::Vector3f initial_pose_;
+
+
+  //-----------------------------------------------------------
+  // Parameters
+
+  std::string p_base_frame_;
+  std::string p_map_frame_;
+  std::string p_odom_frame_;
+
+  //Parameters related to publishing the scanmatcher pose directly via tf
+  bool p_pub_map_scanmatch_transform_;
+  std::string p_tf_map_scanmatch_transform_frame_name_;
+
+  std::string p_scan_topic_;
+  std::string p_sys_msg_topic_;
+
+  std::string p_pose_update_topic_;
+  std::string p_twist_update_topic_;
+
+  bool p_pub_drawings;
+  bool p_pub_debug_output_;
+  bool p_pub_map_odom_transform_;
+  bool p_pub_odometry_;
+  bool p_advertise_map_service_;
+  int p_scan_subscriber_queue_size_;
+
+  double p_update_factor_free_;
+  double p_update_factor_occupied_;
+  double p_map_update_distance_threshold_;
+  double p_map_update_angle_threshold_;
+
+  double p_map_resolution_;
+  int p_map_size_;
+  double p_map_start_x_;
+  double p_map_start_y_;
+  int p_map_multi_res_levels_;
+
+  double p_map_pub_period_;
+
+  bool p_use_tf_scan_transformation_;
+  bool p_use_tf_pose_start_estimate_;
+  bool p_map_with_known_poses_;
+  bool p_timing_output_;
+
+
+  float p_sqr_laser_min_dist_;
+  float p_sqr_laser_max_dist_;
+  float p_laser_z_min_value_;
+  float p_laser_z_max_value_;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.cpp
new file mode 100644
index 0000000..5297fc1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.cpp	
@@ -0,0 +1,70 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "PoseInfoContainer.h"
+
+void PoseInfoContainer::update(const Eigen::Vector3f& slamPose, const Eigen::Matrix3f& slamCov, const ros::Time& stamp, const std::string& frame_id)
+{
+  //Fill stampedPose
+  std_msgs::Header& header = stampedPose_.header;
+  header.stamp = stamp;
+  header.frame_id = frame_id;
+
+  geometry_msgs::Pose& pose = stampedPose_.pose;
+  pose.position.x = slamPose.x();
+  pose.position.y = slamPose.y();
+
+  pose.orientation.w = cos(slamPose.z()*0.5f);
+  pose.orientation.z = sin(slamPose.z()*0.5f);
+
+  //Fill covPose
+  //geometry_msgs::PoseWithCovarianceStamped covPose;
+  covPose_.header = header;
+  covPose_.pose.pose = pose;
+
+  boost::array<double, 36>& cov(covPose_.pose.covariance);
+
+  cov[0] = static_cast<double>(slamCov(0,0));
+  cov[7] = static_cast<double>(slamCov(1,1));
+  cov[35] = static_cast<double>(slamCov(2,2));
+
+  double xyC = static_cast<double>(slamCov(0,1));
+  cov[1] = xyC;
+  cov[6] = xyC;
+
+  double xaC = static_cast<double>(slamCov(0,2));
+  cov[5] = xaC;
+  cov[30] = xaC;
+
+  double yaC = static_cast<double>(slamCov(1,2));
+  cov[11] = yaC;
+  cov[31] = yaC;
+
+  //Fill tf tansform
+  tf::poseMsgToTF(pose, poseTransform_);
+}
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.h
new file mode 100644
index 0000000..2632a8c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/PoseInfoContainer.h	
@@ -0,0 +1,55 @@
+//=================================================================================================
+// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef POSE_INFO_CONTAINER_H__
+#define POSE_INFO_CONTAINER_H__
+
+#include <tf/transform_datatypes.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+
+#include <Eigen/Core>
+
+class PoseInfoContainer{
+public:
+
+  void update(const Eigen::Vector3f& slamPose, const Eigen::Matrix3f& slamCov, const ros::Time& stamp, const std::string& frame_id);
+
+  const geometry_msgs::PoseStamped& getPoseStamped() { return stampedPose_; };
+  const geometry_msgs::PoseWithCovarianceStamped& getPoseWithCovarianceStamped() { return covPose_; };
+  const tf::Transform& getTfTransform() { return poseTransform_; };
+
+protected:
+  geometry_msgs::PoseStamped stampedPose_;
+  geometry_msgs::PoseWithCovarianceStamped covPose_;
+  tf::Transform poseTransform_;
+
+};
+
+#endif
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main.cpp
new file mode 100644
index 0000000..4a870ad
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main.cpp	
@@ -0,0 +1,44 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#include <ros/ros.h>
+
+#include "HectorMappingRos.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "hector_slam");
+
+  HectorMappingRos sm;
+
+  ros::spin();
+
+  return(0);
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main_mapper.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main_mapper.cpp
new file mode 100644
index 0000000..e76264a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_mapping/src/main_mapper.cpp	
@@ -0,0 +1,44 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+
+#include <ros/ros.h>
+
+#include "HectorMapperRos.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "hector_slam");
+
+  HectorMapperRos sm;
+
+  ros::spin();
+
+  return(0);
+}
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CHANGELOG.rst
new file mode 100644
index 0000000..90eda26
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CHANGELOG.rst	
@@ -0,0 +1,27 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_marker_drawing
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* Contributors: Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+* fixed cmake find for eigen in indigo
+* Contributors: Alexander Stumpf
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CMakeLists.txt
new file mode 100644
index 0000000..af7a2ef
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/CMakeLists.txt	
@@ -0,0 +1,145 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_marker_drawing)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp visualization_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES hector_marker_drawing
+  CATKIN_DEPENDS roscpp visualization_msgs
+  DEPENDS EIGEN3
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_marker_drawing
+#   src/${PROJECT_NAME}/hector_marker_drawing.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hector_marker_drawing_node src/hector_marker_drawing_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_marker_drawing_node hector_marker_drawing_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hector_marker_drawing_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hector_marker_drawing hector_marker_drawing_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_marker_drawing.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/DrawInterface.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/DrawInterface.h
new file mode 100644
index 0000000..7fea1e3
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/DrawInterface.h	
@@ -0,0 +1,50 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#ifndef drawinterface_h__
+#define drawinterface_h__
+
+#include <Eigen/Core>
+#include <string>
+
+class DrawInterface{
+public:
+  virtual void setNamespace(const std::string& ns) = 0;
+
+  virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame) = 0;
+  virtual void drawArrow(const Eigen::Vector3f& poseWorld) = 0;
+  virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& cov) = 0;
+  virtual void drawCovariance(const Eigen::Vector3f& mean, const Eigen::Matrix3f& covMatrix) = 0;
+
+  virtual void setScale(double scale) = 0;
+  virtual void setColor(double r, double g, double b, double a = 1.0) = 0;
+
+  virtual void sendAndResetData() = 0;
+};
+
+#endif
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/HectorDrawings.h b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/HectorDrawings.h
new file mode 100644
index 0000000..b04d77c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/include/hector_marker_drawing/HectorDrawings.h	
@@ -0,0 +1,242 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include "DrawInterface.h"
+//#include "util/UtilFunctions.h"
+
+#include "ros/ros.h"
+
+#include <Eigen/Geometry>
+#include <Eigen/Dense>
+
+
+#include <visualization_msgs/MarkerArray.h>
+
+class HectorDrawings : public DrawInterface
+{
+public:
+
+  HectorDrawings()
+  {
+    idCounter = 0;
+    maxId = 0;
+
+    ros::NodeHandle nh_;
+
+    markerPublisher_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1, true);
+    markerArrayPublisher_ = nh_.advertise<visualization_msgs::MarkerArray>("visualization_marker_array", 1, true);
+
+    tempMarker.header.frame_id = "map";
+    tempMarker.ns = "marker";
+
+    this->setScale(1.0);
+    this->setColor(1.0, 1.0, 1.0);
+
+    tempMarker.action = visualization_msgs::Marker::ADD;
+  };
+
+  virtual void setNamespace(const std::string& ns)
+  {
+    tempMarker.ns = ns;
+  }
+
+  virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame)
+  {
+    tempMarker.id = idCounter++;
+
+    tempMarker.pose.position.x = pointWorldFrame.x();
+    tempMarker.pose.position.y = pointWorldFrame.y();
+
+    tempMarker.pose.orientation.w = 0.0;
+    tempMarker.pose.orientation.z = 0.0;
+    tempMarker.type = visualization_msgs::Marker::CUBE;
+
+    //markerPublisher_.publish(tempMarker);
+
+    markerArray.markers.push_back(tempMarker);
+  }
+
+  virtual void drawArrow(const Eigen::Vector3f& poseWorld)
+  {
+    tempMarker.id = idCounter++;
+
+    tempMarker.pose.position.x = poseWorld.x();
+    tempMarker.pose.position.y = poseWorld.y();
+
+    tempMarker.pose.orientation.w = cos(poseWorld.z()*0.5f);
+    tempMarker.pose.orientation.z = sin(poseWorld.z()*0.5f);
+
+    tempMarker.type = visualization_msgs::Marker::ARROW;
+
+    //markerPublisher_.publish(tempMarker);
+
+    markerArray.markers.push_back(tempMarker);
+
+  }
+
+  virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& covMatrix)
+  {
+
+    tempMarker.pose.position.x = mean[0];
+    tempMarker.pose.position.y = mean[1];
+
+    Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> eig(covMatrix);
+
+    const Eigen::Vector2f& eigValues (eig.eigenvalues());
+    const Eigen::Matrix2f& eigVectors (eig.eigenvectors());
+
+    float angle = (atan2(eigVectors(1, 0), eigVectors(0, 0)));
+
+    tempMarker.type = visualization_msgs::Marker::CYLINDER;
+
+    double lengthMajor = sqrt(eigValues[0]);
+    double lengthMinor = sqrt(eigValues[1]);
+
+    tempMarker.scale.x = lengthMajor;
+    tempMarker.scale.y = lengthMinor;
+    tempMarker.scale.z = 0.001;
+
+
+    tempMarker.pose.orientation.w = cos(angle*0.5);
+    tempMarker.pose.orientation.z = sin(angle*0.5);
+
+    tempMarker.id = idCounter++;
+    markerArray.markers.push_back(tempMarker);
+  }
+
+  virtual void drawCovariance(const Eigen::Vector3f& mean, const Eigen::Matrix3f& covMatrix)
+  {
+    tempMarker.type = visualization_msgs::Marker::SPHERE;
+
+    tempMarker.color.r = 0.0;
+    tempMarker.color.a = 0.5;
+
+    tempMarker.pose.position.x = mean[0];
+    tempMarker.pose.position.y = mean[1];
+    tempMarker.pose.position.z = mean[2];
+
+    Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eig(covMatrix);
+
+    const Eigen::Vector3f& eigValues (eig.eigenvalues());
+    const Eigen::Matrix3f& eigVectors (eig.eigenvectors());
+
+
+    Eigen::Matrix3f eigVectorsFlipped;
+    eigVectorsFlipped.col(0) = eigVectors.col(2);
+    eigVectorsFlipped.col(1) = eigVectors.col(1);
+    eigVectorsFlipped.col(2) = eigVectors.col(0);
+
+    if (eigVectorsFlipped.determinant() < 0){
+      eigVectorsFlipped.col(2) = -eigVectorsFlipped.col(2);
+    }
+
+    Eigen::Quaternionf quaternion (eigVectorsFlipped);
+
+    //std::cout << "\neigVec:\n" << eigVectors << "\n";
+    //std::cout << "\neigVecFlipped:\n" << eigVectorsFlipped << "\n";
+
+    //std::cout << "\now:" << quaternion.w() << " x:" << quaternion.x() << " y:" << quaternion.y() << " z:" << quaternion.z() << "\n";
+
+
+    tempMarker.pose.orientation.w = quaternion.w();
+    tempMarker.pose.orientation.x = quaternion.x();
+    tempMarker.pose.orientation.y = quaternion.y();
+    tempMarker.pose.orientation.z = quaternion.z();
+
+    tempMarker.scale.x = sqrt(eigValues[2]);
+    tempMarker.scale.y = sqrt(eigValues[1]);
+    tempMarker.scale.z = sqrt(eigValues[0]);
+
+    tempMarker.id = idCounter++;
+    markerArray.markers.push_back(tempMarker);
+
+
+  }
+
+  virtual void setScale(double scale)
+  {
+    tempMarker.scale.x = scale;
+    tempMarker.scale.y = scale;
+    tempMarker.scale.z = scale;
+  }
+
+  virtual void setColor(double r, double g, double b, double a = 1.0)
+  {
+    tempMarker.color.r = r;
+    tempMarker.color.g = g;
+    tempMarker.color.b = b;
+    tempMarker.color.a = a;
+  }
+
+  virtual void addMarker(visualization_msgs::Marker marker) {
+    if (marker.id == 0) marker.id = idCounter++;
+    if (marker.ns.empty()) marker.ns = tempMarker.ns;
+    markerArray.markers.push_back(marker);
+  }
+
+  virtual void addMarkers(visualization_msgs::MarkerArray markers) {
+    for(visualization_msgs::MarkerArray::_markers_type::iterator it = markers.markers.begin(); it != markers.markers.end(); ++it) {
+      visualization_msgs::Marker &marker = *it;
+      addMarker(marker);
+    }
+  }
+
+  virtual void sendAndResetData()
+  {
+    allMarkers.markers.insert(allMarkers.markers.end(), markerArray.markers.begin(), markerArray.markers.end());
+    markerArrayPublisher_.publish(markerArray);
+    markerArray.markers.clear();
+    if (idCounter > maxId) maxId = idCounter;
+    idCounter = 0;
+  }
+
+  void setTime(const ros::Time& time)
+  {
+    tempMarker.header.stamp = time;
+  }
+
+  void reset()
+  {
+    for(visualization_msgs::MarkerArray::_markers_type::iterator it = allMarkers.markers.begin(); it != allMarkers.markers.end(); ++it)
+    {
+      it->action = visualization_msgs::Marker::DELETE;
+    }
+    markerArrayPublisher_.publish(allMarkers);
+    allMarkers.markers.clear();
+  }
+
+  ros::Publisher markerPublisher_;
+  ros::Publisher markerArrayPublisher_;
+
+  visualization_msgs::Marker tempMarker;
+  visualization_msgs::MarkerArray markerArray;
+  visualization_msgs::MarkerArray allMarkers;
+
+  int idCounter;
+  int maxId;
+};
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/package.xml
new file mode 100644
index 0000000..bc4d9b6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_marker_drawing/package.xml	
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_marker_drawing</name>
+  <version>0.3.5</version>
+  <description>
+    hector_marker_drawing provides convenience functions for easier publishing of visualization markers.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_marker_drawing</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>eigen</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>eigen</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..458aca0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CHANGELOG.rst	
@@ -0,0 +1,28 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_nav_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* hector_nav_msgs: removed yaw member from GetNormal response
+  yaw is implicitly given by the normal vector
+* Contributors: Dorothea Koert
+
+0.3.3 (2014-06-15)
+------------------
+* added GetNormal service, that returns normal and orientation of an occupied cell
+* Contributors: Dorothea Koert
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CMakeLists.txt
new file mode 100644
index 0000000..0a02798
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/CMakeLists.txt	
@@ -0,0 +1,135 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_nav_msgs)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS nav_msgs geometry_msgs message_generation)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  GetDistanceToObstacle.srv
+  GetRecoveryInfo.srv
+  GetRobotTrajectory.srv
+  GetSearchPosition.srv
+  GetNormal.srv
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  nav_msgs std_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_nav_msgs
+  CATKIN_DEPENDS nav_msgs geometry_msgs message_runtime
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_nav_msgs
+#   src/${PROJECT_NAME}/hector_nav_msgs.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hector_nav_msgs_node src/hector_nav_msgs_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_nav_msgs_node hector_nav_msgs_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hector_nav_msgs_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hector_nav_msgs hector_nav_msgs_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_nav_msgs.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/package.xml
new file mode 100644
index 0000000..fe0699a
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/package.xml	
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_nav_msgs</name>
+  <version>0.3.5</version>
+  <description>
+    hector_nav_msgs contains messages and services used in the hector_slam stack.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_nav_msgs</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetDistanceToObstacle.srv b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetDistanceToObstacle.srv
new file mode 100644
index 0000000..c4af099
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetDistanceToObstacle.srv	
@@ -0,0 +1,11 @@
+# Returns the distance to the next obstacle from the origin of frame point.header.frame_id
+# in the direction of the point
+#
+# All units are meters.
+
+geometry_msgs/PointStamped point
+---
+float32 distance
+geometry_msgs/PointStamped end_point
+
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetNormal.srv b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetNormal.srv
new file mode 100644
index 0000000..08d7206
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetNormal.srv	
@@ -0,0 +1,3 @@
+geometry_msgs/PointStamped point
+---
+geometry_msgs/Vector3 normal
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRecoveryInfo.srv b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRecoveryInfo.srv
new file mode 100644
index 0000000..c826939
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRecoveryInfo.srv	
@@ -0,0 +1,11 @@
+# Returns the path travelled to get to req_pose (pose determined by request_time) 
+# up to request_radius away from req_pose.
+#
+
+time request_time
+float64 request_radius 
+---
+nav_msgs/Path trajectory_radius_entry_pose_to_req_pose
+geometry_msgs/PoseStamped radius_entry_pose
+geometry_msgs/PoseStamped req_pose
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRobotTrajectory.srv b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRobotTrajectory.srv
new file mode 100644
index 0000000..0d1bfa0
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetRobotTrajectory.srv	
@@ -0,0 +1,8 @@
+# Returns the distance to the next obstacle from the origin of frame point.header.frame_id
+# in the direction of the point
+#
+# All units are meters.
+
+---
+nav_msgs/Path trajectory
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetSearchPosition.srv b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetSearchPosition.srv
new file mode 100644
index 0000000..427bc29
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_nav_msgs/srv/GetSearchPosition.srv	
@@ -0,0 +1,7 @@
+#Returns a suggested search/observation position for an object of interest located at ooi_pose
+
+geometry_msgs/PoseStamped ooi_pose
+float32 distance
+---
+geometry_msgs/PoseStamped search_pose
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CHANGELOG.rst
new file mode 100644
index 0000000..21f1da4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CHANGELOG.rst	
@@ -0,0 +1,23 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_slam
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CMakeLists.txt
new file mode 100644
index 0000000..6db2133
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/CMakeLists.txt	
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_slam)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/package.xml
new file mode 100644
index 0000000..62adafa
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam/package.xml	
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_slam</name>
+  <version>0.3.5</version>
+  <description>
+    The hector_slam metapackage that installs hector_mapping and related packages.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_slam</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>hector_compressed_map_transport</run_depend>
+  <run_depend>hector_geotiff</run_depend>
+  <run_depend>hector_geotiff_plugins</run_depend>
+  <run_depend>hector_imu_attitude_to_tf</run_depend>
+  <run_depend>hector_map_server</run_depend>
+  <run_depend>hector_map_tools</run_depend>
+  <run_depend>hector_mapping</run_depend>
+  <run_depend>hector_marker_drawing</run_depend>
+  <run_depend>hector_nav_msgs</run_depend>
+  <run_depend>hector_slam_launch</run_depend>
+  <run_depend>hector_trajectory_server</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <metapackage/>
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CHANGELOG.rst
new file mode 100644
index 0000000..dfb4eda
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CHANGELOG.rst	
@@ -0,0 +1,31 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_slam_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* Removes trailing spaces and fixes indents
+* "rviz_cfg" directory in the repository version.
+* Contributors: YuK_Ota, dani-carbonell
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* Add arguments to launch files for specifying geotiff file path
+* Update rviz config to have proper default displays
+* deleted quadrotor_uav.launch (moved to hector_quadrotor)
+* Contributors: Johannes Meyer, Stefan Kohlbrecher
+
+0.3.1 (2013-10-09)
+------------------
+* updated rviz config to the new .rviz format
+* added changelogs
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CMakeLists.txt
new file mode 100644
index 0000000..29f4bbd
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/CMakeLists.txt	
@@ -0,0 +1,140 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_slam_launch)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_slam_launch
+#  CATKIN_DEPENDS hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_slam_launch
+#   src/${PROJECT_NAME}/hector_slam_launch.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hector_slam_launch_node src/hector_slam_launch_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hector_slam_launch_node hector_slam_launch_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hector_slam_launch_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hector_slam_launch hector_slam_launch_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+install(DIRECTORY rviz_cfg/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz_cfg/
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_slam_launch.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/cityflyer_logfile_processing.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/cityflyer_logfile_processing.launch
new file mode 100644
index 0000000..744a4e8
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/cityflyer_logfile_processing.launch	
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <param name="/use_sim_time" value="true"/>
+
+  <node pkg="rviz" type="rviz" name="rviz"
+    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
+
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+
+    <!-- Topic names -->
+    <param name="scan_topic" value="scan" />
+
+    <!-- Frame names -->
+    <param name="base_frame" value="laser" />
+    <param name="odom_frame" value="laser"/>
+    <param name="output_timing" value="false"/>
+
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="true"/>
+    <param name="advertise_map_service" value="true"/>
+
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="2048"/>
+    <param name="map_start_x" value="0.75"/>
+    <param name="map_start_y" value="0.25" />
+    <param name="map_multi_res_levels" value="3" />
+
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.95" />
+    <param name="map_update_distance_thresh" value="0.3"/>
+    <param name="map_update_angle_thresh" value="0.03" />
+
+    <!-- Debug parameters -->
+    <!--
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+  </node>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="laser" />
+    <param name="trajectory_update_rate" type="double" value="4" />
+    <param name="trajectory_publish_rate" type="double" value="0.25" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="hector_slam_map" />
+    <param name="geotiff_save_period" type="double" value="10" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+  </node>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/hector_ugv.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/hector_ugv.launch
new file mode 100644
index 0000000..dcec9a1
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/hector_ugv.launch	
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+
+<launch>
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+    <param name="scan_topic" value="laser1/scan" />
+    <param name="base_frame" value="base_stabilized" />
+    <param name="output_timing" value="false"/>
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+
+    <param name="map_pub_period" value="1.0"/>
+
+    <param name="laser_z_min_value" value = "-0.3"/>
+    
+    <param name="update_factor_free" value="0.3"/>
+
+    <param name="map_resolution" value="0.05"/>
+    <param name="map_size" value="1024"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5"/>
+    <param name="map_multi_res_levels" value="1"/>
+
+    <remap from="map" to="scanmatcher_map" />
+  </node>
+
+  <group unless="$(optenv REALROBOT false)">
+    <param name="hector_mapping/use_tf_pose_start_estimate" value="false"/>
+  </group>
+
+  <param name="hector_mapping/odom_frame" value="nav"/>
+  <param name="hector_mapping/pub_map_odom_transform" value="false"/>
+  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100" />
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/height_mapping.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/height_mapping.launch
new file mode 100644
index 0000000..4411581
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/height_mapping.launch	
@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+
+<launch>
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_height_mapping" output="screen">
+    <param name="scan_topic" value="laser0/scan" />
+    <param name="base_frame" value="base_stabilized" />
+    <param name="odom_frame" value="nav" />
+    
+    <param name="output_timing" value="false"/>
+    <param name="advertise_map_service" value="true"/>
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="true"/>
+    <param name="pub_map_odom_transform" value="false"/>
+    <param name="map_with_known_poses" value="true"/>
+
+    <param name="map_pub_period" value="5.0"/>
+    <param name="update_factor_free" value="0.45"/>
+    
+    <param name="map_update_distance_thresh" value="0.0"/>
+    <param name="map_update_angle_thresh" value="0.0"/>
+    
+    <param name="map_resolution" value="0.05"/>
+    <param name="map_size" value="1024"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5"/>
+    
+    <param name="laser_min_dist" value="0.6" />
+    <param name="laser_max_dist" value="3.9" />
+    <param name="laser_z_min_value" value="1.7"/>
+    <param name="laser_z_max_value" value="2.1"/>
+
+    <remap from="map" to="height_map" />
+    <remap from="dynamic_map" to="height_map" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_height_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="height_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="RRL_2012_HectorDarmstadt_2m" />
+    <param name="geotiff_save_period" type="double" value="55" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+  </node>
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mapping_box.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mapping_box.launch
new file mode 100644
index 0000000..033b711
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mapping_box.launch	
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+
+<launch>
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+    <param name="base_frame" value="base_stabilized" />
+    <param name="odom_frame" value="nav"/>
+    <param name="output_timing" value="false"/>
+
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="scan_topic" value="scan"/>
+
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="2048"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+
+    <!--
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+  </node>
+
+  <arg name="disable_poseupdate" default="false" />
+  <group if="$(arg disable_poseupdate)">
+    <param name="hector_mapping/pub_map_odom_transform" value="true"/>
+    <remap from="poseupdate" to="poseupdate_disabled"/>
+  </group>
+  <group unless="$(arg disable_poseupdate)">
+    <param name="hector_mapping/pub_map_odom_transform" value="false"/>
+    <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
+  </group>
+
+  <!--
+  <node pkg="hector_map_server" type="hector_map_server" name="hector_map_server" output="screen" />
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen" />
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="MappingBox" />
+    <param name="geotiff_save_period" type="double" value="45" />
+  </node>
+  -->
+
+  <node pkg="topic_tools" type="throttle" name="map_throttle" args="messages map 0.1 throttled_map" />
+</launch>
+
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mpo700_mapping.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mpo700_mapping.launch
new file mode 100644
index 0000000..889d6f7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/mpo700_mapping.launch	
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <include file="$(find hector_mapping)/launch/mapping_default.launch">
+    <arg name="base_frame" value="base_link"/>
+    <arg name="odom_frame" value="wheelodom"/>
+    <arg name="pub_map_odom_transform" value="true"/>
+
+    <!-- Topic names -->
+    <arg name="scan_topic" value="/sick_s300/scan_unfiltered" />
+  </include>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="/base_link" />
+    <param name="trajectory_update_rate" type="double" value="4" />
+    <param name="trajectory_publish_rate" type="double" value="0.25" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="hector_slam_map" />
+    <param name="geotiff_save_period" type="double" value="60" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+  </node>
+
+  <node pkg="topic_tools" type="throttle" name="map_throttle" args="messages map 0.015 map_thottled" />
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_data.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_data.launch
new file mode 100644
index 0000000..e948447
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_data.launch	
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <param name="/use_sim_time" value="true"/>
+
+  <node pkg="rviz" type="rviz" name="rviz"
+    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
+
+  <include file="$(find hector_mapping)/launch/mapping_default.launch">
+    <arg name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame2"/>
+    <arg name="base_frame" value="base_footprint"/>
+    <arg name="odom_frame" value="base_footprint"/>
+    <arg name="pub_map_odom_transform" value="false" />
+  </include>
+
+  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
+    <arg name="trajectory_source_frame_name" value="scanmatcher_frame2"/>
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_qut_logs.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_qut_logs.launch
new file mode 100644
index 0000000..d7c7cf6
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/postproc_qut_logs.launch	
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <param name="/use_sim_time" value="true"/>
+
+  <node pkg="rviz" type="rviz" name="rviz" 
+    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
+
+  <include file="$(find hector_mapping)/launch/mapping_default.launch">
+    <arg name="base_frame" value="base_link"/>
+    <arg name="odom_frame" value="base_link"/>
+    <arg name="pub_map_odom_transform" value="true"/>
+    <arg name="scan_subscriber_queue_size" value="25"/>
+  </include>
+ 
+  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
+  </include>
+
+  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />
+  
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/pr2os.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/pr2os.launch
new file mode 100644
index 0000000..231537e
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/pr2os.launch	
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+
+    <!-- Topic names -->
+    <param name="scan_topic" value="scan" />
+
+    <!-- Frame names -->
+    <param name="base_frame" value="base_link" />
+    <param name="odom_frame" value="odom"/>
+    <param name="output_timing" value="false"/>
+
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="true"/>
+    <param name="advertise_map_service" value="true"/>
+
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="2048"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+    <param name="map_multi_res_levels" value="2" />
+
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+
+    <!-- Debug parameters -->
+    <!--
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+  </node>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="/base_link" />
+    <param name="trajectory_update_rate" type="double" value="4" />
+    <param name="trajectory_publish_rate" type="double" value="0.25" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="hector_slam_map" />
+    <param name="geotiff_save_period" type="double" value="10" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+  </node>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/tutorial.launch b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/tutorial.launch
new file mode 100644
index 0000000..cf759b7
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/launch/tutorial.launch	
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>
+
+  <param name="/use_sim_time" value="true"/>
+
+  <node pkg="rviz" type="rviz" name="rviz"
+    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
+
+  <include file="$(find hector_mapping)/launch/mapping_default.launch"/>
+
+  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
+    <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
+    <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
+  </include>
+
+</launch>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/package.xml
new file mode 100644
index 0000000..265f1e4
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/package.xml	
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_slam_launch</name>
+  <version>0.3.5</version>
+  <description>
+    hector_slam_launch contains launch files for launching hector_slam with different robot systems/setups/postprocessing scenarios.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_slam_launch</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>hector_mapping</run_depend>
+  <run_depend>hector_map_server</run_depend>
+  <run_depend>hector_trajectory_server</run_depend>
+  <run_depend>hector_geotiff</run_depend>
+  <run_depend>hector_geotiff_plugins</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/rviz_cfg/mapping_demo.rviz b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/rviz_cfg/mapping_demo.rviz
new file mode 100644
index 0000000..1d998ac
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_slam_launch/rviz_cfg/mapping_demo.rviz	
@@ -0,0 +1,137 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Path1
+        - /Pose1
+      Splitter Ratio: 0.5
+    Tree Height: 540
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Path
+      Topic: /trajectory
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Axes
+      Topic: /slam_out_pose
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 44.388
+      Focal Point:
+        X: 9.50434
+        Y: -0.685607
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.56976
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz)
+      Yaw: -0.7846
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002ab000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 53
+  Y: 60
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CHANGELOG.rst b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CHANGELOG.rst
new file mode 100644
index 0000000..031f561
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CHANGELOG.rst	
@@ -0,0 +1,32 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package hector_trajectory_server
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.5 (2016-06-24)
+------------------
+* Changed from ros::WallTime to ros::Time in trajectory server
+* hector_trajectory_server: removed bug leading to potential infinite loop
+* Contributors: Andreas Lindahl FlĂĄten, Paul Manns
+
+0.3.4 (2015-11-07)
+------------------
+
+0.3.3 (2014-06-15)
+------------------
+
+0.3.2 (2014-03-30)
+------------------
+* wait based on WallTime and check ros::ok() in waitForTf()
+* Print out tf availability warning only once.
+* Wait for tf become available to suppress warnings on startup
+* Create a warning instead of an error for TransformExceptions
+* Contributors: Johannes Meyer, Stefan Kohlbrecher, wachaja
+
+0.3.1 (2013-10-09)
+------------------
+* added changelogs
+* added cmake dependencies to catkin exported targets to force message targets to be built before any cpp target using them
+
+0.3.0 (2013-08-08)
+------------------
+* catkinized hector_slam
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CMakeLists.txt b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CMakeLists.txt
new file mode 100644
index 0000000..a38ed25
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/CMakeLists.txt	
@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hector_trajectory_server)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp hector_nav_msgs nav_msgs hector_map_tools tf)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hector_nav_msgs#   nav_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hector_trajectory_server
+#  CATKIN_DEPENDS roscpp hector_nav_msgs nav_msgs hector_map_tools tf
+#  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hector_trajectory_server
+#   src/${PROJECT_NAME}/hector_trajectory_server.cpp
+# )
+
+## Declare a cpp executable
+add_executable(hector_trajectory_server src/hector_trajectory_server.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(hector_trajectory_server ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hector_trajectory_server
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hector_trajectory_server
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_trajectory_server.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/package.xml b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/package.xml
new file mode 100644
index 0000000..350038c
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/package.xml	
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<package>
+  <name>hector_trajectory_server</name>
+  <version>0.3.5</version>
+  <description>
+    hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://ros.org/wiki/hector_trajectory_server</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>hector_nav_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>hector_map_tools</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>hector_nav_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>hector_map_tools</run_depend>
+  <run_depend>tf</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/src/hector_trajectory_server.cpp b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/src/hector_trajectory_server.cpp
new file mode 100644
index 0000000..f3e9785
--- /dev/null
+++ b/Source Files/hector_quadrotor_tutorial/src/hector_slam/hector_trajectory_server/src/hector_trajectory_server.cpp	
@@ -0,0 +1,277 @@
+//=================================================================================================
+// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
+// All rights reserved.
+
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * Neither the name of the Simulation, Systems Optimization and Robotics
+//       group, TU Darmstadt nor the names of its contributors may be used to
+//       endorse or promote products derived from this software without
+//       specific prior written permission.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//=================================================================================================
+
+#include <cstdio>
+#include "ros/ros.h"
+#include "ros/console.h"
+
+#include "nav_msgs/Path.h"
+#include "std_msgs/String.h"
+
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/PoseStamped.h>
+
+#include "tf/transform_listener.h"
+
+#include <hector_nav_msgs/GetRobotTrajectory.h>
+#include <hector_nav_msgs/GetRecoveryInfo.h>
+
+#include <tf/tf.h>
+
+#include <algorithm>
+
+using namespace std;
+
+bool comparePoseStampedStamps (const geometry_msgs::PoseStamped& t1, const geometry_msgs::PoseStamped& t2) { return (t1.header.stamp < t2.header.stamp); }
+
+
+/**
+ * @brief Map generation node.
+ */
+class PathContainer
+{
+public:
+  PathContainer()
+  {
+    ros::NodeHandle private_nh("~");
+
+    private_nh.param("target_frame_name", p_target_frame_name_, std::string("map"));
+    private_nh.param("source_frame_name", p_source_frame_name_, std::string("base_link"));
+    private_nh.param("trajectory_update_rate", p_trajectory_update_rate_, 4.0);
+    private_nh.param("trajectory_publish_rate", p_trajectory_publish_rate_, 0.25);
+
+    waitForTf();
+
+    ros::NodeHandle nh;
+    sys_cmd_sub_ = nh.subscribe("syscommand", 1, &PathContainer::sysCmdCallback, this);
+    trajectory_pub_ = nh.advertise<nav_msgs::Path>("trajectory",1, true);
+
+    trajectory_provider_service_ = nh.advertiseService("trajectory", &PathContainer::trajectoryProviderCallBack, this);
+    recovery_info_provider_service_ = nh.advertiseService("trajectory_recovery_info", &PathContainer::recoveryInfoProviderCallBack, this);
+
+    last_reset_time_ = ros::Time::now();
+
+    update_trajectory_timer_ = private_nh.createTimer(ros::Duration(1.0 / p_trajectory_update_rate_), &PathContainer::trajectoryUpdateTimerCallback, this, false);
+    publish_trajectory_timer_ = private_nh.createTimer(ros::Duration(1.0 / p_trajectory_publish_rate_), &PathContainer::publishTrajectoryTimerCallback, this, false);
+
+    pose_source_.pose.orientation.w = 1.0;
+    pose_source_.header.frame_id = p_source_frame_name_;
+
+    trajectory_.trajectory.header.frame_id = p_target_frame_name_;
+  }
+
+  void waitForTf()
+  {
+    ros::Time start = ros::Time::now();
+    ROS_INFO("Waiting for tf transform data between frames %s and %s to become available", p_target_frame_name_.c_str(), p_source_frame_name_.c_str() );
+
+    bool transform_successful = false;
+
+    while (!transform_successful){
+      transform_successful = tf_.canTransform(p_target_frame_name_, p_source_frame_name_, ros::Time());
+      if (transform_successful) break;
+
+      ros::Time now = ros::Time::now();
+
+      if ((now-start).toSec() > 20.0){
+        ROS_WARN_ONCE("No transform between frames %s and %s available after %f seconds of waiting. This warning only prints once.", p_target_frame_name_.c_str(), p_source_frame_name_.c_str(), (now-start).toSec());
+      }
+      
+      if (!ros::ok()) return;
+      ros::WallDuration(1.0).sleep();
+    }
+
+    ros::Time end = ros::Time::now();
+    ROS_INFO("Finished waiting for tf, waited %f seconds", (end-start).toSec());
+  }
+
+
+  void sysCmdCallback(const std_msgs::String& sys_cmd)
+  {
+    if (sys_cmd.data == "reset")
+    {
+      last_reset_time_ = ros::Time::now();
+      trajectory_.trajectory.poses.clear();
+      trajectory_.trajectory.header.stamp = ros::Time::now();
+    }
+  }
+
+  void addCurrentTfPoseToTrajectory()
+  {
+    pose_source_.header.stamp = ros::Time(0);
+
+    geometry_msgs::PoseStamped pose_out;
+
+    tf_.transformPose(p_target_frame_name_, pose_source_, pose_out);
+
+    if (trajectory_.trajectory.poses.size() != 0){
+      //Only add pose to trajectory if it's not already stored
+      if (pose_out.header.stamp != trajectory_.trajectory.poses.back().header.stamp){
+        trajectory_.trajectory.poses.push_back(pose_out);
+      }
+    }else{
+      trajectory_.trajectory.poses.push_back(pose_out);
+    }
+
+    trajectory_.trajectory.header.stamp = pose_out.header.stamp;
+  }
+
+  void trajectoryUpdateTimerCallback(const ros::TimerEvent& event)
+  {
+
+    try{
+      addCurrentTfPoseToTrajectory();
+    }catch(tf::TransformException e)
+    {
+      ROS_WARN("Trajectory Server: Transform from %s to %s failed: %s \n", p_target_frame_name_.c_str(), pose_source_.header.frame_id.c_str(), e.what() );
+    }
+  }
+
+  void publishTrajectoryTimerCallback(const ros::TimerEvent& event)
+  {
+    trajectory_pub_.publish(trajectory_.trajectory);
+  }
+
+  bool trajectoryProviderCallBack(hector_nav_msgs::GetRobotTrajectory::Request  &req,
+                                  hector_nav_msgs::GetRobotTrajectory::Response &res )
+  {
+    res = getTrajectory();
+    return true;
+  }
+
+  inline const hector_nav_msgs::GetRobotTrajectoryResponse getTrajectory() const
+  {
+    return trajectory_;
+  }
+
+  bool recoveryInfoProviderCallBack(hector_nav_msgs::GetRecoveryInfo::Request  &req,
+                                  hector_nav_msgs::GetRecoveryInfo::Response &res )
+  {
+    const ros::Time req_time = req.request_time;
+
+    geometry_msgs::PoseStamped tmp;
+    tmp.header.stamp = req_time;
+
+    std::vector<geometry_msgs::PoseStamped> const & poses = trajectory_.trajectory.poses;
+
+    if(poses.size() == 0)
+    {
+        ROS_WARN("Failed to find trajectory leading out of radius %f"
+                 " because no poses, i.e. no inverse trajectory, exists.", req.request_radius);
+        return false;
+    }
+
+    //Find the robot pose in the saved trajectory
+    std::vector<geometry_msgs::PoseStamped>::const_iterator it
+            = std::lower_bound(poses.begin(), poses.end(), tmp, comparePoseStampedStamps);
+
+    //If we didn't find the robot pose for the desired time, add the current robot pose to trajectory
+    if (it == poses.end()){
+      addCurrentTfPoseToTrajectory();
+      it = poses.end();
+      --it;
+    }
+
+    std::vector<geometry_msgs::PoseStamped>::const_iterator it_start = it;
+
+    const geometry_msgs::Point& req_coords ((*it).pose.position);
+
+    double dist_sqr_threshold = req.request_radius * req.request_radius;
+
+    double dist_sqr = 0.0;
+
+    //Iterate backwards till the start of the trajectory is reached or we find a pose that's outside the specified radius
+    while (it != poses.begin() && dist_sqr < dist_sqr_threshold){
+      const geometry_msgs::Point& curr_coords ((*it).pose.position);
+
+      dist_sqr = (req_coords.x - curr_coords.x) * (req_coords.x - curr_coords.x) +
+                 (req_coords.y - curr_coords.y) * (req_coords.y - curr_coords.y);
+
+      --it;
+    }
+
+    if (dist_sqr < dist_sqr_threshold){
+      ROS_INFO("Failed to find trajectory leading out of radius %f", req.request_radius);
+      return false;
+    }
+
+    std::vector<geometry_msgs::PoseStamped>::const_iterator it_end = it;
+
+    res.req_pose = *it_start;
+    res.radius_entry_pose = *it_end;
+
+    std::vector<geometry_msgs::PoseStamped>& traj_out_poses = res.trajectory_radius_entry_pose_to_req_pose.poses;
+
+    res.trajectory_radius_entry_pose_to_req_pose.poses.clear();
+    res.trajectory_radius_entry_pose_to_req_pose.header = res.req_pose.header;
+
+    for (std::vector<geometry_msgs::PoseStamped>::const_iterator it_tmp = it_start; it_tmp != it_end; --it_tmp){
+      traj_out_poses.push_back(*it_tmp);
+    }
+
+    return true;
+  }
+
+  //parameters
+  std::string p_target_frame_name_;
+  std::string p_source_frame_name_;
+  double p_trajectory_update_rate_;
+  double p_trajectory_publish_rate_;
+
+  // Zero pose used for transformation to target_frame.
+  geometry_msgs::PoseStamped pose_source_;
+
+  ros::ServiceServer trajectory_provider_service_;
+  ros::ServiceServer recovery_info_provider_service_;
+
+  ros::Timer update_trajectory_timer_;
+  ros::Timer publish_trajectory_timer_;
+
+
+  //ros::Subscriber pose_update_sub_;
+  ros::Subscriber sys_cmd_sub_;
+  ros::Publisher  trajectory_pub_;
+
+  hector_nav_msgs::GetRobotTrajectory::Response trajectory_;
+
+  tf::TransformListener tf_;
+
+  ros::Time last_reset_time_;
+  ros::Time last_pose_save_time_;
+};
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "hector_trajectory_server");
+
+  PathContainer pc;
+
+  ros::spin();
+
+  return 0;
+}
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/CMakeLists.txt b/Source Files/mapping_planning_tutorial/control_turtlebot/CMakeLists.txt
new file mode 100644
index 0000000..876c785
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/CMakeLists.txt	
@@ -0,0 +1,223 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(control_turtlebot)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  laser_geometry
+  tf
+  roslib
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS system)
+#find_package(Eigen3 REQUIRED)
+#find_package(PCL REQUIRED)
+find_package(Octomap)
+find_package(OMPL REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  GotoWaypoint.srv
+  FindPathToGoal.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs geometry_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES control_turtlebot
+  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+#  DEPENDS Eigen
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+#  ${Eigen_INCLUDE_DIRS}
+  ${OMPL_INCLUDE_DIRS}
+#  ${PCL_INCLUDE_DIRS}
+)
+
+#add_definitions(${EIGEN_DEFINITIONS})
+
+## Declare a C++ library
+# add_library(control_turtlebot
+#   src/${PROJECT_NAME}/control_turtlebot.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(control_turtlebot ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(control_turtlebot_node src/control_turtlebot_node.cpp)
+
+add_executable(laserscan_to_pointcloud src/laserscan_to_pointcloud.cpp)
+target_link_libraries(laserscan_to_pointcloud ${catkin_LIBRARIES} ${Eigen_LIBRARIES} )
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g")
+
+add_executable(HelloWorld
+src/OMPL_Planning/HelloWorld/Hello_World.cpp
+src/OMPL_Planning/OMPL_Planner/OMPL_Planner.cpp
+src/OMPL_Planning/OMPL_Planner/StateChecker.cpp
+)
+target_link_libraries(HelloWorld ${catkin_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES} ${OMPL_LIBRARIES})
+
+add_executable(Planning_Node
+src/OMPL_Planning/ROS_Implementation/ROS_Planning_Node.cpp
+src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.cpp
+src/OMPL_Planning/OMPL_Planner/OMPL_Planner.cpp
+src/OMPL_Planning/OMPL_Planner/StateChecker.cpp
+)
+target_link_libraries(Planning_Node ${catkin_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES} ${OMPL_LIBRARIES})
+add_dependencies(Planning_Node auv_msgs_generate_messages_cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(control_turtlebot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(control_turtlebot_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS control_turtlebot control_turtlebot_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_control_turtlebot.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/planner_parameters.yaml b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/planner_parameters.yaml
new file mode 100644
index 0000000..909151b
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/planner_parameters.yaml	
@@ -0,0 +1,16 @@
+planning_dimension : "2D" # available dimension (2D,3D)
+planner_name : "CForest" # available planners (CForest, RRTstar)
+solving_time : 5.0 # available computation time to attempt to solve the query
+
+#Configuration Space (C-Space) boundaries
+planning_bounds_x : [-15, 15]
+planning_bounds_y : [-15, 15]
+planning_bounds_z : [0, 15]
+
+planning_depth_limit : 1
+
+#Collision Mask
+collision_mask_x : 0.5
+collision_mask_y : 0.5
+collision_mask_z_2D : 0.2
+collision_mask_z_3D : 0.5
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/robot.rviz b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/robot.rviz
new file mode 100644
index 0000000..4532d25
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/robot.rviz	
@@ -0,0 +1,510 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 81
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Tree1
+        - /TF2/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 409
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: odom
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_back_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cliff_sensor_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        gyro_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        plate_bottom_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_middle_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_top_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_5_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.2972
+        Min Value: 0.2972
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Squares
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 3.286
+        Min Value: 0.683
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: ""
+      Color Transformer: AxisColor
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /camera/depth/image_raw
+      Depth Map Transport Hint: raw
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Points
+      Topic Filter: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: /camera/rgb/image_color
+      Color Transformer: RGB8
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /camera/depth_registered/image_raw
+      Depth Map Transport Hint: raw
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Registered DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Points
+      Topic Filter: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /camera/rgb/image_color
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 3.286
+        Min Value: 0.681
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /camera/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 5.632
+        Min Value: 0.65
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Registered PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /camera/depth_registered/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: false
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: /turtlebot_marker_server/update
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /occupied_cells_vis_array
+      Name: Octomap
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /controller_turtlebot/solution_path
+      Name: Planning Solution
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 7.04007
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.102786
+        Y: -0.0889391
+        Z: 0.112978
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.584798
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.2554
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 625
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001950000022bfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022b000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1215
+  X: 58
+  Y: 24
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_control.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_control.launch
new file mode 100644
index 0000000..8d1fe8b
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_control.launch	
@@ -0,0 +1,17 @@
+<launch>
+	<arg name="enable_octomap" value="true"/>
+	<arg name="enable_goto_controller" value="false"/>
+    
+	<group if="$(arg enable_octomap)">
+    	<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args=" " cwd="node" output="screen">
+    		<param name="frame_id"            	  value="/odom" />
+    		<remap from="/cloud_in" to="/camera/depth/points" /> <!-- simulator -->
+    		<!--remap from="/cloud_in" to="/camera/depth_registered/points" /--> <!-- real turtlebot -->
+		</node>
+    </group>
+    
+    <group if="$(arg enable_goto_controller)">
+    	<node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" />
+    </group>
+
+</launch>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_planning_control.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_planning_control.launch
new file mode 100644
index 0000000..09f09db
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_planning_control.launch	
@@ -0,0 +1,35 @@
+<launch>
+	<arg name="enable_octomap" value="true"/>
+	<arg name="enable_controller" value="true"/>
+
+	<arg name="enable_plannerV2" value="true"/>
+    
+	<group if="$(arg enable_octomap)">
+    	<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args=" " cwd="node" output="screen">
+    		<param name="frame_id"            	  value="/odom" />
+    		<!--remap from="/cloud_in" to="/pc_from_scan" /--> <!-- simulator -->
+    		<param name="resolution"            	  value="0.05" />
+    		<param name="latch"            	  value="True" />
+			<param name="sensor_model/max_range"            	  value="-1" /> <!-- -1 : unlimited -->
+			<param name="sensor_model/hit"            	  value="0.7" /> <!-- default value :0.7 -->
+			<param name="sensor_model/miss"            	  value="0.4" /> <!-- default value :0.4 -->
+
+			<param name="ground_filter/distance"            	  value="0.04" /> <!-- default value :0.04 -->
+			<param name="ground_filter/plane_distance"            	  value="0.07" /> <!-- default value :0.07 -->	
+    		<remap from="/cloud_in" to="/camera/depth/points" /> <!-- real turtlebot -->
+		</node>
+    </group>
+    
+    <node pkg="control_turtlebot" type="laserscan_to_pointcloud" name="laserscan_to_pointcloud" respawn="true" output="screen" />
+    
+    <group if="$(arg enable_controller)">
+    	<node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" />
+    </group>
+
+	<group if="$(arg enable_plannerV2)">
+	    <!-- OMPL planner -->
+		<rosparam command="load" file="$(find control_turtlebot)/launch/config/planner_parameters.yaml" />
+		<node pkg="control_turtlebot" type="Planning_Node" name="Planning_Node" output="screen" />
+	</group>
+
+</launch>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_modules.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_modules.launch
new file mode 100644
index 0000000..968fc1e
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_modules.launch	
@@ -0,0 +1,23 @@
+<launch>
+	<arg name="enable_turtlebot_simulation" value="true"/>
+	<arg name="enable_keyboard_teleoperation" value="true"/>
+	<arg name="enable_rviz" value="true"/>
+
+    <group if="$(arg enable_turtlebot_simulation)">
+	    <include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch"/>  <!-- other ROS distributions -->
+	    <!--include file="$(find turtlebot_gazebo)/launch/turtlebot_playground.launch"/-->  <!-- ROS hydro -->
+
+	    <group if="$(arg enable_rviz)">
+			<include file="$(find control_turtlebot)/launch/view_robot.launch"/>
+		</group>
+    </group>
+    <group unless="$(arg enable_turtlebot_simulation)">
+		<include file="$(find turtlebot_bringup)/launch/minimal.launch"/>
+		<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
+    </group>
+
+    <group if="$(arg enable_keyboard_teleoperation)">
+    	<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch">
+    	</include>
+    </group>
+</launch>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_willowgarage.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_willowgarage.launch
new file mode 100644
index 0000000..b804eda
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_willowgarage.launch	
@@ -0,0 +1,7 @@
+<launch>
+    <include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch">
+        <arg name="world_file" value="$(find control_turtlebot)/worlds/willowgarage.world"/>
+    </include>
+    <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find control_turtlebot)/launch/config/robot.rviz"/>
+</launch>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/test_planning.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/test_planning.launch
new file mode 100644
index 0000000..2fea340
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/test_planning.launch	
@@ -0,0 +1,6 @@
+<launch>
+	<!-- Offline planner ompl -->
+	<rosparam command="load" file="$(find control_turtlebot)/launch/config/tests_blocks.yaml" />
+	<node pkg="control_turtlebot" type="tutorial_offline_planner_R2" name="tutorial_offline_planner_R2" output="screen" />
+
+</launch>
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/launch/view_robot.launch b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/view_robot.launch
new file mode 100644
index 0000000..24b25d6
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/launch/view_robot.launch	
@@ -0,0 +1,8 @@
+<!--
+  Used for visualising turtlebot in action.  
+  
+  It requires minimal.launch and optionally 3dsensor.launch to already be up and running.
+ -->
+<launch>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find control_turtlebot)/launch/config/robot.rviz" />
+</launch>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/missions/mission.yaml b/Source Files/mapping_planning_tutorial/control_turtlebot/missions/mission.yaml
new file mode 100644
index 0000000..425b0f6
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/missions/mission.yaml	
@@ -0,0 +1,7 @@
+trajectory/north: [8.7958369e-07, 8.7958369e-07, -1.0000000, -1.0000000]
+trajectory/east: [5.8188791e-07, 5.8188791e-07, -1.0000000, -1.0000000]
+trajectory/z: [0.0, 0.25000000, 0.25000000, 0.0]
+trajectory/altitude_mode: [False, False, False, False]
+trajectory/mode: 'los_cte'
+trajectory/time_out: 10
+trajectory/wait: [0.0, 0.0, 0.0, 0.0]
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/package.xml b/Source Files/mapping_planning_tutorial/control_turtlebot/package.xml
new file mode 100644
index 0000000..ee9ab5f
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/package.xml	
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<package>
+  <name>control_turtlebot</name>
+  <version>0.0.0</version>
+  <description>The control_turtlebot package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="juandhv@todo.todo">juandhv</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/control_turtlebot</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <run_depend>message_runtime</run_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>laser_geometry</build_depend>
+  <build_depend>roslib</build_depend>
+  
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>laser_geometry</run_depend>
+  <run_depend>roslib</run_depend>
+  
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/HelloWorld/Hello_World.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/HelloWorld/Hello_World.cpp
new file mode 100644
index 0000000..d5e7eb6
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/HelloWorld/Hello_World.cpp	
@@ -0,0 +1,219 @@
+/**
+ * \file     Hello_World.cpp
+ * \author   Harlé Antoine (antoine.h@flylab.io)
+ * \date     7/2017 - 8/2017
+ * \brief    HelloWorld for OMPL_Planner class.
+ */
+
+#include <iostream>
+
+#include "../OMPL_Planner/OMPL_Planner.hpp"
+
+int main(int argc, char **argv)
+{
+	int planningDimension = 2, solvingTime = 5;
+	std::string plannerName, mapFile;
+	std::vector<double> start, goal, planning_bounds_x_, planning_bounds_y_, planning_bounds_z_;
+
+	planning_bounds_x_.resize(2);
+	planning_bounds_y_.resize(2);
+	planning_bounds_z_.resize(2);
+
+	cout<<"Path planning with OMPL version "<<OMPL_VERSION<<"\n";
+	cout<<"Choose a dimension for planning 2D or 3D (default :"<<planningDimension<<") : ";
+	cin >> planningDimension;
+
+	start.resize(planningDimension);
+	goal.resize(planningDimension);
+
+	cout<<"Choose a planner (available planner : CForest, RRTstar) : ";
+	cin >> plannerName;
+
+	OMPL_Planner planner(planningDimension);
+
+	planning_bounds_x_[0]=-15;
+	planning_bounds_x_[1]=15;
+	planning_bounds_y_[0]=-15;
+	planning_bounds_y_[1]=15;
+	planning_bounds_z_[0]=-15;
+	planning_bounds_z_[1]=15;
+
+	if (planningDimension == 3)
+		planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_, planning_bounds_z_);
+	else 
+		planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_);
+
+	planner.setPlanningDepth();
+
+	planner.setPlanner(plannerName);
+
+	cout<<"Enter direction to the Octomap file (.bt file usually) : ";
+	cin>> mapFile;
+	planner.setStateChecker(mapFile,0.5,0.5,0.5);
+
+	cout<<"\n Planner initialization done !\n";
+
+	start[2]=0;
+	goal[2]=0;
+
+	cout<<"Choose a start position (expecting "<< planningDimension <<" values) : ";
+	if(planningDimension==2)
+		cin>> start[0] >> start[1];
+	else
+		cin>> start[0] >> start[1] >> start[2];
+	
+	cout<<"Choose a goal position (expecting "<< planningDimension <<" values) : ";
+	if(planningDimension==2)
+		cin>> goal[0] >> goal[1];
+	else
+		cin>> goal[0] >> goal[1] >> goal[2];
+
+	planner.setStartGoal(start,goal);
+
+	cout<<"Choose solving time (default :"<<solvingTime<<") : ";
+	cin>> solvingTime;
+
+	//cout<<"Searching path from "<<start[0]<<" / "<<start[1]<<" / "<<start[2]<<" to "<<goal[0]<<" / "<<goal[1]<<" / "<<goal[2]<<"\n";
+
+	if(planner.findPath(solvingTime))
+	{
+		og::PathGeometric path = planner.getPath();
+		path.print(cout);
+	}
+	else
+		cout<<"\n No path found\n";
+
+	cout<<"Thanks for using this awsome Hello World !\n";
+
+	return 0;
+}
+
+
+//// DOXYGEN DOC ////
+
+/*! \mainpage Home page
+ *
+ * \section intro_sec Introduction
+ *
+ * This project regroup tools for path planning in 2D or in 3D using OMPL (http://ompl.kavrakilab.org/index.html). 
+ * It also include a ROS implementation for dynamic plannification.
+ *
+ * Work with Ubuntu 14.04 (and ROS Indigo) or with Ubuntu 16.04 (and ROS Kinetic).
+ *
+ * \section install_sec Installation
+ *
+ * \subsection step1 Step 1 : Workspace intialization
+ *
+ * Catkin Workspace : 
+ *		mkdir -p ~/catkin_ws/src
+ *		cd ~/catkin_ws/src
+ *		catkin_init_workspace
+ *		
+ *		cd ~/catkin_ws/
+ *		catkin_make
+ *
+ *		echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+ *		source ~/.bashrc 
+ *
+ *  \subsection step2 Step 2 : Compilation
+ *
+ *  It's possible to use the Turtlebot or the Hector Quadrotor (ROS Indigo only).
+ *
+ *  \subsubsection ste2a Step 2a : Turtlebot
+ *
+ * Turtlebot dependencies :
+ *
+ *		sudo apt-get install ros-kinetic-turtlebot* ros-kinetic-octomap* ros-kinetic-octovis
+ *		
+ *	    or
+ *
+ *	    sudo apt-get install ros-indigo-turtlebot* ros-indigo-octomap* ros-indigo-octovis
+ *
+ *	Turtlebot install :
+ *
+ *		 copy "mapping_planning_tutorial" folder (in Source Files directory) to "~/catkin_ws/src".
+ *		
+ *		 cd ~/catkin_ws/
+ *
+ *		 catkin_make (mignt need to be performed multiple times if you have error messages with "FindPathToGoal". Warning : it's possible that you won't manage to compile if you don't have enough computation power)
+ *
+ * \subsubsection ste2b Step 2b : Hector Quadrotor (ROS Indigo only)    WARNING : There might need some modification for the package path to make it work
+ *
+ * 		copy "hector_quadrotor_tutorial" folder (in Source Files directory) to "~/catkin_ws/src".
+ *
+ * Differences with Turtlebot
+ *
+ *   		Launch file : start_turtlebot_mapping_planning_control.launch
+ *
+ *     	 	"/odom"  ===> "/world"
+ *
+ *    	  	<node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" />  ===> <node pkg="control_turtlebot" type="controller_quadrotor.py" name="controller_quadrotor" respawn="true" output="screen" />
+ *      
+ *
+ *  ROS_OMPL_Planner.cpp :
+ *
+ *      odom_sub_ = _node_hand.subscribe("/odom", 1, &ROS_OMPL_Planner::odomCallback, this); ==>  odom_sub_ = node_handler_.subscribe("/ground_truth/state", 1, &ROS_OMPL_Planner::odomCallback, this);
+ *
+ *      visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  "/odom"; ===> visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  "/world";
+ *
+ *
+ * \section run Running
+ *
+ * You can run HelloWorld program to understand how works OMPL_Planner alone or you can run the ROS implementation (ROS_OMPL_Planner) which will include the ROS implementation, the visual simulation, the Octomap server, etc.
+ *
+ * \subsection runHello Run HelloWorld
+ *
+ *  	copy the octomap file (.bt) (in Maps directory) you want to use from the Map folder in the project to "~/catkin_ws/devel/lib/control_turtlebot" folder.
+ *
+ *  	cd ~/catkin_ws/devel/lib/control_turtlebot
+ *
+ *  	run HelloWorld (./HelloWorld)
+ *
+ *  Enjoy !
+ * 
+ * \subsection runROS Run ROS implementation
+ *
+ *  	1st terminal (Gazebo / Rviz / Controller) : 
+ *
+ * 		Turtlebot :  roslaunch control_turtlebot start_turtlebot_modules.launch
+ *
+ * 		Quadrotor :  roslaunch hector_quadrotor_demo indoor
+ *       
+ * 	 	2nd terminal (Octomap / Planning): roslaunch control_turtlebot start_turtlebot_mapping_planning_control.launch
+ *      
+ *  	3rd terminal (Planning request) : rosservice call /controller_turtlebot/find_path_to_goal "goal_state_x: 0.0
+ *      	                                                                                       goal_state_y: 0.0
+ *          	                                                                                   goal_state_z: 0.0"
+ *              	                      rosservice call /controller_turtlebot/goto "goal_state_x: 0.0
+ *                  	                                                              goal_state_y: 0.0
+ *                      	                                                          goal_state_z: 0.0" 
+ *
+ * \subsubsection config Configurations files
+ *
+ * See launch folder for runtime configurations.
+ *
+ * In config folder : planner_parameters.yaml
+ *
+ * Contains all the necessary parameters for a basic use of the planner (planning dimension, collision mask, etc.).
+ * 
+ *
+ * See also start_turtlebot_mapping_planning_control.launch file and src folder for a deeper understanding of the ROS implementation.
+ *
+ * \section todo Todo
+ *
+ *	BUG : Compilation sur certain linux : FindPathToGoal.h pb de génération avec cmake
+ *
+ * Frontier exploration
+ *
+ * Clean the dynmacilly allowed memory (Needed for dynamic check)
+ *
+ * Optimisation :
+ * 
+ *   prevent creation of too close state (Ex : start = goal is a problem)
+ *
+ *	 path check : don't check path already done
+ *
+ *	 Improving sending speed of the octomap
+ *
+ *
+ */
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.cpp
new file mode 100644
index 0000000..3785739
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.cpp	
@@ -0,0 +1,215 @@
+/**
+ * \file      OMPL_Planner.cpp
+ * \author    Harlé Antoine (antoine.h@flylab.io)
+ * \date      7/2017 - 8/2017
+ * \brief     Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.
+ *
+ */
+
+#include "OMPL_Planner.hpp"
+
+OMPL_Planner::OMPL_Planner(int dim) : _planningDimension(dim), _space(new ob::RealVectorStateSpace(dim)), _simple_setup(_space)
+{
+	_si = _simple_setup.getSpaceInformation();
+	/*
+	_start_state.resize(3);
+	_goal_state.resize(3);
+	*/
+}
+
+OMPL_Planner::~OMPL_Planner()
+{
+	/*
+	if(_checker !=nullptr)
+	{
+		delete _checker;
+		_checker = nullptr;
+	}
+	*/
+}
+
+void OMPL_Planner::setPlanningBounds(const std::vector<double> planning_bounds_x, const std::vector<double> planning_bounds_y, const std::vector<double> planning_bounds_z)
+{
+	ob::RealVectorBounds bounds(_planningDimension);
+
+	if(!planning_bounds_z.empty() && _planningDimension ==3)
+	{
+		bounds.setLow(2, planning_bounds_z[0]);
+		bounds.setHigh(2, planning_bounds_z[1]);
+	}
+
+	bounds.setLow(0, planning_bounds_x[0]);
+	bounds.setHigh(0, planning_bounds_x[1]);
+	bounds.setLow(1, planning_bounds_y[0]);
+	bounds.setHigh(1, planning_bounds_y[1]);
+
+	_space->as<ob::RealVectorStateSpace>()->setBounds(bounds);
+}
+
+void OMPL_Planner::setPlanningDepth(double depth_limit)
+{
+	_depth_limit = depth_limit;
+	if(_checker !=nullptr)
+		_checker->setDepthLimit(depth_limit);
+}
+
+void OMPL_Planner::setPlanner(const std::string plannerName)
+{
+	ob::PlannerPtr planner;
+	if(plannerName.compare("CForest")==0)
+		planner = ob::PlannerPtr(new og::CForest(_si)); //Deleted by simple_setup destructor ?
+	else //Default planner
+		planner = ob::PlannerPtr(new og::RRTstar(_si));
+
+	//planner->as<og::RRTstar>()->setRange(0.2);
+	//=======================================================================
+	// Set the setup planner
+	//=======================================================================
+	_simple_setup.setPlanner(planner);
+}
+
+void OMPL_Planner::setStateChecker(const ob::StateValidityCheckerPtr state_checker)
+{
+	if(state_checker != nullptr)
+		_simple_setup.setStateValidityChecker(state_checker);
+	else
+		cout<<"ERROR : invalid pointer on state_checker\n";
+}
+
+void OMPL_Planner::setStateChecker(const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z)
+{
+	if(_checker !=nullptr)
+	{
+		delete _checker;
+		_checker = nullptr;
+	}
+	
+	_checker = new StateChecker(_si);
+	_checker->loadMap(mapFile);
+	_checker->setCollisionMask(collision_mask_x,collision_mask_y,collision_mask_z);
+	_checker->setDepthLimit(_depth_limit);
+	_simple_setup.setStateValidityChecker(ob::StateValidityCheckerPtr(_checker));
+}
+
+void OMPL_Planner::setStateChecker(octomap::OcTree* octree, double collision_mask_x, double collision_mask_y, double collision_mask_z)
+{
+	if(_checker !=nullptr)
+	{
+		delete _checker;
+		_checker = nullptr;
+	}
+	
+	_checker = new StateChecker(_si);
+	_checker->loadMap(octree);
+	_checker->setCollisionMask(collision_mask_x,collision_mask_y,collision_mask_z);
+	_checker->setDepthLimit(_depth_limit);
+	_simple_setup.setStateValidityChecker(ob::StateValidityCheckerPtr(_checker));
+}
+
+void OMPL_Planner::updateStateChecker(octomap::OcTree* octree)
+{
+	if(_checker !=nullptr)
+		_checker->loadMap(octree);
+	//No error warned
+}
+
+void OMPL_Planner::setStartGoal(const std::vector<double> start_state, const std::vector<double> goal_state)
+{
+	ob::ScopedState<> start(_space);
+	ob::ScopedState<> goal(_space);
+	start[0] = double(start_state[0]);
+	start[1] = double(start_state[1]);
+
+	goal[0] = double(goal_state[0]);
+	goal[1] = double(goal_state[1]);
+
+	if(_planningDimension==3)
+	{
+		start[2] = double(start_state[2]);
+		goal[2] = double(goal_state[2]);
+
+		//Prevent invalid states because of too low altitude (Octomap issue)
+		if (start[2] < _depth_limit) start[2] = _depth_limit;
+		if (goal[2] < _depth_limit) goal[2] = _depth_limit;
+	}
+
+	_simple_setup.setStartAndGoalStates(start, goal);
+}
+
+bool OMPL_Planner::findPath(double solving_time)
+{
+	//Clear all previous planning data (Planner settings, start/goal states not affected)
+	_simple_setup.clear();
+
+	_simple_setup.setup();
+
+	//_simple_setup.print(cout);
+
+	ob::PlannerStatus solved = _simple_setup.solve( solving_time );
+
+	if (solved && _simple_setup.haveExactSolutionPath())
+	{
+		return true;
+	}
+	else
+		return false;
+}
+
+bool OMPL_Planner::isValid(std::vector<double> position) const
+{
+	if(_checker !=nullptr)
+	{
+		ob::ScopedState<> pos(_space);
+
+		if(_planningDimension==2)
+		{
+			pos[0] = double(position[0]);
+			pos[1] = double(position[1]);
+			return _checker->isValid(pos->as<ob::SE2StateSpace::StateType>());
+		}
+		else
+		{
+			pos[0] = double(position[0]);
+			pos[1] = double(position[1]);
+			
+			//Prevent invalid states because of too low altitude (Octomap issue)
+			if(position[2]<_depth_limit)
+				pos[2]=_depth_limit;
+			else
+				pos[2] = double(position[2]);
+			return _checker->isValid(pos->as<ob::SE3StateSpace::StateType>());
+		}
+	}
+	else
+		return false; //No error warned
+}
+
+bool OMPL_Planner::checkPath() const
+{
+	og::PathGeometric path = getPath();
+
+	return path.check();
+}
+
+bool OMPL_Planner::updatePath(octomap::OcTree* octree, double solving_time, const std::vector<double> start_state, const std::vector<double> goal_state)
+{
+	updateStateChecker(octree);
+
+	if(! checkPath()) //Invalid path
+	{
+		setStartGoal(start_state,goal_state);
+		return findPath(solving_time);
+	}
+	else
+		return true;
+}
+
+og::PathGeometric OMPL_Planner::getPath() const
+{
+	return _simple_setup.getSolutionPath();
+}
+
+og::SimpleSetup OMPL_Planner::getSimpleSetup() const
+{
+	return _simple_setup;
+}
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.hpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.hpp
new file mode 100644
index 0000000..8a3f569
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/OMPL_Planner.hpp	
@@ -0,0 +1,137 @@
+/**
+ * \file      OMPL_Planner.hpp
+ * \author    Harlé Antoine (antoine.h@flylab.io)
+ * \date      7/2017 - 8/2017
+ * \brief     Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.
+ *
+ */
+
+//#include <string>
+
+//using namespace std;
+
+//OMPL//
+//#include <ompl/config.h>
+//#include <ompl/base/SpaceInformation.h>
+//#include <ompl/base/spaces/RealVectorStateSpace.h>
+#include <ompl/geometric/SimpleSetup.h>
+
+#include <ompl/geometric/planners/cforest/CForest.h>
+#include <ompl/geometric/planners/rrt/RRTstar.h>
+
+#include <ompl/base/spaces/SE3StateSpace.h>
+#include <ompl/base/spaces/SE2StateSpace.h>
+
+//OMPL namespaces
+namespace ob = ompl::base;
+namespace og = ompl::geometric;
+
+#include "StateChecker.hpp"
+
+/**
+ * \class OMPL_Planner
+ * \brief Class for planner for 2D and 3D planning.
+ */
+class OMPL_Planner
+{
+	public :
+
+		//!  Constructor.
+		/*!
+		 * Create space and simple_setup instance for OMPL planning.
+		 * Set planning dimension.
+		*/
+		OMPL_Planner(int dim);
+
+		//! Set the bounds of the planner workspace.
+		/*!
+ 		* Workspace defined by a box with planning_bounds limits.
+ 		* Optional argument : Planning_bounds_z (used only for 3D planning).
+		*/
+		void setPlanningBounds(const std::vector<double> planning_bounds_x, const std::vector<double> planning_bounds_y, const std::vector<double> planning_bounds_z = std::vector<double>());
+		
+		//! Set the planning depth.
+		/*! Set the lowest altitude for states.
+		 * Represent the planning depth (constant) for 2D planning.
+		 * Used to prevent unwanted invalid state (Issue with the ground in Octomap).
+		*/
+		void setPlanningDepth(double depth_limit = 1);
+		
+		//! Set the planning algorithm used to solve the problem.
+		/*!
+		 * Planner avalaible : RRTstar, CForest.
+		 * If no argument provided, RRTstar will be used (reliable planner for most of the situations).
+		 * Implementation of other planners (except control-based planners) is quite simple.
+		*/
+		void setPlanner(const std::string plannerName = "RRTstar");
+
+		//! Set the state checker.
+		/*!
+		 * Check if a given position is collision-free.
+		*/
+		void setStateChecker(const ob::StateValidityCheckerPtr state_checker);
+		void setStateChecker(const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z = 0.2);
+		void setStateChecker(octomap::OcTree* octree, double collision_mask_x, double collision_mask_y, double collision_mask_z);
+
+		//! Update the state checker.
+		/*!
+		 * The new map will be used for state checking.
+		 * If the state checker wasn't set before, there's no update and no warning message will be displayed.
+		 */
+		void updateStateChecker(octomap::OcTree* octree);
+
+		//! Set the planning objectives.
+		/*!
+		 * If the state has an altitude lower than the planning depth, it's altitude will be set to the planning depth.
+		 */
+		void setStartGoal(const std::vector<double> start_state, const std::vector<double> goal_state);
+
+		//! Solve the planning problem.
+		/*!
+		 * Find a path from the start state to the goal state in the map given to the state checker.
+		 * The planner will run during solving_time and optimize the solution during this time.
+		 */
+		bool findPath(double solving_time);
+
+		//! Check if position is collision-free.
+		/*!
+		 * Checking is done on the last map given to the state checker.
+		 */
+		bool isValid(std::vector<double> position) const;
+
+		//! Check if the path is valid.
+		bool checkPath() const;
+
+		//! Update the path.
+		/*!
+		 * Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map.
+		 * Update the state checker.
+		 * Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path.
+		 */
+		bool updatePath(octomap::OcTree* octree, double solving_time, const std::vector<double> start_state, const std::vector<double> goal_state);
+
+		//! Return the path found by the planner.
+		og::PathGeometric getPath() const;
+
+		//! Return the OMPL object containing most of the information of the planning problem.
+		og::SimpleSetup getSimpleSetup() const;
+
+		//!  Destructor.
+		/*!
+		 * Free dynamicly allowed data.
+		*/
+		~OMPL_Planner();
+
+	private :
+
+		int _planningDimension; /*!< 2D or 3D */
+
+		ob::SpaceInformationPtr _si; /*!< Contain all the information on the workspace*/
+		ob::StateSpacePtr _space; /*!< Space in which we're working (2D /3D) */
+		og::SimpleSetup _simple_setup; /*!< OMPL object for planning in simple configurations*/
+
+		StateChecker* _checker = nullptr; /*!< Object for checking if a position is collision-free */
+
+		//std::vector<double> _start_state, _goal_state;
+		double _depth_limit; /*!< lowest altitude for checking (constant depth for 2D checking). Used to prevent unwanted invalid state (Issue with the ground in Octomap). */
+};
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.cpp
new file mode 100644
index 0000000..a9cbe3f
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.cpp	
@@ -0,0 +1,103 @@
+/**
+ * \file      StateChecker.cpp
+ * \author    Harlé Antoine
+ * \date      7/2017 - 8/2017
+ * \brief     Check if a given configuration is collision-free.
+ *  The workspace is represented by an octomap.
+ */
+
+#include "StateChecker.hpp"
+
+StateChecker::StateChecker(const ob::SpaceInformationPtr &si): ob::StateValidityChecker(si)
+{
+	planningDimension = si->getStateDimension();
+}
+
+StateChecker::~StateChecker()
+{
+	if(_map !=nullptr)
+	{
+		delete _map;
+		_map = nullptr;
+	}
+	
+}
+
+void StateChecker::loadMap(const std::string mapFile) //Take a look to memory mangaement for map
+{
+	/*
+	if(_map !=nullptr)
+	{
+		delete _map;
+		_map = nullptr;
+	}
+	*/
+	_map = (new octomap::OcTree(mapFile));
+	_map_res = _map->getResolution();
+}
+
+void StateChecker::loadMap(octomap::OcTree* octree)
+{
+	/*
+	if(_map !=nullptr)
+	{
+		delete _map;
+		_map = nullptr;
+	}
+	*/
+	_map = octree;
+	_map_res = _map->getResolution();
+}
+
+void StateChecker::setCollisionMask(double x, double y, double z)
+{
+	_check_box.x=x;
+	_check_box.y=y;
+	_check_box.z=z;
+}
+
+void StateChecker::setDepthLimit(double depth_limit)
+{
+	_depth_limit = depth_limit;
+}
+
+bool StateChecker::isValid(const ob::State *state) const
+{
+	OcTreeNode* result;
+	point3d query; //Octomap
+	bool collision(false);
+	double node_occupancy;
+
+	// extract the component of the state and cast it to what we expect
+	const ob::RealVectorStateSpace::StateType *pos = state->as<ob::RealVectorStateSpace::StateType>();
+
+	//Constant depth for 2D planning (There might be a better way to implement this)
+	
+	if(planningDimension==2)
+	{
+		pos->values[2]=_depth_limit;
+	}
+	
+	//Recherche dans le collision mask autour de pos
+	for(double xi = pos->values[0]-(_check_box.x/2.0);xi <= pos->values[0]+(_check_box.x/2.0);xi=xi+_map_res)
+		for(double yi = pos->values[1]-(_check_box.y/2.0);yi <= pos->values[1]+(_check_box.y/2.0);yi=yi+_map_res)
+			for(double zi = pos->values[2]-(_check_box.z/2.0);zi <= pos->values[2]+(_check_box.z/2.0);zi=zi+_map_res){ //Trop sensible sur z
+				query.x() = xi;
+				query.y() = yi;
+				query.z() = zi;
+				result = _map->search (query); //Retourne le pointeur de la node Ă  la position query, NULL si elle n'existe pas (terrain inconnu)
+
+				if(result != NULL){ // Node connue
+
+					node_occupancy = result->getOccupancy();
+			
+					if (node_occupancy > 0.4)
+					{
+						collision = true;
+						break;
+					}
+				}
+			}
+
+	return !collision;
+}
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.hpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.hpp
new file mode 100644
index 0000000..d217b50
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.hpp	
@@ -0,0 +1,84 @@
+/**
+ * \file      State_Checker.hpp
+ * \author    Harlé Antoine
+ * \date      7/2017 - 8/2017
+ * \brief     Check if a given configuration is collision-free.
+ *  The workspace is represented by an octomap.
+ */
+
+#include <string>
+
+using namespace std;
+
+//OCTOMAP//
+#include <octomap/octomap.h>
+
+using namespace octomap;
+
+//OMPL//
+#include <ompl/config.h>
+#include <ompl/base/SpaceInformation.h>
+#include <ompl/base/spaces/RealVectorStateSpace.h>
+
+namespace ob = ompl::base;
+
+/**
+ * \struct Checking_Box
+ * \brief Collision Mask : virtual representation of the drone as a box with x,y,z length
+ */
+struct Checking_Box
+{
+	double x;
+	double y;
+	double z;
+};
+
+/**
+ * \class StateChecker
+ * \brief Class for state checking for 2D and 3D planning.
+ * Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?).
+ */
+class StateChecker : public ob::StateValidityChecker
+{
+	public:
+	
+		//! Constructor.
+		/*!
+		 * Call the StateValidityChecker constructor from OMPL library and set checking dimension.
+		*/
+		StateChecker(const ob::SpaceInformationPtr &si);
+
+		//! Load the octomap where the states are checked
+		void loadMap(const std::string mapFile);
+		void loadMap(octomap::OcTree* octree);
+
+		//! Set the area around every state considered for state checking.
+		void setCollisionMask(double x, double y, double z = 0.2);
+
+		//! Set the depth limit (constant for 2D checking)
+		/*! Set the lowest altitude for checking (constant depth for 2D checking).
+		 * Used to prevent unwanted invalid state (Issue with the ground in Octomap)
+		*/
+		void setDepthLimit(double depth_limit);
+
+		//! State validator.
+		/*!
+		 * Function that verifies if the given state is valid (i.e. is free of collision) using FCL.
+		 */
+		virtual bool isValid(const ob::State *state) const;
+
+		//!  Destructor.
+		/*!
+		 * Free dynamicly allowed data.
+		*/
+		~StateChecker();
+
+	private :
+
+		int planningDimension; /*!< 2D or 3D */
+		//Octomap
+		octomap::OcTree* _map = nullptr; /*!< Pointer to the object containing the map (Heavy object ?)*/
+		double _map_res, _depth_limit;
+
+		Checking_Box _check_box; /*!< Collision mask : area around every state considered for state checking. */
+};
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.cpp
new file mode 100644
index 0000000..5556ff5
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.cpp	
@@ -0,0 +1,467 @@
+/**
+ * \file     ROS_ OMPL_Planner.cpp
+ * \author    Harlé Antoine (antoine.h@flylab.io)
+ * \date      7/2017 - 8/2017
+ * \brief     ROS implementation of OMPL_Planner.
+ */
+
+#include "ROS_OMPL_Planner.hpp"
+
+ROS_OMPL_Planner::ROS_OMPL_Planner(int dimension) : planningDimension(dimension), planner(dimension), _obstacle_flag(true)
+{
+	//=======================================================================
+	// Subscribers.
+	//=======================================================================
+	//Navigation data
+	odom_sub_ = _node_hand.subscribe("/odom", 1, &ROS_OMPL_Planner::odomCallback, this);
+
+	//=======================================================================
+	// Publishers (to visualize the resulting path).
+	//=======================================================================
+	visual_traj_pub_ = _node_hand.advertise<visualization_msgs::Marker> ("/controller_turtlebot/solution_path", 1, true);
+	path_pub_ = _node_hand.advertise<geometry_msgs::PoseArray> ("/Planning_Module/path", 1, true);
+
+	//=======================================================================
+	// Service
+	//=======================================================================
+	service_ = _node_hand.advertiseService("/controller_turtlebot/find_path_to_goal", &ROS_OMPL_Planner::findPathToGoal, this);
+
+	planning_bounds_x_.resize(2);
+	planning_bounds_y_.resize(2);
+	planning_bounds_z_.resize(2);
+	current_position_.resize(3);
+	goal_state.resize(3);
+
+	//=======================================================================
+	// Get parameters from configuration file.
+	//=======================================================================
+	_node_hand.getParam("planning_bounds_x", planning_bounds_x_);
+	_node_hand.getParam("planning_bounds_y", planning_bounds_y_);
+	_node_hand.getParam("planning_bounds_z", planning_bounds_z_);
+
+	_node_hand.getParam("solving_time", solving_time_);
+	_node_hand.getParam("planner_name", planner_name_);
+
+	_node_hand.getParam("collision_mask_x", collision_mask.x);
+	_node_hand.getParam("collision_mask_y", collision_mask.y);
+
+	if(dimension==2)
+		_node_hand.getParam("collision_mask_z_2D", collision_mask.z);
+	else 
+		_node_hand.getParam("collision_mask_z_3D", collision_mask.z);
+
+	_node_hand.getParam("planning_depth_limit", planning_depth_limit);
+
+	//=======================================================================
+	// Planner setup.
+	//=======================================================================
+
+	planner.setPlanningDepth(planning_depth_limit);
+
+	if (dimension == 2)
+		planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_);
+	else 
+		planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_, planning_bounds_z_);
+
+	planner.setPlanner(planner_name_);
+
+	updateMap();
+	planner.setStateChecker(octree_, collision_mask.x, collision_mask.y, collision_mask.z);
+
+	ROS_INFO("%s: %dD Planner Init done !", ros::this_node::getName().c_str(), dimension);
+}
+
+bool ROS_OMPL_Planner::updateMap()
+{
+	if(octree_ !=nullptr)
+	{
+	delete octree_;
+	octree_ = nullptr;
+	}
+
+	ROS_INFO("%s: requesting the map to %s...", ros::this_node::getName().c_str(), _node_hand.resolveName(serv_name).c_str());
+
+	while((_node_hand.ok() && !ros::service::call(serv_name, req, resp)) || resp.map.data.size()==0)
+	{
+		ROS_WARN("Request to %s failed; trying again...", _node_hand.resolveName(serv_name).c_str());
+		usleep(1000000);
+	}
+	if (_node_hand.ok()){ // skip when CTRL-C
+		abs_octree_ = octomap_msgs::msgToMap(resp.map);
+
+		if (abs_octree_)
+		{
+			octree_ = dynamic_cast<octomap::OcTree*>(abs_octree_);
+		}
+	
+		if (octree_){
+			ROS_INFO("Octomap received (%zu nodes)", octree_->size());
+			return true;
+			} 
+		else{
+			ROS_ERROR("Error reading OcTree from stream");
+			return false;
+			}
+	}
+}
+
+void ROS_OMPL_Planner::odomCallback(const nav_msgs::OdometryPtr &odom_msg)
+{
+	current_position_[0] = odom_msg->pose.pose.position.x;
+	current_position_[1] = odom_msg->pose.pose.position.y;
+	current_position_[2] = odom_msg->pose.pose.position.z;
+}
+
+bool ROS_OMPL_Planner::findPathToGoal(control_turtlebot::FindPathToGoal::Request& request, control_turtlebot::FindPathToGoal::Response& response)
+{
+	goal_state[0] = request.goal_state_x;
+	goal_state[1] = request.goal_state_y;
+	goal_state[2] = request.goal_state_z;
+
+	//Prevent invalid states because of too low altitude (Octomap issue)
+	if(goal_state[2]<planning_depth_limit) goal_state[2] = planning_depth_limit;
+	if(current_position_[2]<planning_depth_limit) current_position_[2] = planning_depth_limit;
+
+	updateMap();
+	planner.updateStateChecker(octree_);
+
+	// Start and Goal checking
+	if(! planner.isValid(current_position_))
+		ROS_WARN("%s: Start Position %lf/%lf/%lf is invalid !\n",ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2]);
+	if(! planner.isValid(goal_state))
+		ROS_WARN("%s: Goal Position %lf/%lf/%lf is invalid !\n",ros::this_node::getName().c_str(), goal_state[0],goal_state[1],goal_state[2]);
+
+	planner.setStartGoal(current_position_, goal_state);
+	
+	ROS_INFO("%s: Searching path from %lf/%lf/%lf to %lf/%lf/%lf ...\n",ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2], goal_state[0],goal_state[1],goal_state[2]);
+
+	if(planner.findPath(solving_time_))
+	{
+		_obstacle_flag = false;
+		ROS_INFO("%s: path has been found with simple_setup", ros::this_node::getName().c_str());
+		PublishPath(response);
+	}
+	else
+		ROS_WARN("%s: path has not been found", ros::this_node::getName().c_str());
+
+	return true;
+}
+
+//REALLY Ugly function
+void ROS_OMPL_Planner::visualizeRRT(const og::SimpleSetup simple_setup)
+{
+	og::PathGeometric geopath = simple_setup.getSolutionPath();
+	// %Tag(MARKER_INIT)%
+	visualization_msgs::Marker q_init_goal, visual_rrt, result_path, visual_result_path;
+	visual_result_path.header.frame_id = result_path.header.frame_id = q_init_goal.header.frame_id = visual_rrt.header.frame_id =  "/odom";
+	visual_result_path.header.stamp = result_path.header.stamp = q_init_goal.header.stamp = visual_rrt.header.stamp = ros::Time::now();
+	q_init_goal.ns = "online_planner_points";
+	visual_rrt.ns = "online_planner_rrt";
+	result_path.ns = "online_planner_result";
+	visual_result_path.ns = "online_planner_result_path";
+	visual_result_path.action = result_path.action = q_init_goal.action = visual_rrt.action = visualization_msgs::Marker::ADD;
+
+	visual_result_path.pose.orientation.w = result_path.pose.orientation.w = q_init_goal.pose.orientation.w = visual_rrt.pose.orientation.w = 1.0;
+	// %EndTag(MARKER_INIT)%
+
+	// %Tag(ID)%
+	q_init_goal.id = 0;
+	visual_rrt.id = 1;
+	result_path.id = 2;
+	visual_result_path.id = 3;
+	// %EndTag(ID)%
+
+	// %Tag(TYPE)%
+	result_path.type = q_init_goal.type = visualization_msgs::Marker::POINTS;
+	visual_rrt.type = visual_result_path.type = visualization_msgs::Marker::LINE_LIST;
+	// %EndTag(TYPE)%
+
+	// %Tag(SCALE)%
+	// POINTS markers use x and y scale for width/height respectively
+	result_path.scale.x = q_init_goal.scale.x = 0.5;
+	result_path.scale.y = q_init_goal.scale.y = 0.5;
+	result_path.scale.z = q_init_goal.scale.z = 0.5;
+
+	// LINE_STRIP/LINE_LIST markers use only the x component of scale, for the line width
+	visual_rrt.scale.x = 0.01;
+	visual_result_path.scale.x = 0.02;
+	// %EndTag(SCALE)%
+
+	// %Tag(COLOR)%
+	// Points are green
+	visual_result_path.color.g = 1.0;
+	result_path.color.g = q_init_goal.color.g = 1.0;
+	visual_result_path.color.a = result_path.color.a = q_init_goal.color.a = 1.0;
+
+	// Line strip is blue
+	visual_rrt.color.b = 1.0;
+	visual_rrt.color.a = 1.0;
+
+
+	ob::PlannerData planner_data(simple_setup.getSpaceInformation());
+	simple_setup.getPlannerData(planner_data);
+	std::vector< unsigned int > edgeList;
+	int num_parents;
+	//const ob::SE2StateSpace::StateType *state_se2;
+	const ob::RealVectorStateSpace::StateType *state_r2;
+
+	const ob::RealVectorStateSpace::StateType *state;
+	geometry_msgs::Point p;
+
+	if(planningDimension==3)
+	{
+		for (unsigned int i = 1 ; i < planner_data.numVertices() ; ++i)
+		{
+			if (planner_data.getVertex(i).getState() && planner_data.getIncomingEdges(i,edgeList) > 0)
+			{
+				state_r2 = planner_data.getVertex(i).getState()->as<ob::RealVectorStateSpace::StateType>();
+				p.x = state_r2->values[0];
+				p.y = state_r2->values[1];
+				p.z = state_r2->values[2];//3D change
+				visual_rrt.points.push_back(p);
+
+				state_r2 = planner_data.getVertex(edgeList[0]).getState()->as<ob::RealVectorStateSpace::StateType>();
+				p.x = state_r2->values[0];
+				p.y = state_r2->values[1];
+				p.z = state_r2->values[2];//3D change
+				visual_rrt.points.push_back(p);
+			}
+		}
+		std::vector< ob::State * > states = geopath.getStates();
+
+		for (uint32_t i = 0; i < geopath.getStateCount(); ++i)
+		{
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			p.x = state->values[0];
+			p.y = state->values[1];
+			p.z = state->values[2];//3D change
+
+			result_path.points.push_back(p);
+
+			if(i>0)
+			{
+				visual_result_path.points.push_back(p);
+				state = states[i-1]->as<ob::RealVectorStateSpace::StateType>();
+
+				p.x = state->values[0];
+				p.y = state->values[1];
+				p.z = state->values[2];//3D change
+				visual_result_path.points.push_back(p);
+			}
+		}
+	}
+	else
+	{
+		for (unsigned int i = 1 ; i < planner_data.numVertices() ; ++i)
+		{
+			if (planner_data.getVertex(i).getState() && planner_data.getIncomingEdges(i,edgeList) > 0)
+			{
+				state_r2 = planner_data.getVertex(i).getState()->as<ob::RealVectorStateSpace::StateType>();
+				p.x = state_r2->values[0];
+				p.y = state_r2->values[1];
+				p.z = planning_depth_limit; //2D change
+				visual_rrt.points.push_back(p);
+
+				state_r2 = planner_data.getVertex(edgeList[0]).getState()->as<ob::RealVectorStateSpace::StateType>();
+				p.x = state_r2->values[0];
+				p.y = state_r2->values[1];
+				p.z = planning_depth_limit; //2D change
+				visual_rrt.points.push_back(p);
+			}
+		}
+		std::vector< ob::State * > states = geopath.getStates();
+
+		for (uint32_t i = 0; i < geopath.getStateCount(); ++i)
+		{
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			p.x = state->values[0];
+			p.y = state->values[1];
+			p.z = planning_depth_limit; //2D change
+
+			result_path.points.push_back(p);
+
+			if(i>0)
+			{
+				visual_result_path.points.push_back(p);
+				state = states[i-1]->as<ob::RealVectorStateSpace::StateType>();
+
+				p.x = state->values[0];
+				p.y = state->values[1];
+				p.z = planning_depth_limit; //2D change
+				visual_result_path.points.push_back(p);
+			}
+		}
+	}
+	//visual_traj_pub_.publish(q_init_goal);
+	visual_traj_pub_.publish(visual_rrt);
+	visual_traj_pub_.publish(visual_result_path);
+	//visual_traj_pub_.publish(result_path);
+}
+
+//Ugly function
+void ROS_OMPL_Planner::PublishPath(control_turtlebot::FindPathToGoal::Response& response)
+{
+	og::PathGeometric path = planner.getPath();
+	//Display path
+	visualizeRRT(planner.getSimpleSetup());
+
+	std::vector< ob::State * > states = path.getStates();
+	const ob::RealVectorStateSpace::StateType *state;
+
+	uint32_t state_nb = path.getStateCount();
+
+	geometry_msgs::PoseArray path_msg;
+
+	//A CHANGER : passage du nombre de state
+	//Passer par stamp dans le header ?
+	geometry_msgs::Pose state_nb_msg;
+	state_nb_msg.position.x=state_nb;
+	path_msg.poses.push_back(state_nb_msg);
+
+	//ROS_INFO("State nb : %d",state_nb);
+	if(planningDimension==3)
+	{
+		for (uint32_t i = 0; i < state_nb; ++i)
+		{
+			geometry_msgs::Pose pose;
+			geometry_msgs::Point point;
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			point.x = state->values[0];
+			point.y = state->values[1];
+			point.z = state->values[2];
+				
+			pose.position = point;
+
+			path_msg.poses.push_back(pose);
+			//Send path as response of the planning request
+			response.poses.push_back(pose);
+		}
+	}
+	else
+	{
+		for (uint32_t i = 0; i < state_nb; ++i)
+		{
+			geometry_msgs::Pose pose;
+			geometry_msgs::Point point;
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			point.x = state->values[0];
+			point.y = state->values[1];
+			point.z = planning_depth_limit;
+				
+			pose.position = point;
+
+			path_msg.poses.push_back(pose);
+			//Send path as response of the planning request
+			response.poses.push_back(pose);
+		}
+	}
+	//Publish the path on a topic
+	path_pub_.publish(path_msg);
+}
+
+void ROS_OMPL_Planner::PublishPath()
+{
+	og::PathGeometric path = planner.getPath();
+	//Display path
+	visualizeRRT(planner.getSimpleSetup());
+
+	std::vector< ob::State * > states = path.getStates();
+	const ob::RealVectorStateSpace::StateType *state;
+
+	uint32_t state_nb = path.getStateCount();
+
+	geometry_msgs::PoseArray path_msg;
+
+	//A CHANGER : passage du nombre de state
+	//Passer par stamp dans le header ?
+	geometry_msgs::Pose state_nb_msg;
+	state_nb_msg.position.x=state_nb;
+	path_msg.poses.push_back(state_nb_msg);
+
+	//ROS_INFO("State nb : %d",state_nb);
+	if(planningDimension==3)
+	{
+		for (uint32_t i = 0; i < state_nb; ++i)
+		{
+			geometry_msgs::Pose pose;
+			geometry_msgs::Point point;
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			point.x = state->values[0];
+			point.y = state->values[1];
+			point.z = state->values[2];
+				
+			pose.position = point;
+
+			path_msg.poses.push_back(pose);
+		}
+	}
+	else
+	{
+		for (uint32_t i = 0; i < state_nb; ++i)
+		{
+			geometry_msgs::Pose pose;
+			geometry_msgs::Point point;
+			// extract the component of the state and cast it to what we expect
+			state = states[i]->as<ob::RealVectorStateSpace::StateType>();
+
+			point.x = state->values[0];
+			point.y = state->values[1];
+			point.z = planning_depth_limit;
+				
+			pose.position = point;
+
+			path_msg.poses.push_back(pose);
+		}
+	}
+	//Publish the path on a topic
+	path_pub_.publish(path_msg);
+}
+
+bool ROS_OMPL_Planner::getObstacleFlag() const
+{
+	return _obstacle_flag;
+}
+
+bool ROS_OMPL_Planner::updatePath()
+{
+	ROS_INFO("%s: Updating path ...\n",ros::this_node::getName().c_str());
+
+	if(current_position_[2]<planning_depth_limit) current_position_[2] = planning_depth_limit;
+
+	updateMap();
+
+	// Start and Goal checking
+	if(! planner.isValid(current_position_))
+		ROS_WARN("%s: Start Position %lf/%lf/%lf is invalid !\n",ros::this_node::getName().c_str(), current_position_[0],current_position_[1],current_position_[2]);
+	if(! planner.isValid(goal_state))
+		ROS_WARN("%s: Goal Position %lf/%lf/%lf is invalid !\n",ros::this_node::getName().c_str(), goal_state[0],goal_state[1],goal_state[2]);
+
+	if(planner.updatePath(octree_, solving_time_, current_position_, goal_state))
+	{
+		_obstacle_flag=false;
+		PublishPath();
+		ROS_INFO("%s: Path update done !\n",ros::this_node::getName().c_str());
+		return true;
+	}
+	else
+	{
+		_obstacle_flag = true;
+		ROS_WARN("%s: Path update failed !\n",ros::this_node::getName().c_str());
+		return false;
+	}
+}
+
+ROS_OMPL_Planner::~ROS_OMPL_Planner()
+{
+
+}
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.hpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.hpp
new file mode 100644
index 0000000..228fe7b
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_OMPL_Planner.hpp	
@@ -0,0 +1,122 @@
+/**
+ * \file      ROS_ OMPL_Planner.hpp
+ * \author    Harlé Antoine (antoine.h@flylab.io)
+ * \date      7/2017 - 8/2017
+ * \brief     ROS implementation of OMPL_Planner.
+ *
+ */
+
+#include <ros/ros.h>
+#include <visualization_msgs/Marker.h>
+#include <nav_msgs/Odometry.h>
+#include <std_msgs/Bool.h>
+#include <geometry_msgs/PoseArray.h>
+#include <ros/package.h>
+#include <std_srvs/Empty.h>
+#include <tf/message_filter.h>
+#include <tf/transform_listener.h>
+#include <control_turtlebot/FindPathToGoal.h>
+#include <geometry_msgs/Pose2D.h>
+#include <geometry_msgs/Pose.h>
+
+#include <octomap_msgs/conversions.h>
+#include <octomap_msgs/GetOctomap.h>
+
+//ROS-Octomap interface
+using octomap_msgs::GetOctomap;
+
+#include "../OMPL_Planner/OMPL_Planner.hpp"
+
+/**
+ * \class ROS_OMPL_Planner
+ * \brief ROS implementation class for OMPL_Planner.
+ */
+class ROS_OMPL_Planner
+{
+	public:
+		//!  Constructor.
+		/*!
+		 * Load planning parameters from configuration file.
+		 * Create the connection with other ROS nodes.
+		 * Create the OMPL_Planner instance.
+		*/
+		ROS_OMPL_Planner(int dimension);
+
+		//! Request and load the actual map from the Octomap server.
+		bool updateMap();
+
+		//! Callback for getting current vehicle position
+		void odomCallback(const nav_msgs::OdometryPtr &odom_msg);
+
+		//! Find a path
+		/*!
+		 * Find a path from the current position to the goal request.
+		 * Update the state checker, check the validity of the start/goal state.
+		*/
+		bool findPathToGoal(control_turtlebot::FindPathToGoal::Request& request, control_turtlebot::FindPathToGoal::Response& response);
+
+		//! Procedure to visualize the resulting path.
+		/*!
+ 		* Visualize resulting path.
+		*/
+		void visualizeRRT(const og::SimpleSetup simple_setup);
+
+		//! Publish the resulting path.
+		/*!
+		 * Publish the path on a topic and in response of the request.
+		 * Display the path.
+		 * TOPIC : the first state of the path contains the number of states of the path.
+		*/
+		void PublishPath(control_turtlebot::FindPathToGoal::Response& response);
+		
+		//! Publish the resulting path.
+		/*!
+		 * Publish the path on a topic.
+		 * Display the path.
+		 * TOPIC : the first state of the path contains the number of states of the path.
+		*/
+		void PublishPath();
+
+		//! Return the flag representing the validity of the current path.
+		bool getObstacleFlag() const;
+
+		//! Update the path.
+		/*!
+		 * Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map.
+		 * Update the state checker and the obstacle_flag.Check the validity of the start/goal state.
+		 * Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path.
+		 */
+		bool updatePath();
+
+		//!  Destructor.
+		/*!
+		 * Free dynamicly allowed data.
+		*/
+		~ROS_OMPL_Planner();
+
+	private:
+		OMPL_Planner planner; /*!< Planner for 2D and 3D planning. */
+
+		//Octomap
+		octomap::AbstractOcTree* abs_octree_;
+		octomap::OcTree* octree_ = nullptr; /*!< Pointer to the object containing the map (Heavy object ?).*/
+
+		// *** ROS ***
+		ros::NodeHandle _node_hand;
+		ros::Publisher visual_traj_pub_, path_pub_;
+		ros::Subscriber odom_sub_; 
+		ros::ServiceServer service_; 
+		// Octomap server
+		GetOctomap::Request req;
+		GetOctomap::Response resp;
+		std::string serv_name = "/octomap_full"; /*!< Address of the Octomap server. */
+
+		bool _obstacle_flag; /*!< Flag representing the validity of the current path, whether there is obstacle on the path or not. */
+		int planningDimension;
+		double solving_time_,planning_depth_limit;
+		std::string planner_name_;
+		std::vector<double> current_position_, goal_state;
+		std::vector<double> planning_bounds_x_, planning_bounds_y_, planning_bounds_z_; /*!< Limits of the planning workspace. */
+
+		Checking_Box collision_mask; /*!< Virtual representation of the drone used for collision checking. */
+};
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_Planning_Node.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_Planning_Node.cpp
new file mode 100644
index 0000000..c7fc40a
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/ROS_Planning_Node.cpp	
@@ -0,0 +1,56 @@
+/**
+ * \file     ROS_ Planning_Node.cpp
+ * \author   Harlé Antoine (antoine.h@flylab.io)
+ * \date     7/2017 - 8/2017
+ * \brief    Planning ROS node.
+ *
+ */
+
+#include "ROS_OMPL_Planner.hpp"
+
+int main(int argc, char *argv[])
+{
+	ros::init(argc, argv, "offline_planner_with_services_R2");
+	ros::NodeHandle node_handler_;
+	ROS_INFO("%s: using OMPL version %s", ros::this_node::getName().c_str(), OMPL_VERSION);
+	ompl::msg::setLogLevel(ompl::msg::LOG_NONE);
+
+	std::string planning_dimension;
+	node_handler_.getParam("planning_dimension", planning_dimension);
+
+	
+	if(planning_dimension.compare("2D")==0) //2D planning
+	{
+		//Initialization planner
+		ROS_OMPL_Planner planner(2);
+
+		ros::Rate loop_rate(10);
+		while (ros::ok())
+		{
+			if(! planner.getObstacleFlag()) //Constantly check while the path is valid
+			{
+				planner.updatePath();
+			}
+			ros::spinOnce();
+			loop_rate.sleep();
+		}
+	}
+	else //3D planning
+	{
+		//Initialization planner
+		ROS_OMPL_Planner planner(3);
+
+		ros::Rate loop_rate(10);
+		while (ros::ok())
+		{
+			if(! planner.getObstacleFlag()) //Constantly check while the path is valid
+			{
+				planner.updatePath();
+			}
+			ros::spinOnce();
+			loop_rate.sleep();
+		}
+	}
+
+	return 0;
+}
\ No newline at end of file
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_quadrotor.py b/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_quadrotor.py
new file mode 100755
index 0000000..bdb97f6
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_quadrotor.py	
@@ -0,0 +1,149 @@
+#!/usr/bin/env python
+
+# ROS imports
+import roslib; roslib.load_manifest('control_turtlebot')
+import rospy
+import tf
+import math
+
+#ROS messages
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from control_turtlebot.srv import GotoWaypoint, GotoWaypointResponse, FindPathToGoal, FindPathToGoalResponse, FindPathToGoalRequest
+
+#Numpy
+import numpy as np
+
+class Controller(object):
+
+	def __init__(self):
+		self.odometry_sub_ = rospy.Subscriber("/ground_truth/state", Odometry, self.odomCallback, queue_size = 1)
+		self.control_input_pub_ = rospy.Publisher("/cmd_vel", Twist, queue_size = 1)
+		
+		self.serv_ = rospy.Service('/controller_turtlebot/goto', 
+                                  GotoWaypoint, 
+                                  self.calculateControlInput)
+		
+		self.current_position_ = np.zeros(3)
+		self.current_orientation_ = 0.0
+		
+		self.desired_position_ = np.zeros(3)
+		self.desired_orientation_ = 0.0
+		
+		
+		rospy.wait_for_service('/controller_turtlebot/find_path_to_goal')
+		try:
+			self.find_path_to_goal_serv_ = rospy.ServiceProxy('/controller_turtlebot/find_path_to_goal', FindPathToGoal)
+		except rospy.ServiceException, e:
+			print "Service call failed: %s"%e
+		
+		return
+	
+	def calculateControlInput(self, req):
+		
+		planner_request = FindPathToGoalRequest()
+		planner_request.new_goal = True
+		planner_request.goal_state_x = req.goal_state_x
+		planner_request.goal_state_y = req.goal_state_y
+		planner_request.goal_state_z = req.goal_state_z
+		
+		planner_response = self.find_path_to_goal_serv_(planner_request)
+		
+		for pose in planner_response.poses:
+			print pose
+			control_input = Twist()
+			self.desired_position_[0] = pose.position.x
+			self.desired_position_[1] = pose.position.y
+			self.desired_position_[2] = pose.position.z
+	 		
+			loop_rate = rospy.Rate(100) # 10Hz
+			orientation_approach = False
+			while not rospy.is_shutdown():
+				inc_x = self.desired_position_[0] - self.current_position_[0]
+				inc_y = self.desired_position_[1] - self.current_position_[1]
+				inc_z = self.desired_position_[2] - self.current_position_[2]
+	 			
+				self.desired_orientation_ = wrapAngle(math.atan2(inc_y, inc_x))
+				yaw_error = wrapAngle(self.desired_orientation_ - self.current_orientation_)
+				distance_to_goal = math.sqrt(math.pow(inc_x, 2.0) + math.pow(inc_y, 2.0))
+	 			
+				if abs(yaw_error) > 0.04 and not orientation_approach:
+					control_input.angular.x = 0.0
+					control_input.angular.y = 0.0
+					control_input.angular.z = yaw_error * 1.0
+				
+					control_input.linear.x = 0.0
+					control_input.linear.y = 0.0
+					control_input.linear.z = 0.0
+				else:
+					control_input.angular.x = 0.0
+					control_input.angular.y = 0.0
+					control_input.angular.z = 0.0
+					
+					orientation_approach = True
+					liner_speed = abs(distance_to_goal) * 0.5
+					altitude_speed = inc_z * 0.5
+					
+					if liner_speed < 0.1:
+						control_input.linear.x = 0.1
+					elif liner_speed > 0.2:
+						control_input.linear.x = 0.2
+					else :
+						control_input.linear.x = liner_speed
+
+					if abs(altitude_speed) < 0.1:
+						if altitude_speed ==0 :
+							control_input.linear.z = 0
+						elif altitude_speed > 0 :
+							control_input.linear.z = 0.1
+						else:
+							control_input.linear.z = -0.1
+
+					elif abs(altitude_speed) > 0.2:
+						if altitude_speed > 0 :
+							control_input.linear.z = 0.2
+						else:
+							control_input.linear.z = - 0.2
+					else:
+						control_input.linear.z = altitude_speed
+
+					control_input.linear.y = 0.0
+					
+	 				
+				self.control_input_pub_.publish(control_input)
+	 			
+				rospy.logdebug("%s: current position: [%f, %f]\n", rospy.get_name(), self.current_position_[0], self.current_position_[1])
+				rospy.logdebug("%s: desired position: [%f, %f]\n", rospy.get_name(), self.desired_position_[0], self.desired_position_[1])
+				rospy.logdebug("%s: yaw_error: %f\n", rospy.get_name(), yaw_error)
+				rospy.logdebug("%s: current orientation: %f\n", rospy.get_name(), self.current_orientation_)
+				rospy.logdebug("%s: desired orientation: %f\n", rospy.get_name(), self.desired_orientation_)
+				rospy.logdebug("%s: distance_to_goal: %f\n", rospy.get_name(), distance_to_goal)
+				rospy.logdebug("%s: control_input.linear.x %f\n", rospy.get_name(), control_input.linear.x)
+				rospy.logdebug("%s: control_input.angular.z %f\n", rospy.get_name(), control_input.angular.z)
+	 			
+				if distance_to_goal <= 0.2:
+					break
+				loop_rate.sleep()
+		
+		return GotoWaypointResponse()
+
+	def odomCallback(self, odometry_msg):
+		self.current_position_[0] = odometry_msg.pose.pose.position.x
+		self.current_position_[1] = odometry_msg.pose.pose.position.y
+		self.current_position_[2] = odometry_msg.pose.pose.position.z
+		(r, p, y) = tf.transformations.euler_from_quaternion([odometry_msg.pose.pose.orientation.x, odometry_msg.pose.pose.orientation.y, odometry_msg.pose.pose.orientation.z, odometry_msg.pose.pose.orientation.w])
+		self.current_orientation_ = wrapAngle(y)
+		return
+
+def wrapAngle(angle):
+	"""wrapAngle
+	
+	Calculates angles values between 0 and 2pi"""
+	return (angle + ( 2.0 * math.pi * math.floor( ( math.pi - angle ) / ( 2.0 * math.pi ) ) ) )
+
+if __name__ == '__main__':
+    rospy.init_node('control_quadrotor', log_level=rospy.INFO)
+    rospy.loginfo("%s: starting quadrotor controller", rospy.get_name())
+
+    controller = Controller()
+    rospy.spin()
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_turtlebot.py b/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_turtlebot.py
new file mode 100755
index 0000000..9096ba8
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/controller_turtlebot.py	
@@ -0,0 +1,129 @@
+#!/usr/bin/env python
+
+# ROS imports
+import roslib; roslib.load_manifest('control_turtlebot')
+import rospy
+import tf
+import math
+
+#ROS messages
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from control_turtlebot.srv import GotoWaypoint, GotoWaypointResponse, FindPathToGoal, FindPathToGoalResponse, FindPathToGoalRequest
+
+#Numpy
+import numpy as np
+
+class Controller(object):
+
+	def __init__(self):
+		self.odometry_sub_ = rospy.Subscriber("/odom", Odometry, self.odomCallback, queue_size = 1)
+		self.control_input_pub_ = rospy.Publisher("/mobile_base/commands/velocity", Twist, queue_size = 1)
+		
+		self.serv_ = rospy.Service('/controller_turtlebot/goto', 
+                                  GotoWaypoint, 
+                                  self.calculateControlInput)
+		
+		self.current_position_ = np.zeros(2)
+		self.current_orientation_ = 0.0
+		
+		self.desired_position_ = np.zeros(2)
+		self.desired_orientation_ = 0.0
+		
+		
+		rospy.wait_for_service('/controller_turtlebot/find_path_to_goal')
+		try:
+			self.find_path_to_goal_serv_ = rospy.ServiceProxy('/controller_turtlebot/find_path_to_goal', FindPathToGoal)
+		except rospy.ServiceException, e:
+			print "Service call failed: %s"%e
+		
+		return
+	
+	def calculateControlInput(self, req):
+		
+		planner_request = FindPathToGoalRequest()
+		planner_request.goal_state_x = req.goal_state_x
+		planner_request.goal_state_y = req.goal_state_y
+		#planner_request.goal_state_z = req.goal_state_z
+		
+		planner_response = self.find_path_to_goal_serv_(planner_request)
+		
+		for pose in planner_response.poses:
+			#print pose
+			control_input = Twist()
+			self.desired_position_[0] = pose.position.x
+			self.desired_position_[1] = pose.position.y
+			#self.desired_position_[2] = pose.position.z
+	 		
+			loop_rate = rospy.Rate(100) # 10Hz
+			orientation_approach = False
+			while not rospy.is_shutdown():
+				inc_x = self.desired_position_[0] - self.current_position_[0]
+				inc_y = self.desired_position_[1] - self.current_position_[1]
+	 			
+				self.desired_orientation_ = wrapAngle(math.atan2(inc_y, inc_x))
+				yaw_error = wrapAngle(self.desired_orientation_ - self.current_orientation_)
+				distance_to_goal = math.sqrt(math.pow(inc_x, 2.0) + math.pow(inc_y, 2.0))
+	 			
+				if abs(yaw_error) > 0.04 and not orientation_approach:
+					control_input.angular.x = 0.0
+					control_input.angular.y = 0.0
+					control_input.angular.z = yaw_error * 1.0
+				
+					control_input.linear.x = 0.08
+					control_input.linear.y = 0.0
+					control_input.linear.z = 0.0
+				else:
+					control_input.angular.x = 0.0
+					control_input.angular.y = 0.0
+					control_input.angular.z = 0.0
+					
+					orientation_approach = True
+					liner_speed = abs(distance_to_goal) * 0.5
+					
+					if liner_speed < 0.1:
+						control_input.linear.x = 0.1
+					elif liner_speed > 0.2:
+						control_input.linear.x = 0.2
+					else:
+						control_input.linear.x = liner_speed
+					
+					control_input.linear.y = 0.0
+					control_input.linear.z = 0.0
+	 				
+				self.control_input_pub_.publish(control_input)
+	 			
+				rospy.logdebug("%s: current position: [%f, %f]\n", rospy.get_name(), self.current_position_[0], self.current_position_[1])
+				rospy.logdebug("%s: desired position: [%f, %f]\n", rospy.get_name(), self.desired_position_[0], self.desired_position_[1])
+				rospy.logdebug("%s: yaw_error: %f\n", rospy.get_name(), yaw_error)
+				rospy.logdebug("%s: current orientation: %f\n", rospy.get_name(), self.current_orientation_)
+				rospy.logdebug("%s: desired orientation: %f\n", rospy.get_name(), self.desired_orientation_)
+				rospy.logdebug("%s: distance_to_goal: %f\n", rospy.get_name(), distance_to_goal)
+				rospy.logdebug("%s: control_input.linear.x %f\n", rospy.get_name(), control_input.linear.x)
+				rospy.logdebug("%s: control_input.angular.z %f\n", rospy.get_name(), control_input.angular.z)
+	 			
+				if distance_to_goal <= 0.2:
+					break
+				loop_rate.sleep()
+		
+		return GotoWaypointResponse()
+
+	def odomCallback(self, odometry_msg):
+		self.current_position_[0] = odometry_msg.pose.pose.position.x
+		self.current_position_[1] = odometry_msg.pose.pose.position.y
+		(r, p, y) = tf.transformations.euler_from_quaternion([odometry_msg.pose.pose.orientation.x, odometry_msg.pose.pose.orientation.y, odometry_msg.pose.pose.orientation.z, odometry_msg.pose.pose.orientation.w])
+		self.current_orientation_ = wrapAngle(y)
+		return
+
+def wrapAngle(angle):
+	"""wrapAngle
+	
+	Calculates angles values between 0 and 2pi"""
+	return (angle + ( 2.0 * math.pi * math.floor( ( math.pi - angle ) / ( 2.0 * math.pi ) ) ) )
+
+if __name__ == '__main__':
+    rospy.init_node('control_turtlebot', log_level=rospy.INFO)
+    rospy.loginfo("%s: starting turtlebot controller", rospy.get_name())
+
+    controller = Controller()
+    rospy.spin()
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/src/laserscan_to_pointcloud.cpp b/Source Files/mapping_planning_tutorial/control_turtlebot/src/laserscan_to_pointcloud.cpp
new file mode 100644
index 0000000..6fdfa2e
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/src/laserscan_to_pointcloud.cpp	
@@ -0,0 +1,136 @@
+// ROS
+#include <ros/ros.h>
+
+// ROS LaserScan tools
+#include <laser_geometry/laser_geometry.h>
+
+// ROS messages
+#include <geometry_msgs/Pose.h>
+#include <message_filters/subscriber.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/PointCloud.h>
+#include <std_msgs/ColorRGBA.h>
+#include <std_msgs/Bool.h>
+#include <visualization_msgs/MarkerArray.h>
+
+// ROS services
+#include <std_srvs/Empty.h>
+
+// ROS tf
+#include <tf/message_filter.h>
+#include <tf/transform_listener.h>
+
+// Octomap
+#include <octomap/octomap.h>
+#include <octomap_msgs/conversions.h>
+//#include <octomap_msgs/OctomapBinary.h>
+#include <octomap_msgs/GetOctomap.h>
+typedef octomap_msgs::GetOctomap OctomapSrv;
+//#include <laser_octomap/BoundingBoxQuery.h>
+//typedef laser_octomap::BoundingBoxQuery BBXSrv;
+#include <octomap_ros/conversions.h>
+
+#include <signal.h>
+
+
+void stopNode(int sig)
+{
+	ros::shutdown();
+	exit(0);
+}
+
+/// CLASS DEFINITION ===========================================================
+class LaserScanToPointCloud
+{
+    public:
+        // Constructor and destructor
+        LaserScanToPointCloud();
+//        virtual ~LaserScanToPointCloud();
+
+        // Callbacks
+        void laserScanCallback(const sensor_msgs::LaserScanConstPtr& scan);
+
+    private:
+
+        // ROS
+        ros::NodeHandle node_hand_;
+        ros::Subscriber laser_scan_sub_;
+        ros::Publisher pc_pub_;
+
+        //TF
+        tf::TransformListener listener_;
+
+        //PC
+        laser_geometry::LaserProjection projector_;
+};
+
+/// Constructor and destructor =================================================
+LaserScanToPointCloud::LaserScanToPointCloud(){
+    //=======================================================================
+    // Subscribers
+    //=======================================================================
+    //Mission Flag (feedback)
+	laser_scan_sub_ = node_hand_.subscribe("/scan", 2, &LaserScanToPointCloud::laserScanCallback, this);
+
+	//=======================================================================
+	// Publishers
+	//=======================================================================
+	pc_pub_ = node_hand_.advertise<sensor_msgs::PointCloud2>("pc_from_scan", 2, true);
+//    // Waiting for mission flag
+//    ros::Rate loop_rate(10);
+//    if(!mission_flag_available_)
+//    	ROS_WARN("Waiting for mission_flag");
+//    while (ros::ok() && !mission_flag_available_)
+//    {
+//    	ros::spinOnce();
+//    	loop_rate.sleep();
+//    }
+//    //Navigation data (feedback)
+//    odomSub_ = node_hand_.subscribe("/pose_ekf_slam/odometry", 1, &LaserScanToPointCloud::odomCallback, this);
+//    nav_sts_available_ = false;
+//    while (ros::ok() && !nav_sts_available_)
+//    {
+//    	ros::spinOnce();
+//    	loop_rate.sleep();
+//    }
+}
+
+void LaserScanToPointCloud::laserScanCallback(const sensor_msgs::LaserScanConstPtr &scan){
+	if(!listener_.waitForTransform(
+			scan->header.frame_id,
+			"/odom",
+			scan->header.stamp + ros::Duration().fromSec(scan->ranges.size()*scan->time_increment),
+			ros::Duration(1.0))){
+		return;
+	}
+
+	sensor_msgs::PointCloud2 cloud;
+	projector_.transformLaserScanToPointCloud("/base_link",*scan,
+			cloud,listener_);
+
+	  // Do something with cloud.
+	pc_pub_.publish(cloud);
+}
+
+/// MAIN NODE FUNCTION =========================================================
+int main(int argc, char** argv){
+
+	//=======================================================================
+	// Override SIGINT handler
+	//=======================================================================
+	signal(SIGINT, stopNode);
+
+	// Init ROS node
+	ros::init(argc, argv, "laserscan_to_pointcloud");
+	ros::NodeHandle private_nh("~");
+
+	// Constructor
+	LaserScanToPointCloud laserscan_to_pc;
+
+	// Spin
+	ros::spin();
+
+	// Exit main function without errors
+	return 0;
+}
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/srv/FindPathToGoal.srv b/Source Files/mapping_planning_tutorial/control_turtlebot/srv/FindPathToGoal.srv
new file mode 100644
index 0000000..798fb23
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/srv/FindPathToGoal.srv	
@@ -0,0 +1,6 @@
+## Service 
+float32 goal_state_x
+float32 goal_state_y
+float32 goal_state_z
+---
+geometry_msgs/Pose[] poses
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/srv/GotoWaypoint.srv b/Source Files/mapping_planning_tutorial/control_turtlebot/srv/GotoWaypoint.srv
new file mode 100644
index 0000000..dac157a
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/srv/GotoWaypoint.srv	
@@ -0,0 +1,5 @@
+## Service 
+float32 goal_state_x
+float32 goal_state_y
+float32 goal_state_z
+---
diff --git a/Source Files/mapping_planning_tutorial/control_turtlebot/worlds/willowgarage.world b/Source Files/mapping_planning_tutorial/control_turtlebot/worlds/willowgarage.world
new file mode 100644
index 0000000..a7eac1b
--- /dev/null
+++ b/Source Files/mapping_planning_tutorial/control_turtlebot/worlds/willowgarage.world	
@@ -0,0 +1,1326 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.5 -1</direction>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+    </physics>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='mobile_base'>
+      <link name='base_footprint'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose frame=''>-0.002635 -4.1e-05 0.129243 0 -0 0</pose>
+          <mass>4.6973</mass>
+          <inertia>
+            <ixx>0.1365</ixx>
+            <ixy>-2.51802e-05</ixy>
+            <ixz>0.0108194</ixz>
+            <iyy>0.132157</iyy>
+            <iyz>4.89572e-05</iyz>
+            <izz>0.0741648</izz>
+          </inertia>
+        </inertial>
+        <collision name='base_footprint_fixed_joint_lump__base_link_collision'>
+          <pose frame=''>0 0 0.06969 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.10938</length>
+              <radius>0.178</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>0.3</mu>
+                <mu2>0.3</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__camera_link_collision_1'>
+          <pose frame=''>-0.087 -0.0015 0.2972 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.073 0.276 0.072</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__caster_back_link_collision_2'>
+          <pose frame=''>-0.135 0 0.0192 -1.5708 0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.0176</length>
+              <radius>0.017</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e+06</kp>
+                <kd>100</kd>
+                <max_vel>1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>0</mu>
+                <mu2>0</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__caster_front_link_collision_3'>
+          <pose frame=''>0.115 0 0.0172 -1.5708 0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.0176</length>
+              <radius>0.017</radius>
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+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__pole_top_3_link_visual_21'>
+          <pose frame=''>-0.0381 -0.1505 0.3022 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>1 1 1</scale>
+              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <velocity_decay/>
+        <sensor name='bumpers' type='contact'>
+          <always_on>1</always_on>
+          <update_rate>50</update_rate>
+          <visualize>1</visualize>
+          <contact>
+            <collision>base_footprint_collision_base_link</collision>
+            <topic>__default_topic__</topic>
+          </contact>
+          <pose frame=''>0 0 0.0102 0 -0 0</pose>
+        </sensor>
+        <velocity_decay/>
+        <sensor name='camera' type='depth'>
+          <always_on>1</always_on>
+          <update_rate>20</update_rate>
+          <camera name='__default__'>
+            <horizontal_fov>1.0472</horizontal_fov>
+            <image>
+              <format>B8G8R8</format>
+              <width>640</width>
+              <height>480</height>
+            </image>
+            <clip>
+              <near>0.05</near>
+              <far>8</far>
+            </clip>
+          </camera>
+          <plugin name='kinect_camera_controller' filename='libgazebo_ros_openni_kinect.so'>
+            <cameraName>camera</cameraName>
+            <alwaysOn>true</alwaysOn>
+            <updateRate>10</updateRate>
+            <imageTopicName>rgb/image_raw</imageTopicName>
+            <depthImageTopicName>depth/image_raw</depthImageTopicName>
+            <pointCloudTopicName>depth/points</pointCloudTopicName>
+            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+            <frameName>camera_depth_optical_frame</frameName>
+            <baseline>0.1</baseline>
+            <distortion_k1>0.0</distortion_k1>
+            <distortion_k2>0.0</distortion_k2>
+            <distortion_k3>0.0</distortion_k3>
+            <distortion_t1>0.0</distortion_t1>
+            <distortion_t2>0.0</distortion_t2>
+            <pointCloudCutoff>0.4</pointCloudCutoff>
+            <robotNamespace>/</robotNamespace>
+          </plugin>
+          <pose frame=''>-0.087 -0.0015 0.2972 0 -0 0</pose>
+        </sensor>
+        <velocity_decay/>
+        <velocity_decay/>
+        <velocity_decay/>
+        <sensor name='cliff_sensor_front' type='ray'>
+          <always_on>1</always_on>
+          <update_rate>50</update_rate>
+          <visualize>1</visualize>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>50</samples>
+                <resolution>1</resolution>
+                <min_angle>-0.0436</min_angle>
+                <max_angle>0.0436</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.01</min>
+              <max>0.15</max>
+              <resolution>1</resolution>
+            </range>
+          </ray>
+          <pose frame=''>0.156 0 0.0316 3.14159 1.57079 3.14159</pose>
+        </sensor>
+        <velocity_decay/>
+        <sensor name='cliff_sensor_left' type='ray'>
+          <always_on>1</always_on>
+          <update_rate>50</update_rate>
+          <visualize>1</visualize>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>50</samples>
+                <resolution>1</resolution>
+                <min_angle>-0.0436</min_angle>
+                <max_angle>0.0436</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.01</min>
+              <max>0.15</max>
+              <resolution>1</resolution>
+            </range>
+          </ray>
+          <pose frame=''>0.08734 0.13601 0.0316 3.14159 1.57079 3.14159</pose>
+        </sensor>
+        <velocity_decay/>
+        <sensor name='cliff_sensor_right' type='ray'>
+          <always_on>1</always_on>
+          <update_rate>50</update_rate>
+          <visualize>1</visualize>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>50</samples>
+                <resolution>1</resolution>
+                <min_angle>-0.0436</min_angle>
+                <max_angle>0.0436</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.01</min>
+              <max>0.15</max>
+              <resolution>1</resolution>
+            </range>
+          </ray>
+          <pose frame=''>0.085 -0.13601 0.0316 3.14159 1.57079 3.14159</pose>
+        </sensor>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <self_collide>0</self_collide>
+        <sensor name='imu' type='imu'>
+          <always_on>1</always_on>
+          <update_rate>50</update_rate>
+          <visualize>0</visualize>
+          <imu>
+            <angular_velocity>
+              <x>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>1.96e-06</stddev>
+                  <bias_mean>0</bias_mean>
+                  <bias_stddev>0</bias_stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>1.96e-06</stddev>
+                  <bias_mean>0</bias_mean>
+                  <bias_stddev>0</bias_stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>1.96e-06</stddev>
+                  <bias_mean>0</bias_mean>
+                  <bias_stddev>0</bias_stddev>
+                </noise>
+              </z>
+            </angular_velocity>
+            <linear_acceleration>
+              <x>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>0.017</stddev>
+                  <bias_mean>0.1</bias_mean>
+                  <bias_stddev>0.001</bias_stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>0.017</stddev>
+                  <bias_mean>0.1</bias_mean>
+                  <bias_stddev>0.001</bias_stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type='gaussian'>
+                  <mean>0</mean>
+                  <stddev>0.017</stddev>
+                  <bias_mean>0.1</bias_mean>
+                  <bias_stddev>0.001</bias_stddev>
+                </noise>
+              </z>
+            </linear_acceleration>
+          </imu>
+          <pose frame=''>0.056 0.062 0.0304 0 -0 0</pose>
+        </sensor>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='wheel_left_link'>
+        <pose frame=''>0 0.115 0.0352 -1.5708 0 0</pose>
+        <inertial>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+        <collision name='wheel_left_link_collision'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.0206</length>
+              <radius>0.0352</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e+06</kp>
+                <kd>100</kd>
+                <max_vel>1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='wheel_left_link_visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>1 1 1</scale>
+              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>__default__</uri>
+              <name>__default__</name>
+            </script>
+          </material>
+        </visual>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='wheel_left_joint' type='revolute'>
+        <child>wheel_left_link</child>
+        <parent>base_footprint</parent>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+          <use_parent_model_frame>1</use_parent_model_frame>
+        </axis>
+      </joint>
+      <link name='wheel_right_link'>
+        <pose frame=''>0 -0.115 0.0352 -1.5708 0 0</pose>
+        <inertial>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+        <collision name='wheel_right_link_collision'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.0206</length>
+              <radius>0.035</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e+06</kp>
+                <kd>100</kd>
+                <max_vel>1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='wheel_right_link_visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>1 1 1</scale>
+              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>__default__</uri>
+              <name>__default__</name>
+            </script>
+          </material>
+        </visual>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='wheel_right_joint' type='revolute'>
+        <child>wheel_right_link</child>
+        <parent>base_footprint</parent>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+          <use_parent_model_frame>1</use_parent_model_frame>
+        </axis>
+      </joint>
+      <static>0</static>
+      <plugin name='kobuki_controller' filename='libgazebo_ros_kobuki.so'>
+        <publish_tf>1</publish_tf>
+        <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
+        <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
+        <wheel_separation>.230</wheel_separation>
+        <wheel_diameter>0.070</wheel_diameter>
+        <torque>1.0</torque>
+        <velocity_command_timeout>0.6</velocity_command_timeout>
+        <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
+        <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>
+        <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
+        <cliff_detection_threshold>0.04</cliff_detection_threshold>
+        <bumper_name>bumpers</bumper_name>
+        <imu_name>imu</imu_name>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='willowgarage'>
+      <static>1</static>
+      <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
+      <link name='walls'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://willowgarage/meshes/willowgarage_collision.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://willowgarage/meshes/willowgarage_visual.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <cast_shadows>0</cast_shadows>
+        </visual>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <state world_name='default'>
+      <sim_time>119 970000000</sim_time>
+      <real_time>120 580634469</real_time>
+      <wall_time>1490606813 610311918</wall_time>
+      <iterations>11997</iterations>
+      <model name='ground_plane'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='mobile_base'>
+        <pose frame=''>0.001659 0.016649 -0.001131 7.5e-05 -0.007997 -0.047478</pose>
+        <scale>1 1 1</scale>
+        <link name='base_footprint'>
+          <pose frame=''>0.001659 0.016649 -0.001131 7.5e-05 -0.007997 -0.047478</pose>
+          <velocity>3.5e-05 5.9e-05 3.7e-05 -0.00053 -0.00013 -0.000245</velocity>
+          <acceleration>0.000639 0.000582 0.004948 -0.032477 -0.03129 0.008657</acceleration>
+          <wrench>0.003 0.002733 0.023244 0 -0 0</wrench>
+        </link>
+        <link name='wheel_left_link'>
+          <pose frame=''>0.006826 0.131502 0.035071 -1.57083 -0.009019 -0.047478</pose>
+          <velocity>1.1e-05 5.7e-05 0.007577 -0.001383 0.000158 -0.000251</velocity>
+          <acceleration>-0.00208 -0.004344 0.761544 -0.117635 -0.002528 0.008089</acceleration>
+          <wrench>-2.1e-05 -4.3e-05 0.007615 0 -0 0</wrench>
+        </link>
+        <link name='wheel_right_link'>
+          <pose frame=''>-0.004078 -0.098216 0.034895 -1.57082 -0.010062 -0.047476</pose>
+          <velocity>-2.2e-05 4.7e-05 0.006343 -0.001285 -0.000692 -0.000236</velocity>
+          <acceleration>0.002199 -0.005687 0.63317 -0.107807 -0.087476 0.009574</acceleration>
+          <wrench>2.2e-05 -5.7e-05 0.006332 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='willowgarage'>
+        <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='walls'>
+          <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-5.26351 -43.0557 43.6775 -0 1.07564 1.3402</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>