Run Modes

Purpose¶

The repository is not used in just one runtime shape. Depending on hardware availability and the current task, you may only want:

Mode	Focus
Driver validation	Check LiDAR, camera, CAN, or serial links separately
Localization test	Run MID360 + Point-LIO / Fast-LIO without the rest of the stack
Point-LIO odom-only	Keep realtime odometry and TF output while disabling map publication and PCD saving load
Point-LIO async map	Keep odometry realtime and move map publication / PCD-related work to the async map worker
Point-LIO offline mapping	Read rosbag2 offline and export a PCD map
Auto aim test	Focus on camera, detector, tracker, and solver
Mapping	Validate localization and mapping outputs
Relocalization	Temporarily disabled while the GICP relocalization stack is stabilized
PX4 external-pose bridge	Convert upstream `nav_msgs/Odometry` into PX4 `VehicleOdometry`
Mission control	Run health-aware multi-waypoint navigation
Full robot bringup	Start the integrated stack through `venom_bringup`

Mode	Entry
MID360 RViz validation	`mid360_rviz.launch.py`
MID360 + Point-LIO	`mid360_point_lio.launch.py`
MID360 + Point-LIO odom-only	`mid360_point_lio_odom.launch.py`
MID360 + Point-LIO async map	`mid360_point_lio_async_map.launch.py`
Point-LIO offline mapping	`mid360_point_lio_offline_map.launch.py`
D435i validation	`d435i_test.launch.py`
PX4 DDS probe	`px4_agent_probe.launch.py`
PX4 external-pose bridge	`px4_vps_bridge.launch.py`
Health-aware mission control	`health_aware_navigation.launch.py`
Scout Mini mapping	`scout_mini_mapping.launch.py`
Sentry mapping	`sentry_mapping.launch.py`
Relocalization (disabled)	`relocalization_bringup.launch.py` retained as a historical integration point
Top-level robot selector	`robot_bringup.launch.py`, currently a template entry rather than the preferred daily launch

For day-to-day work, do not jump into a full bringup first. A safer order is: