Topics & TF Overview
Why This Page Exists¶
When multiple packages are brought together, the first thing that needs to stay stable is not the algorithm itself, but the system contract:
- Which topics are expected
- Which frames are fixed
- Which modules publish
odom - Which future module is allowed to own
map -> odom
Core System Layers¶
| Layer | Typical Outputs |
|---|---|
| Driver layer | LiDAR, IMU, image, serial, chassis state |
| Localization layer | /odom, registered clouds, path, TF |
| Global-localization interface | reserved map -> odom contract |
| Task / integration layer | High-level robot behavior and launch orchestration |
The default workspace no longer initializes small_gicp_relocalization. Therefore, map -> odom is a reserved interface contract, not an active default relocalization node.
Typical Data Flow¶
MID360 -> livox_ros_driver2 -> Point-LIO / Fast-LIO -> /odom
Camera -> ros2_hik_camera -> armor_detector -> armor_tracker -> solver
Chassis / arm / controller links -> dedicated drivers -> robot actions