Modules & Interfaces

System Layer

Overview of startup orchestration, robot description, and robot-level entry points.

Covered Modules

• System Bringup
• Robot Description

Layer Role

Single packages answer “how one module runs.”
The system layer answers “how the whole robot runs together.”

Why This Is Not Planning

• the system layer composes modules and modes
• it does not own trajectory-generation algorithms
• planners such as ego_planner should live under planning/

Why This Is Not Mission

• the mission layer owns waypoint, BT, monitor, and task-progression packages
• the system layer assembles those packages into robot-level bringup modes
• future task packages should not keep growing inside venom_bringup