Modules & Interfaces

Modules & Interfaces

High-level structure of the system modules, interface constraints, and entry points to sub-documents.

Reading Guide

This section is meant to answer two questions:

1. What major module groups exist in the repository?
2. What interface constraints should stay stable across implementations?

Main Categories

• Architecture
• Drivers
• Perception
• Localization
• Planning
• Mission
• System
• Simulation
• Topic Reference
• TF Tree

Recommended Layering

1. driver/: hardware-facing integration and bridges
2. perception/: detection, recognition, and tracking
3. localization/: LIO, odometry, and relocalization
4. planning/: navigation planners, controllers, and manipulation motion planning
5. mission/: waypoint, behavior-tree, monitor, and mission-dispatch packages
6. system/: bringup, robot description, and robot-level assembly
7. simulation/: standalone simulation workspaces and baselines

Core Principle

Different algorithms may be replaced over time, but the surrounding contracts should remain predictable:

• input topics
• output topics
• TF responsibilities
• naming conventions
• startup entry points