System Layer

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.”

multi_waypoint_commander and mission_controller/ are currently still maintained inside venom_bringup. This is a transitional state kept to avoid breaking existing launch and parameter paths.

Why This Is Not Planning

• the system layer composes modules and modes
• it does not own trajectory-generation algorithms
• planners such as ego-planner-swarm and venom_teb_controller 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

New standalone mission packages should still be placed under mission/.