System Bringup
Module Role¶
venom_bringup is the repository-level system-layer entry. It is responsible for:
- launch composition
- mode selection
- task-control entry points
- robot-level configuration dispatch
Single packages answer “how one module runs.” venom_bringup answers “how the full robot stack is composed.”
Architecturally, new waypoint, behavior-tree, monitor, and task-dispatch packages should move toward the mission/ layer. The mission-control code that already exists today is still maintained inside venom_bringup as a transitional implementation.
Common Launch Entries¶
| Launch file | Source path | Role |
|---|---|---|
camera.launch.py |
launch/camera.launch.py |
standalone camera validation |
mid360_rviz.launch.py |
launch/examples/mid360_rviz.launch.py |
MID360 driver and RViz validation |
mid360_point_lio.launch.py |
launch/examples/mid360_point_lio.launch.py |
MID360 + Point-LIO integration |
mid360_point_lio_odom.launch.py |
launch/examples/mid360_point_lio_odom.launch.py |
MID360 + Point-LIO odom-only mode |
mid360_point_lio_async_map.launch.py |
launch/examples/mid360_point_lio_async_map.launch.py |
MID360 + Point-LIO explicit async-map mode |
mid360_point_lio_offline_map.launch.py |
launch/examples/mid360_point_lio_offline_map.launch.py |
Point-LIO offline mapping |
mid360_record_raw.launch.py |
launch/examples/mid360_record_raw.launch.py |
raw MID360 bag recording |
d435i_test.launch.py |
launch/examples/d435i_test.launch.py |
RealSense D435i validation |
px4_agent_probe.launch.py |
launch/examples/px4_agent_probe.launch.py |
PX4 DDS Agent probe |
px4_vps_bridge.launch.py |
launch/examples/px4_vps_bridge.launch.py |
PX4 external-pose / VPS odometry bridge |
infantry_auto_aim.launch.py |
launch/infantry/infantry_auto_aim.launch.py |
infantry auto-aim stack |
sentry_mapping.launch.py |
launch/sentry/sentry_mapping.launch.py |
sentry mapping integration |
sentry_navigation.launch.py |
launch/sentry/sentry_navigation.launch.py |
sentry navigation integration |
scout_mini_mapping.launch.py |
launch/scout_mini/scout_mini_mapping.launch.py |
Scout Mini mapping and navigation integration |
relocalization_bringup.launch.py |
launch/relocalization_bringup.launch.py |
historical GICP relocalization entry, currently disabled |
health_aware_navigation.launch.py |
launch/health_aware_navigation.launch.py |
health-aware mission-control mode |
robot_bringup.launch.py |
launch/robot_bringup.launch.py |
robot-type selector template, not the preferred daily entry yet |
Use only the launch filename in ros2 launch, for example ros2 launch venom_bringup mid360_rviz.launch.py. Do not include source subdirectories such as examples/, sentry/, or scout_mini/ in the command.
robot_bringup.launch.py already contains robot_type selection logic, but the included per-robot templates such as scout_mini/robot_bringup.launch.py, sentry/robot_bringup.launch.py, hunter_se/robot_bringup.launch.py, and infantry/robot_bringup.launch.py are not all present yet. Use the concrete launch files above for daily integration.
Configuration Entrypoints¶
venom_bringup does not keep every parameter in one yaml file. It dispatches configuration by robot and subsystem:
- robot-specific configs:
config/scout_mini/,config/sentry/,config/infantry/ - camera params:
config/*/camera_params.yaml - auto-aim params:
config/*/node_params.yaml - serial params:
config/*/serial_params.yaml - LIO passthrough params:
config/*/point_lio_mapping.yaml,config/examples/point_lio_online_odom.yaml,config/examples/point_lio_online_async_map.yaml,config/examples/point_lio_offline_map.yaml - navigation params:
config/*/nav2_params.yaml - mission-control params:
mission_config.yaml,waypoints.yaml
Mission Controller¶
The current mission-control implementation under venom_bringup provides:
- state monitoring
- pause / recovery / retry behavior triggers
- mission-state persistence and recovery
Main files:
multi_waypoint_commander.pyhealth_aware_commander.pymission_controller/plugins/mission_config.yamlwaypoints.yaml
The two key runtime parameters are:
| Parameter | Role | Default meaning |
|---|---|---|
waypoints_file |
waypoint yaml path | current robot waypoint config |
mission_config_file |
mission config yaml path | current robot mission-control config |
Recommended Usage¶
Prefer concrete venom_bringup entries for daily work:
ros2 launch venom_bringup mid360_point_lio.launch.py
ros2 launch venom_bringup infantry_auto_aim.launch.py
ros2 launch venom_bringup health_aware_navigation.launch.py
Treat robot_bringup.launch.py as a top-level template until all per-robot bringup files are completed.