Topics & TF Overview
System-level topic map, TF relationships, and key data flow conventions.
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 module is responsible for
map -> odom
Core System Layers
| Layer | Typical Outputs |
|---|---|
| Driver layer | LiDAR, IMU, image, serial, chassis state |
| Localization layer | /odom, registered clouds, path, TF |
| Relocalization layer | map -> odom |
| Task / integration layer | High-level robot behavior and launch orchestration |
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