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Architecture
How the nodes, topics and coordinate frames fit together, and how a driving node reports what it is trying to do.
The stack is a graph of nodes that share only topics and coordinate frames. These pages describe that graph and how a command travels through it, the delivery settings and timing every topic runs with, the frames every pose is expressed in, and the diagnostic topic driving nodes publish beside their commands.
- System architectureEvery node in the workspace and how they connect, from the sensors through odometry, IMU fusion, SLAM and the control layer to the motor and servo, with the launch layers, topics and packages.
- Coordinate framesThe map, odom, base_link and laser frames, which node publishes each transform, and which point on the car a pose refers to.
- QoS and timingThe delivery settings each topic is published with, which subscriber settings can receive it, and the rates, timeouts and delays the driving code is built around.
- Drive intentThe /drive_intent topic: what a driving node plans to do and which limit is in charge, published as JSON for the dashboard without risk to the control path.
Checked against
car 1 commit 881c409
and
car 2 commit 779c060, before the two workspaces merged.