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1. robot_decision robot_decision Public

   robot decision can receive new task and state, then can dispatch task to nav and action. if robot state changed, then handle any state and error state

   C++

2. robot_navigation robot_navigation Public

   robot navigation, you can receive goal, then make global/local plan to the goal. include trajectory, obstacle and velocity.

   C++

3. robot_hardware robot_hardware Public

   robot hardware, this is a frame，you can manage major hardware sensor，include protocol can/serial/modbus/network/usb etc, also include hardware motor/curtis/imu/laser/camera/battery/gps etc, include…

   C++ 1 1

4. robot_simulator robot_simulator Public

   robot simulator, can simulate chassis and sensor, you can control chassis motion, safety avoid obstacle, navigation, multiple robot path plan

   C++ 1

5. robot_dds robot_dds Public

   robot dds frame, you can publish/subscriber data by topic, same as ros/ros2 topic

   C++

6. robot_viewer robot_viewer Public

   robot monitor all sensor status, robot path, robot avoid obstacle status, robot navigation status, multiple robot task dispatcher status, and so on

   C++