src/
├── platform/ # Core platform software (proprietary/stable)
│ ├── robot_base_interface/ # Hardware communication node (Motors, Encoders, IMU)
│ ├── robot_description/ # Robot geometry, URDF/Xacro models, and 3D meshes
│ └── robot_bringup/ # Top-level launch files and global configuration (YAML)
│
├── sensors/ # Drivers for external perception hardware
│ ├── sllidar_ros2/ # Driver for SLAMTEC LiDAR (A1/A2/A3)
│ └── ldlinear_ros2/ # Driver for LD06/LD19 LiDARs
│
└── apps/ # Application layer (projects developed by students)
├── robot_mapping/ # SLAM Toolbox configurations and mapping launch files
├── robot_navigation/ # Nav2 stack parameters and path planning logic
└── robot_vision_slam/ # Future expansion: Camera-based localization and VSLAM
src/
├── platform/ # Core platform software (proprietary/stable)
│ ├── robot_base_interface/ # Hardware communication node (Motors, Encoders, IMU)
│ ├── robot_description/ # Robot geometry, URDF/Xacro models, and 3D meshes
│ └── robot_bringup/ # Top-level launch files and global configuration (YAML)
│
├── sensors/ # Drivers for external perception hardware
│ ├── sllidar_ros2/ # Driver for SLAMTEC LiDAR (A1/A2/A3)
│ └── ldlinear_ros2/ # Driver for LD06/LD19 LiDARs
│
└── apps/ # Application layer (projects developed by students)
├── robot_mapping/ # SLAM Toolbox configurations and mapping launch files
├── robot_navigation/ # Nav2 stack parameters and path planning logic
└── robot_vision_slam/ # Future expansion: Camera-based localization and VSLAM