Navigation documentation¶
Docs are grouped by macro-topic. Start with system/system_architecture.md for the end-to-end data flow, then dive into the area you need.
LiDAR ─▶ DLIO odometry ─▶ local voxel map ─▶ A* + MPCC planner ─▶ cmd_vel ─▶ gait policy
└── perception ──┘ └──── planning ────┘ └ locomotion ┘
perception/ — sensing, odometry, mapping¶
The LiDAR-inertial front end and the obstacle representation the planner consumes.
| Doc | What it covers |
|---|---|
| perception/DLIO_DEPLOYMENT_TESTING.md | Ordered DLIO bring-up + tests on the real robot |
| perception/DLIO_G1_MID360_TUNING.md | DLIO parameters for the G1 + Livox MID-360 |
| perception/DLIO_MAP_SAVE_LOAD.md | Saving / reloading the DLIO global map |
| perception/LOCAL_VOXEL_MAP.md | Rolling ground-removed obstacle cloud that feeds the planner |
| perception/GROUND_SEGMENTATION.md | Per-cell local-minimum ground filter (current method) |
| perception/GROUND_REMOVAL_PLAN.md | Superseded SVD ground-removal plan (history) |
planning/ — global + local planning and control¶
How a goal becomes a velocity command, and how obstacles bend the trajectory.
| Doc | What it covers |
|---|---|
| planning/A_STAR_MPC_PLANNER.md | The A* + MPC goal→velocity planner, global+local fusion |
| planning/MPCC_CONTOURING_MPC.md | Time-optimal contouring MPC (the default tracker) |
| planning/DYNAMIC_OBSTACLE_AVOIDANCE.md | Dynamic + static obstacle safety: detect → track → YIELD / escape / barrier / blind-stop |
| planning/DISTRIBUTED_NAV_PLAN.md | Off-board split proposal + the §8/§9 on-Jetson optimization pass |
locomotion/ — gait policies and last-hop bridges¶
The RL gaits that consume cmd_vel and drive the robot's joints.
| Doc | What it covers |
|---|---|
| locomotion/SONIC_REAL_BRINGUP.md | Full on-robot bring-up with the SONIC walking policy |
| locomotion/SONIC_POLICY.md | The SONIC policy + its ZMQ command wire |
| locomotion/UNITREE_GAIT.md | Unitree native high-level gait path |
| locomotion/amo_inference_plan.md | AMO inference + joint-smoothing filter design |
autonomy/ — high-level / LLM navigation¶
| Doc | What it covers |
|---|---|
| autonomy/AGENTIC_LLM_NAV.md | Gemini-driven LLM nav layer over the A*+MPC stack (/global_goal) |
system/ — architecture, build, infra, sim¶
| Doc | What it covers |
|---|---|
| system/system_architecture.md | End-to-end stack (LiDAR → DLIO → MPC → gait) |
| system/BUILDING.md | Building ros2_ws on the Jetson — what to rebuild, the LIVOX_SDK2_ROOT rule |
| system/dockerfiles.md | The three-image framework |
| system/simulation_stack.md | Wrapping the stack into Isaac Sim |