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Overview

Four pages explain how the workspace fits together. Read them in this order: each builds on the previous.

  • Concepts: start here if anything above looks unfamiliar: ROS 2, TF, behaviour trees, py_trees, MAVROS, ArduSub, Gazebo, cluster_tf, anchor frames, sim time. A survival glossary for beginners.
  • Architecture: the mission → vehicle pipeline, layer by layer. What each layer is responsible for, and what contract it exposes to the next.
  • Conventions: frame conventions (FLU vs ENU), depth-sign rules, anchor frames, the 1 Hz setpoint invariant, and other things that silently break code if violated.
  • Running the sim: Docker entry, tmuxp missions, manual two-terminal launch, and the diagnostic commands you'll actually use.

Once you've finished these four, the per-mission Strategies and per-package Packages pages will make a lot more sense.