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Package Inventory

This document lists all active packages in the main_ws and their primary roles.

Core Workspaces

Workspace	Description
`main_ws`	Primary ROS 2 workspace running on the robot (NUC).
`operator_ws`	Lightweight workspace for the operator PC (Joy node, Foxglove bridge).
`stm32_ws`	Embedded Rust firmware for the sensor bridge.

main_ws Packages

Control Logic

Package	Language	Role
`joy_controller`	C++	Maps /joy inputs to robot commands (DRIVE/ARM/STOP modes).
`arm_controller`	Rust	Jacobian-based IK for 6-DOF arm control.

Hardware Drivers

Package	Language	Role
`crawler_driver`	C++	Roboclaw motor controller interface for tracks.
`flipper_driver`	C++	Dynamixel driver for the 4 sub-tracks (flippers).
`arm_driver`	Rust	Unified Dynamixel driver for Arm axes and Gripper.
`sensor_gateway`	Rust	Serial bridge for STM32/IMU data.
`audio_bridge`	Python	Opus-based bidirectional audio transfer via ROS topics.

Perception

Package	Language	Role
`qr_detector_cpp`	C++	Composable node for QR detection (WeChatQRCode/ZBar).
`omron_bridge`	Python	Environment sensing (Temp/Hum/etc.) and RoboCup POI logging.
`spark_fast_lio`	C++	(Submodule) High-performance LiDAR-IMU odometry.

Integration & Support

Package	Language	Role
`bringup`	Mixed	Central launch files, URDF models, and system configuration.
`custom_interfaces`	CMake	Shared message/service definitions.
`h264_republisher`	C++	Debug tool to decode FFMPEGPackets back to raw images.

operator_ws Packages

Package	Role
`operator_ws` (ws root)	Contains `operator.launch.py` and Zenoh peer configuration.
`joy` (standard)	Standard ROS 2 joy node for controller input.
`foxglove_bridge`	WebSocket gateway for Foxglove Studio.