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Learning Paths

Choose the path that matches what you want to do.

Path 1: Understand the System (30 min)

Step	Read	What you'll learn
1	README.md	What this project does, architecture overview
2	ARCHITECTURE.md § 1-5	3-process model, SHM protocol, data flow
3	ARCHITECTURE.md § 6-7	Why no Nav2, navigation pipeline, state machine

Path 2: Deploy to V2N (30 min)

Step	Read	What you'll learn
1	HARDWARE_SETUP.md § 1-3	Physical robot, wiring, connections
2	V2N_SETUP_GUIDE.md	Full deployment from scratch

Path 3: Develop and Test on PC (15 min)

Step	Read	What you'll learn
1	DEVELOPER_GUIDE.md	Clone, setup, test, deploy workflow

Path 4: Tune Navigation (1 hour)

Step	Read	What you'll learn
1	NAVIGATION.md § 1-3	Pipeline, state machine, all 6 states
2	NAVIGATION.md § 4-5	VFH obstacle avoidance, speed ramp
3	NAVIGATION.md § 6-7	Detection filtering, Kalman tracker
4	NAVIGATION.md § 8-9	Arrival detection, sensor offsets
5	GUI_GUIDE.md § 8	Settings GUI for live tuning

Path 5: Modify Detection (30 min)

Step	Read	What you'll learn
1	ARCHITECTURE.md § 3-4	Camera process, SHM channels
2	`target_nav/app/camera_worker.py` docstring	Stream vs pipe mode, detection pipeline
3	`target_nav/app/detection_filters.py` docstring	Temporal tracking
4	drpai/README.md	C++ binary, config.ini, build

Path 6: Understand the GUI (20 min)

Step	Read	What you'll learn
1	GUI_GUIDE.md § 1-7	Layout, panels, controls, shortcuts
2	GUI_GUIDE.md § 8	Settings window with all parameters
3	GUI_GUIDE.md § 9-10	Display setup and theme

Quick Reference

I want to...	Go to...
Run the robot	Press Start on touchscreen, or SSH → `/root/gui.sh`
Push code to V2N	`./scripts/sync.sh`
Run unit tests	`pytest test/unit/`
Run hardware tests	`./scripts/run_tests.sh --check`
Change navigation speed	Settings → Navigate → Speed tab
Change detection confidence	Settings → Sensors → Detection tab
Tune DRP-AI inference	Settings → Sensors → DRP-AI tab → Apply & Restart
Calibrate distance	Settings → Sensors → Calibration → place target → CALIBRATE
Check robot status	`ssh root@192.168.50.1` → `systemctl status robot`
View live topics	`ros2 topic list` (connect to RZV2N_Robot WiFi first)