3. Technical Architecture

Understand the AUV's software design, ROS structure, and core systems.

This section dives into the technical backbone of the AUV, explaining how ROS nodes communicate, what each package does, and how data flows between systems. Use this to debug, extend functionality, or optimize performance.

Subsections

3.1 Overview of the ROS Environment

Learn about our ROS setup: node interactions, critical topics (e.g., /state/pose, /controls/pid), and key concepts like actions and TF frames.

3.2 ROS Packages

Explore the purpose and structure of each of our packages in detail.

3.3 ROS Topics & Services

Consult our index for all ROS Topics and Services.

Next Steps

Once you’ve completed this section, you can:

📚 Fill knowledge gaps: Strengthen ROS/Docker skills in 4. Learning Resources.
🏆 Prepare for competition: Apply this knowledge to missions in 5. Competition Playbook.