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Software Stack Overview

Welcome to the Stinger software stack documentation. This guide covers setup, node architecture, and deployment procedures for the software stack.

🚀 Quick Navigation

  • 🛠️ Environment Setup

    Prerequisites, container setup, dependency installation, and workspace configuration.

  • 🧠 Core Architecture

    ROS 2 node hierarchy, messaging protocols, data pipelines, and behavior tree execution.

  • 📡 Interfaces & Drivers

    Sensor driver configurations, actuator protocols, and communication bridge specifications.

  • 🧪 Testing & Simulation

    Gazebo simulation execution, unit testing, integration tests, and hardware-in-the-loop (HIL).

📊 System Requirements & Status

Component Target / Version Status
OS Ubuntu 24.04 LTS (Noble Numbat) ✔ Supported
Middleware ROS 2 Jazzy Jalisco ✔ Supported
Container Engine Docker Engine / Apptainer ✔ Recommended
Python 3.12+ ✔ Supported

⚡ Quick Start

Execute the following commands to clone the workspace, install dependencies, and build the stack:

# 1. Clone repository
git clone [https://github.com/your-org/stinger-software.git](https://github.com/your-org/stinger-software.git)
cd stinger-software

# 2. Build environment using container runner
docker compose up -d

# 3. Build workspace
colcon build --symlink-install
source install/setup.bash

🛠️ Software Stack Architecture

       +-----------------------------------------------+
       |             Behavior & Mission Control        |
       +-----------------------------------------------+
                                |
                                v
       +-----------------------------------------------+
       |       Navigation / State Estimation / Vision  |
       +-----------------------------------------------+
                                |
                                v
       +-----------------------------------------------+
       |       Hardware Interfaces & Low-Level Drivers |
       +-----------------------------------------------+

Key Operational Guidelines

  1. Safety First: Always test mission nodes in simulation prior to deployment on hardware.
  2. Deterministic Builds: Run colcon build with clean workspaces before field tests.
  3. Logging: Standard node output must route through ROS logging levels (INFO, WARN, ERROR).