LOONAR is developed against two first-class vehicle platforms:
platforms/limo/: the current NUC12, Ubuntu 22.04, ROS 2 Humble integration platform.platforms/loonar/: the final rover hardware platform: Raspberry Pi, Teensy, RS-485, sensors, camera, and PCB assets.
The architecture source of truth is project.md. cFS owns mission and
ground control, ROS 2 owns autonomy, and vehicle_gatewayd is the single final
arbiter and owner of the active vehicle backend. The backend is LimoBackend
during platform validation and TeensyRs485Backend on the final rover.
The retained LOONAR hardware implementation is intentionally buildable as a hardware reference. It is not an active vehicle control path until its protocol is revised to satisfy the Gateway and MCU command-lease contracts.
See docs/README.md for the new document hierarchy.
See repository layout for source, configuration,
test-tool and recording locations. The AprilTag tool
owns the external-camera distance test; its remote test runner is a separate
direct /cmd_vel path from the operational Gateway stack.