Autopilot

Localization

Specification
input	wheel odometry (fusion of IMU and wheel encoders)
	Aruco markers (when known and available)
	RTK-GNSS fixes (when available)
	LiDAR scan matches on a pre-recorded map (when available)
output	Robot pose in a global reference frame (published as odometry)

Specification
input	path / trajectory
	local (obstacle) map
output	velocity command (max. is a user-setting yet capped on 1.4m-s)
direct avoidance	small sized obstacle (up to 15 cm in size and standing at least 5 cm)
	medium sized obstacles (up to 50 cm and standing at least 5 cm)
trade-offs	prolongation along path; Distance to path; Obstacle avoidance

Specification
input	start and destination waypoints (on global map!)
	global (obstacle) map
output	path / trajectory
replanning	large sized obstacles (up to 2-3 m and standing at least 5 cm)
policies	Max speed, Max distance to path

Specification
When indoors	initialize on Aruco marker
	limited to areas of 25x25 meters max
When outdoors	initialize on a small drive with RTK-GNSS reception
	limited to areas of 25x25 meters max
Manual driving speed	max 0.5 m-s

Specification
When indoors	smooth floor, such as concrete possible topped with vinyl or carpet
	steps and ramps higher then 5 cm are labeled as obstacles
When outdoors	smooth terrain, such as asphalt and sidewalks
	steps and ramps higher then 5 cm are labeled as obstacles
	paths free of overhanging vegetation