ROS 2 runtime model
How nodes, topics, services, actions, and lifecycle states shape a mission
PLANNED RESEARCH TOPIC
Research topics
Long-term topics in robot runtime, diagnosis, and reliability.
These topics are in progress. Technical notes will be published after reproducible experiments and conclusion checks.
TF and odometry
Frames, timestamps, wheel motion, and kinematic consistency
PLANNED RESEARCH TOPIC
ros2_control
Controllers, hardware interfaces, and differential-drive bases
PLANNED RESEARCH TOPIC
SLAM
Mapping, loop closure, drift, and map quality
PLANNED RESEARCH TOPIC
Nav2
Planning, control, costmaps, and recovery behavior
PLANNED RESEARCH TOPIC
rosbag2
Recording, replay, sanitization, and reproducible experiments
PLANNED RESEARCH TOPIC
Incident review
Timeline, evidence, root cause, remediation, and verification
PLANNED RESEARCH TOPIC
ZephaRobot
Episode models, diagnostic rules, and report design
PLANNED RESEARCH TOPIC
Publishing standard
Run the system, record data, reproduce the problem, and verify the conclusion before publishing an engineering note.