Introduction
Overview of the ROS 2-based software platform, Qt cross-platform control terminal, and development SDK.
Pangolin AT-1's software platform provides a complete toolchain from onboard autonomy to user-facing control interfaces and developer SDKs.
Onboard System: ROS 2 Navigation Framework
The vehicle runs a modular ROS 2 (Robot Operating System 2) software stack:
Core Navigation Modules
| Module | Function |
|---|---|
| Localization | Fuses RTK, SLAM, IMU, and odometry for robust pose estimation |
| Mapping | Builds and maintains environment maps (2D grid / 3D point cloud) |
| Global Planner | Computes optimal routes considering terrain cost and constraints |
| Local Planner | Generates smooth, collision-free trajectories in real time |
| Obstacle Detector | Processes LiDAR and camera data for dynamic obstacle identification |
| Motion Controller | Translates planned trajectories into motor velocity commands |
Why ROS 2?
- Industry Standard: Widely adopted in robotics research and industry
- Modular Architecture: Independent nodes communicate via DDS middleware
- Rich Ecosystem: Thousands of existing packages for sensors, algorithms, and tools
- Production Ready: Real-time capable, multi-platform, actively maintained
Control Terminal: Qt Cross-Platform Application
The operator interface is built with Qt, supporting:
| Platform | Deployment |
|---|---|
| Windows | Native desktop application |
| Linux (Ubuntu) | Native desktop application |
| Mobile (Android/iOS) | Mobile-optimized interface |
Terminal Features
- Live Map View: Real-time vehicle position overlaid on environment map
- Task Management: Create, edit, dispatch, and monitor autonomous tasks
- Telemetry Dashboard: Speed, battery, sensor status, navigation state
- Map Editor: Annotate, modify, and manage multiple environment maps
- Parameter Tuner: Adjust navigation and control parameters in real time
- Peripheral Control: Unified interface for integrated external equipment
- Video Feed: Live stream from onboard cameras
- Log Viewer: Access and export operation logs for analysis
Developer SDK
Standardized APIs enable deep customization:
ROS 2 Interfaces
- Topic-Based: Subscribe to sensor data, publish custom commands
- Service-Based: Call navigation services, trigger actions programmatically
- Action-Based: Long-running task execution with feedback and cancellation
API Features
- Custom algorithm plugins (path planners, obstacle detectors, controllers)
- Peripheral driver integration templates
- Task scripting for automated workflows
- Data recording and playback for offline analysis
- Simulation support for development and testing