Molly docs
Start with the README (quick start, install, workflow, operations). The same pages, with search, are the documentation site: darmawanrobotics.github.io/Molly (built from site/).
Reference
| Document | For |
|---|---|
| interfaces.md | every topic, service, frame and site file of the stack |
| time.md | one clock for every stamp: chrony, PTP for the Mid-360, checks |
| system.drawio.svg | the system diagram; edit it in draw.io |
| web.md | the dashboard's contract: rosbridge names, the camera, flows |
| PROTOCOL.md | the handheld's UDP protocol (molly-1, with the changes of Molly 2.0) |
| src/xtras/README.md | what a robot package must provide; per-robot parameters |
| site.example.yaml | the site file for a Lite3 |
| robot.yaml, stack.yaml | the Lite3 robot profile, Molly's overrides of the Dharma defaults |
| lite3_ros2 | the Lite3 driver: motion host network, UDP protocol, URDF, camera |
Packages
| Package | README |
|---|---|
molly_bringup | robot and simulator launch, robot profile, stack and site configuration |
molly_interfaces | messages and services of the tours and the interaction |
molly_guide | tours |
molly_interaction | speech, gestures, greeter, visitor tracker, conversation |
molly_bridge | handheld gateway, WebRTC video, the dashboard's rosbridge |
dharma_interfaces | messages and services of the stack |
dharma_odometry | FAST-LIO2 / Leg-KILO, stillness gate, route recording |
dharma_localization | map → odom from AprilTags |
dharma_mapping | grid mapper and sites |
dharma_perception | LiDAR sectors, safety scan, AprilTag throttle |
dharma_navigation, dharma_control | path finder, follower, avoidance, docking; control mux and e-stop |
dharma_utils | robot profile, typed configuration, DharmaNode |
dharma_health | health monitor |
dharma_rviz | RViz panels |
dharma_sim | simulator and end-to-end tests |
The dharma_* packages are checked out into src/dharma/ at the versions in molly.repos (scripts/setup.sh install dharma).
Development
| Document | For |
|---|---|
| CONTRIBUTING.md | branches, commits, build and test, rules from real crashes |
| docker/README.md | the dev container (Humble, VNC desktop) |
| scripts/tmux/ | scripts/start_tmux.sh layouts (robot, sim) |
| CHANGELOG.md | notable changes |