Modules

One page per part of Open Apero: how it behaves, which types ship and which keys matter. The first seven pages cover the ROS-free core in open_apero_core, the rest the packages around it; How Open Apero Works shows how the parts fit together.

Page	What it covers
Agent and Execution	The loop, the settle gate, command phases, episode ends, seeding, history
Layers	Priorities, PlanningLayer, BacktrackingLayer, adding a layer type
Generators	RRAG and the trees RRT and RRTStar
Evaluators and Sensor Models	Gain, frontier nodes, re-evaluation, the evaluator of each task, the ray casters
Path Planners and Objectives	The objectives, NBS, DBS, SPT, TSP and TreeBestValue
Robot Models, Cost Computers and Backtrackers	Robot models, bounding volumes, edge costs, recovery motions
Maps	The map contracts and the VoxbloxMap backend
ROS Node, Launch Files and Messages	open_apero_node, the robot-facing contract, launch and configuration files
Simulation	The Habitat renderer, the stand-in controllers and the HSSD scenes
Run Output and Analysis	The run directory, performance_log.csv, the Python loader
Graph Benchmark	The offline benchmark of the graph path planners
Extension Hooks	Interfaces no shipped plugin uses, for custom robots and plugins