📚 Glossary of Terms
This glossary defines ROS2 terminology, robotics concepts, and project-specific abbreviations used in the LIMO Pro + MyCobot + YOLO documentation.
🔄 ROS2 Terminology
| Term | Definition |
|---|---|
| Node | A single executable in ROS2 that performs computation (e.g., object_detector, mission_manager). |
| Topic | A named bus over which nodes exchange messages asynchronously (e.g., /yolo/annotated, /target_pose). |
| Publisher/Subscriber | ROS2 communication pattern where publishers send messages on a topic and subscribers receive them. |
| Service | A synchronous request/response communication method between ROS2 nodes. |
| Action | A goal-oriented communication pattern for long-running tasks (e.g., NavigateToPose). |
| Parameter | Configurable values for nodes, passed via YAML or CLI. |
| Launch File | Script that starts multiple nodes with specific configurations. |
| TF (Transform) | A ROS2 library for keeping track of coordinate frames over time. |
| TimerAction | ROS2 launch feature for delaying node startup to ensure proper sequencing. |
🤖 Robotics Concepts
| Term | Definition |
|---|---|
| SLAM | Simultaneous Localization and Mapping — building a map of an environment while tracking robot position. |
| AMCL | Adaptive Monte Carlo Localization — estimates robot position on a known map. |
| Nav2 | Navigation stack in ROS2 for autonomous movement. |
| Waypoint Navigation | Moving the robot along a predefined set of coordinates. |
| Localization | Determining the robot’s position within a map. |
| Object Detection | Identifying and locating objects in sensor data (e.g., YOLO model in RGB-D feed). |
| Manipulation | Physical interaction with objects using a robotic arm. |
| Gripper | End-effector used to grasp or release objects. |
🛠 Project-Specific Terms
| Term | Definition |
|---|---|
| Mission Manager | The central node controlling exploration, detection interrupts, navigation, and pick/drop sequences. |
| Pick Node | Node that commands the MyCobot arm to grasp an object. |
| Drop Node | Node that commands the MyCobot arm to release an object. |
| Pose Setter | Node that publishes the initial AMCL pose to automate localization. |
| Full System Launch | The main launch file (full_system.launch.py) that starts all subsystems in the correct sequence. |
| Approach Distance | Distance the robot stops from a detected object to allow safe arm movement. |
| Static TF | A fixed transform between two coordinate frames (e.g., camera to base link). |
🔤 Technical Abbreviations
| Abbreviation | Full Form |
|---|---|
| RGB-D | Red-Green-Blue + Depth camera |
| FPS | Frames per Second |
| DOF | Degrees of Freedom (robot arm joints) |
| FOV | Field of View |
| CPU | Central Processing Unit |
| GPU | Graphics Processing Unit |
| IP | Internet Protocol address |
| SSID | Service Set Identifier (Wi-Fi network name) |
Pro Tip
If you come across a term in the logs or code you don’t understand, check here first before searching online — this glossary is tailored to this exact project.