robot/
autonomy/
1_sensors/ # create sensor output from hardware drivers
imu/
lidar_velodyne/
thermal_flir/
2_perception/ # translate sensor messages to semantic outputs
3_local/
a_world_models/ # translates perception to 3D/4D local world model
b_planners/ # operate on local world model to avoid crashing
c_controls/ # commands to follow a reference trajectory created by local planner
4_global/
a_world_models/ # fuse perception into world model, perhaps coarsify local world models
b_planners/ # operate on global world model for high level plan
5_behavior_managers/ # behavior tree stuff
Reorganize