Backgrounds

Backgrounds

The Background Tasks system provides a framework for running continuous, long-running processes that operate independently of the main control loop. These tasks typically handle sensor data collection, state monitoring, and other background operations.

Key components:

• BackgroundOrchestrator: Manages the lifecycle of all background tasks, including startup and graceful shutdown.

• Plugins: Background tasks are loaded dynamically from the backgrounds/plugins directory.

• Each background task runs in its own thread, with thread pooling for efficient resource utilization.

Available background tasks include:

• GPS: Handles GPS data processing

• ODOM: Manages odometry data

• RF Mapper: Implements RF signal mapping functionality

• RPLIDAR: Interfaces with RPLIDAR sensors

• RTK: Real-Time Kinematic positioning

• Unitree Go2 State: Manages state for Unitree Go2 robots

Background tasks are configured through the main runtime configuration and can be extended by adding new plugin modules.