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The Mongla book

Every document in this folder, in the order a newcomer should read them. Each chapter is titled by its own first heading, so this contents page cannot describe a document as something it is not. Code beats docs; a measurement beats both — see measured-bars.md.

Part I — Why this exists

  1. The Shift
  2. Capability Map
  3. ROADMAP — the one place for where Mongla is headed and what is left

Part II — The machine

  1. Vehicle spec — what is actually fitted
  2. The srot board / Hengla firmware — architecture, why it is built this way, and where we disagree
  3. The SROT board, read end to end — and what it means for `mongla_ws
  4. SROT control-board integration (branch srot)
  5. Cross-repo contract — mongla_ws ↔ SROT ↔ Bondor
  6. The Jetson↔SROT vision/control split
  7. The Pi + AI HAT+ vision box — measured, built, and ready for srot over USB
  8. System harmony — the four rules, the timing budget, and the settled negatives

Part III — Seeing

  1. Vision Architecture (mongla_vision)
  2. The Hailo-8 pipeline, measured — the CUDA-equivalent reference we never wrote
  3. Underwater computer vision, from 55 GB of our own data
  4. Cameras and calibration — what the field knows, and what we measured
  5. Camera latency: the queue, and why the standard fix does not work
  6. Never losing the lock: what was measured, and what it changed
  7. Downward camera — the axis flip, explained once and for all
  8. Depth Estimation (mongla_vision/depth)
  9. Two cameras on one vehicle
  10. The vision→control pipeline: what is verified, and what could still bite
  11. Sensors pipeline — `mongla_sensors
  12. Video-File Testing Guide

Part IV — Deciding

  1. Command reference — every verb on `/mongla/move
  2. Mission DSL and client API
  3. Vision verb results, mid-hold fire & live feedback
  4. Precision terminal alignment — hold steady & don't miss the hole
  5. mongla.detected()` paradigm — complete reference
  6. Mongla Mission Cookbook

Part V — Running it

  1. Launch Combinations — the "so we never fail" master reference
  2. Pool day
  3. Environment traps — dependency pitfalls that take down the vision launch
  4. Ground-station remote access — the smooth, drop-proof workflow
  5. Operator tooling — Foxglove, rosbag record/replay, scorecards
  6. ROS2 Conventions — Duburi AUV Codebase
  7. Simulator — pointer

Part VI — Reference

  1. Command reference — generated from the code
  2. The packages

Part VII — The record

  1. Measured bars — every number the stack ships, and what measured it
  2. Mongla / mongla_ws — Unified Bug Register
  3. Upstream asks — mongla_ws → `srot-control-board

Part VIII — Against the world

  1. The verdict — Mongla against the world, in one document
  2. Against the world — how Mongla compares to the best work there is
  3. Control, against the world
  4. Vision, against the world
  5. Localization, against the world
  6. Planning, the DSL and the mission executive, against the world
  7. The gap ledger — every move, ranked

Part IX — The workbench

  1. The workbench — what is being measured, and what it said
  2. Bench — everything provable without water
  3. Pool — one section per session, agenda written before travel
  4. Research owed — the questions the sweeps could not answer

Appendix — History and elsewhere

  1. Legacy: the Pixhawk backend and ArduSub SITL
  2. RoboSub Team Intelligence — Mongla Vision Roadmap
  3. Future TODO -- shrink commands.py registry