feature_id,name,category,status,nodes,topics,services,actions,commands
mapping_slam_toolbox,建图 / SLAM 建图 / slam_toolbox,建图,offline-captured,14,40,85,0,2
core_base_lidar,底盘基础 + 雷达,底盘/雷达,online-captured,12,33,70,0,2
camera_astra,相机 / 摄像头 / Astra Camera,相机,offline-captured,15,42,125,0,1
nav2_navigation,导航 / Nav2,导航,offline-from-project,0,8,0,0,1
imu_ekf,IMU / EKF / 姿态融合,IMU,online-captured,2,3,8,0,1
voice_mic,语音 / 麦克风 / AIUI / TTS,语音,offline-from-project,0,0,0,0,3
follower_modes,跟随 / 追踪 / follower,跟随,offline-from-project,0,4,0,0,3
vision_ai,视觉识别 / YOLO / ArUco / KCF,视觉,offline-from-project,0,9,0,0,3
gps_rtk,GPS / RTK / 定位,GPS,offline-from-project,0,0,0,0,2
joy_keyboard,手柄 / 键盘控制,控制,offline-from-project,0,5,0,0,2
path_tools,路径保存 / 路径跟随,路径,offline-from-project,0,5,0,0,2
robot_model_tf,机器人模型 / TF / URDF,模型,online-captured,7,4,42,0,1
rtabmap_3d,RTAB-Map / 3D 建图,建图,offline-from-project,0,7,0,0,2
rrt_exploration,RRT 探索 / 自主探索,探索,offline-from-project,0,8,0,0,2