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Module 02 / 04

Reference software: C++ core → ROS 2.

Plant, health, capability, decision, stability and reconfiguration logic remain independent of ROS 2.

Reference software: C++ core → ROS 2.Open section
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Reference software: C++ core → ROS 2.

CORE

Domain-independent C++

Plant, health, capability, decision, stability and reconfiguration logic remain independent of ROS 2.

RUNTIME

ROS 2 integration

Typed messages and composable nodes expose the verified core without changing its numerical contract.

VERIFY

Golden-model equivalence

Unit equations, fault injection, configuration gates, stability checks and timing are compared with the C++ reference.

TARGET

Deterministic service cycle

Health, decision and stability paths are measured separately; timing claims remain platform-specific until HIL validation.

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