[BotshareAI]

Summary

Refreshes the OpenAMRobot 2.0 roadmap (Overview, Robot, Hardware, Architecture, Progress) from the 19 Oct snapshot, checked against P-03 rev19.7, E-01 rev1.4, BOM Issue 7.10, P-02 rev19.2, the decisions register at 1c3f516 (.github main 68833f2) and main of every repository at the SHAs listed in the footer (platform-sw 8a7a5b1, platform-hw eaac115, platform-fw f96014d, ui 0ca798b, manipulation 095e6c7, upperbody-sw f57e54c, upperbody-hw 6349ff2, upperbody-fw ba1a53f, interfaces d048fb8, release c39eda7, manifest 7fbe540, comm 73fa694, embodied-ai 56bbd36, .github 68833f2, docs 4f3f1c6).

What changed

Status changes against the 19 Oct snapshot, each with its source:

• Shared base recorded: action plan step 4 NOT STARTED to MERGED AND TESTED; section C and the hardware page no longer say "pending register entry". Source: .github roadmap: exploded view v2, open-the-base view, guided tour and video #55 (1c3f516, 22 Oct) SHARED-BASE; P-03 rev19.7 item 23.
• 2.0 base controller (STM32): NOT STARTED to IN REVIEW on the system map, the architecture stack and deployment drawings and the hardware block. Source: platform-fw docs: adopt documentation information architecture #22 (CubeMX project, ready for review; change requests as comments).
• Reactive motion layer and arbitration: IN PROGRESS to IN REVIEW; plan steps 10 (UI into twist_mux) and 25 (latched software stop) NOT STARTED/IN PROGRESS to IN REVIEW; rc.1 rows updated. Source: platform-sw #90 (twist_mux, stop gate, stop lock priority 255, UI TwistStamped on /ui/cmd_vel; changes requested 23 Oct; DCO missing). Main is unchanged: no twist_mux, UI and docking publish /cmd_vel.
• UI command path hardening: NOT STARTED to IN PROGRESS (plan step 14, system map, rc.1 row). Source: ui issues chore: set code owners for OpenAMRobot 2.0 #31 to docs: option B upper body and 2.0 sensor layout (P-03 rev19.0) #37 ("security hardening in progress"). Only the Stop (software) label reached main (ui docs: add OpenAMRobot 2.0 dark-store pick simulation #38, 22 Oct).
• Dates: Gate A, electrical/safety release (30 Oct), I8 freeze and STM32 go/no-go (6 Nov, fallback Teensy) and Gate B regression (13 to 20 Nov) now cite P-02 rev19.2, not the register; issue due dates added from issue bodies (platform-sw Regenerate hardware images that still show the Hokuyo #35 30 Oct, docs: refresh interface ownership and navigation health guidance #74 6 Nov; upperbody-sw docs: finalize paths, Academy, repository guides, and site layout #17, docs: finalize repository guides and site presentation #18, platform-fw docs: import platform and UI content batches #20, docs: add repository-grounded hardware and firmware guidance #21, manipulation [D-03][DOCS] Publish navigation contract, reason registry and Use_Case_1 traceability #24 13 Nov). Days to rc.1: 27.
• Timeline (section B): regenerated from 24 Oct to 18 Dec with the 13 Nov items, Gate B 13 to 20 Nov, a Manipulation lane, and every bar labelled confirmed (with source) or proposed.
• Design source: P-03 rev19.7 everywhere (was rev19.6); E-01 rev1.4 (was rev1.3); footer source precedence rewritten with all heads.
• Robot: base sensor frames at the P-03 rev19.7 design values (imu_link, lidar_link, base_camera_link 10 deg up, us_* and tof_* incl. rear rows, ToF 10 deg down) with drift markers; the 3D ToF callout text and its frame pitch changed from 20 to 10 deg (callout data only; no three.js or mesh data touched). PR fix: consolidate reference routes and navigation cues #14 head updated to 403a529 (changes requested).
• Unchanged statuses with new detail: navigation (body filter docs: refresh interface ownership and navigation health guidance #74), docking (Regenerate hardware images that still show the Hokuyo #35), sensors (#93 draft), Gate A (pid.h missing; not rebuildable from the repository), combined model (fix: consolidate reference routes and navigation cues #14 changes requested), device package (manipulation docs: import platform and UI content batches #20 99/99 tests, one config defect, DCO), SiteConfigStatus (interfaces Clarify P-03 rev18.2 mast geometry and assembled height #28 approved, blocked only on DCO), release (fix: finalize learning-path structure, breadcrumbs, and links #12 pins 14 vs manifest docs: finalize paths, Academy, repository guides, and site layout #17 pins 11), embodied AI (scaffold on main, no capture or policy).

Hardware and BOM

• PARTS now carries all 136 BOM Issue 7.10 rows (was 129 of them plus the BAT and SAFE bus nodes; added F-SAFE, F-PD, F-HUB, F-FAN, FB-A, FB-B, FB-C) with BOM 7.10 values (24 Oct correction: MEC-008 17.5 mm printed spacer, no standoffs; MEC-010 10 deg; PWR-030; CTL-018), plus purchase package, release status and procurement state. The diagram detail panel shows the new fields.
• New "Procurement state by purchase package": 53 packages; ordered 0, quote received 0, quote requested 0, not yet requested 52, blocked 1 (BUY-32, blocked on quotes); 43 HOLD and 5 CONDITIONAL in the purchase view. Each block table gets a procurement column.
• New "Open design items": CAN-to-lift interface (CTL-016), SAFE 24 V converter (PWR-030), isolated input module for Y32 (CTL-004).
• New "Minor parts still to be listed in the BOM": motor-brake harness connector, branch-fuse rows (traction, arms, compute, 5 V, 24 V, lift), lift cable chain.
• New "Hardware values with known drift" table with markers for drift 2 to 9, 15 and 16.
• Removed two distributor names and personal first names from the page (prices, supplier and distributor names, quote numbers and personal contact data are not published).

Governance and organisation

New section on the progress page: decision flow (GOVERNANCE.md; Botshare LTD final authority), roles from maintainers.yaml, CODEOWNERS of every repository, contributions (DCO and ICLA v1.1 or corporate agreement; rulesets with 1 approval, code-owner review, DCO and license/cla checks; embodied-ai with 0 approvals and no CLA check), Watchdog (Thursday 14:00 Berlin, one dashboard issue, harness at @main), agent rules v2 and STATE.md coverage, PRs missing DCO sign-off (interfaces #28 marked "blocked on sign-off"), activity (111 PRs from 15 authors since 1 Oct, 41 open; 8 commit authors on main since 24 Sep), licences, CITATION.cff and FUNDING.

Known drift

As shown on the progress page (#drift), each with a marker where the value appears:

1. Register document label. Design: P-03 rev19.7 is in force (project lead, 24 Oct); its decisions are already in decisions.yaml (.github roadmap: exploded view v2, open-the-base view, guided tour and video #55, 1c3f516). Other: decisions.yaml still labels the document P-03-rev19.6 (.github main 68833f2). Fix: Register label to rev19.7 (.github PR, platform lead).
2. ToF pitch. Design: 10 deg down (P-03 rev19.7 item 19 D6; register near-field entry). Other: 20 deg on platform-sw main (sensor_frames.yaml, sensors.xacro) and in platform-hw near-field.md; draft platform-sw #93 sets 10 deg but keeps 20 deg in comments and docs. Fix: platform-sw #93 and platform-hw near-field.md.
3. TF-Luna x position. Design: +/-0.390 m, panel (P-03 rev19.7 item 19, BOM Issue 7.10). Other: +/-0.399 m (lens face) on platform-sw main, in draft #93 and in the register near-field entry (robot-description owner confirmation, 20 Oct). Fix: platform-sw #93 sets +/-0.390, or P-03 and the BOM record the lens-face value; register entry to match.
4. Ultrasonic x position. Design: +/-0.390 m (register; P-03 rev19.7 item 19). Other: model: +0.3906 front, -0.3886 rear (platform-sw sensor_frames.yaml). Fix: Robot description owner to align the model or record the measured values in P-03.
5. IMU frame. Design: imu_link (0.0544, 0, 0.1210), yaw -90 deg (platform-sw main and register; P-03 rev19.7 item 19 D5 update). Other: P-03 item 15 and D5 text still (0.195, 0, -0.044); BOM sensor sheet and P-02 say axes aligned; platform-hw imu.md z 0.133; platform-fw I/O doc and docs index.md x 0.195. Fix: P-03 item 15, BOM sensor sheet, P-02, platform-hw imu.md, platform-fw I/O doc and docs index.md.
6. LiDAR mount. Design: 17.5 mm printed spacer, no standoffs, scan plane 222.05 mm (register, platform-sw, BOM Hardware BOM sheet MEC-008 after the 24 Oct correction). Other: P-03 item 13, platform-hw lidar.md and docs index.md: standoffs plus 7.1 mm plate; BOM Mechanical sheet: aluminium spacer plate; BOM Connections sheet: 222.0 mm. Fix: P-03 item 13, BOM Mechanical and Connections sheets, platform-hw lidar.md, docs index.md.
7. Base camera pose. Design: base_camera_link (0.387, 0, 0.046), 10 deg up (P-03 rev19.7 item 19 D3; platform-sw main). Other: docs index.md: (0.376, 0, 0.0445) at 142.5 mm. Fix: docs index.md (docs owner).
8. Contactors. Design: 2 x GX11CAC (register; E-01 rev1.4; BOM Issue 7.10 SAF-003). Other: P-03 item 5, platform-fw docs: finalize paths, Academy, repository guides, and site layout #17, platform-fw docs: finalize repository guides and site presentation #18 and platform-hw site: add a collapsible table of contents #27 still LEV100H. Fix: P-03 item 5 and the three PRs or issues.
9. Near-field sensor set. Design: 4 x MB7060 (UART) and 2 x TF-Luna (UART) (P-03 rev19.7 item 19; BOM Issue 7.10 SNS-001, SNS-002). Other: platform-fw docs: publish the complete fillable knowledge framework #11 title and platform-hw fix: hide redundant home navigation sidebar #15 body: TF-Luna and MB7040 over I2C. Fix: Retitle platform-fw docs: publish the complete fillable knowledge framework #11 and update platform-hw fix: hide redundant home navigation sidebar #15.
10. Navigation contract version. Design: CONTRACT_VERSION 1 on interfaces main (d048fb8). Other: interfaces Clarify P-03 rev18.2 mast geometry and assembled height #28 bumps it to 2; repositories pin three different interfaces commits (87ab8a9, fa7c438, d048fb8). Fix: Merge or close interfaces Clarify P-03 rev18.2 mast geometry and assembled height #28, then one pin across repositories (release owner).
11. /estop contract. Design: Contract changes go through a contract change request (GOVERNANCE.md). Other: platform-fw docs: finalize paths, Academy, repository guides, and site layout #17 and platform-sw roadmap: align pages and model with P-03 rev20.2 (1 Nov 2026) #66 require an /estop contract change request; none exists. Fix: Open the /estop contract change request (software lead, electrical owner).
12. rc.1 pin count. Design: One pinned source set for v2.0.0-rc.1 (register RELEASE-MILESTONES). Other: release fix: finalize learning-path structure, breadcrumbs, and links #12 pins 14 sources; manifest docs: finalize paths, Academy, repository guides, and site layout #17 pins 11. Fix: Release owner to agree one list.
13. Arm mount. Design: Arm profile on a 10 mm adapter plate on the column top (register; BOM Issue 7.10 MEC-003, MEC-004). Other: ADR-010: profile overlaps the column; upperbody-sw fix: consolidate reference routes and navigation cues #14 model: profile in front of the column. Fix: ADR-010 and upperbody-sw fix: consolidate reference routes and navigation cues #14 to follow the register.
14. Motion chain. Design: collision_monitor is the only /cmd_vel publisher (P-03 rev19.7; register). Other: on platform-sw main the UI and docking publish /cmd_vel directly; twist_mux and the UI relay are only in platform-sw #90. Fix: platform-sw #90 and Regenerate hardware images that still show the Hokuyo #35.
15. Hub motor. Design: ZLLG80ASM250-L-B, 120 kg per pair (BOM Issue 7.10 DRV-001; P-03 rev19.5 item 21, supplier answer 18 Oct). Other: platform-hw datasheets README drops the -B suffix; platform-hw Clarify P-03 rev18.2 mast geometry and assembled height #28 uses -B2; the drawing says 100 kg per pair. Fix: platform-hw datasheets README and Clarify P-03 rev18.2 mast geometry and assembled height #28.
16. Charger. Design: WCM-500-24 on release 001 and 2.0 (P-03 rev19.7 item 23; register SHARED-BASE and CHARGING; BOM Issue 7.10). Other: docs concepts.md names the WCM-300. Fix: docs concepts.md (docs owner).
17. Raspberry Pi 5 label. Design: Jetson Orin NX 16 GB is the 2.0 compute; the Raspberry Pi 5 is release 001 only. Other: The Pi 5 is named without a release 001 or legacy label in platform-hw, platform-sw, docs and the release README. Fix: Label each mention release 001 or legacy.
18. Old revisions cited as current. Design: P-03 rev19.7 and BOM Issue 7.10. Other: rev19.0 and BOM 7.7 in docs hardware-architecture, platform-hw product-architecture and BOM files, platform-fw base-controller-2-0-io, platform-sw sensor_frames.yaml, upperbody-hw README and manipulation; rev18.9 in upperbody-sw; the release README title still says v0.0.1 above the 2.0 plan. Fix: Each repository owner; release README title (release owner).
19. .github ROADMAP.md and org profile. Design: Two 7-DoF OpenArm 2.0 arms and a 2D RPLIDAR S3 (register; org profile); brake rating is an open supplier gate (BOM Issue 7.10). Other: ROADMAP.md says dual 6-DoF arms and a 3D LiDAR; the org profile says fail-safe holding brakes. Fix: .github ROADMAP.md and profile (platform lead).
20. Governance. Design: GOVERNANCE.md: platform lead reviews safety paths; two approvals on safety changes; maintainers.yaml lists the roles. Other: Code owners skunal3318, AnushkaAMuragod, Brinex45 and SatyaA27 are not in maintainers.yaml or MAINTAINERS.md; the platform lead is not a code owner in several repositories (platform-sw, interfaces, manifest, manipulation, upperbody-sw, embodied-ai, docs); rulesets enforce one approval; embodied-ai is missing from maintainers.yaml and the Watchdog list; TECHNICAL_STEERING.md is empty. Fix: .github maintainers.yaml, MAINTAINERS.md, rulesets and Watchdog list (platform lead, CI owner).
21. BOM owners. Design: Team document: @Evans-Kwashie owns power and safety, @AnushkaAMuragod supports. Other: BOM Issue 7.10 power and safety rows still list the supporting contributor as owner; mechanical rows list an inactive contributor. Fix: BOM owner columns (platform lead).
22. Docs site. Design: The deploy job verifies the live custom domain. Other: Step "Verify the live custom domain" fails with exit 127 since at least 11 Oct because the deploy job has no checkout; draft docs ci: check out source before Pages smoke test #49 fixes it. Drafts docs docs: E-01 safety and power page; architecture table to P-03 rev19.2 #46 and docs: align OpenAMRobot 2.0 hardware reference with P-03 rev19.4 #47 cite older revisions (P-03 rev19.2 and rev19.4) than this roadmap. Fix: docs ci: check out source before Pages smoke test #49; refresh docs: E-01 safety and power page; architecture table to P-03 rev19.2 #46 and docs: align OpenAMRobot 2.0 hardware reference with P-03 rev19.4 #47 to P-03 rev19.7.

Notes

• Delivery status, runtime evidence and physical acceptance remain separate.
• Adds scripts/check_roadmap.py and runs it in CI. It parses PARTS, PK and RQ, checks every status count strip against the items it counts, every in-page and cross-page anchor, that all snapshot dates agree (--today also requires today's date; CI runs without it so the build does not fail on later days), and forbidden terms (em dash, prices, e-mail and phone, quote numbers, distributor names, personal first names, links into the private audit repository, plus private terms from the optional ROADMAP_PRIVATE_TERMS environment variable, which keeps the partner name out of the public script). It passes on this build; on the 19 Oct build it flagged one pre-existing issue (a sentence naming two distributors), now removed.
• The pre-existing "Verify the live custom domain" failure is fixed separately by ci: check out source before Pages smoke test #49.
• Verified locally: mkdocs build --strict (with the social-card plugin disabled because fonts.google.com is blocked in this environment), scripts/check_docs.sh, scripts/check_roadmap.py --today, lychee offline link check (0 errors), and every built page at 375 px and 1280 px with no console errors and no horizontal page scroll.
• Newer than the 24 Oct baseline: the register near-field entry also puts the TF-Luna frames at x +/-0.399 (lens face, robot-description owner confirmation 20 Oct), so drift 3 lists the register on the 0.399 side; the BOM Hardware BOM sheet (MEC-008) now has the 17.5 mm spacer after the 24 Oct correction, while its Mechanical sheet still describes an aluminium plate and the Connections sheet 222.0 mm (drift 6).
• Re-verified at run time: heads of main, open PR refs, sensor_frames.yaml on main and in #93, CONTRACT_VERSION on interfaces main, pid.h and boards/stm32 on platform-fw, register content and label, CODEOWNERS, STATE.md, BOM Issue 7.10 from Drive, platform-fw and docs PR lists. Review, CI and DCO states of PRs in the other repositories could not be re-read through the API in this session and are taken from the 24 Oct baseline.

Documentation architecture

• I identified one primary audience and used the required page frontmatter.
• Exact commands, versions, parameters and contracts remain canonical in the owning repository.
• The page states prerequisites, outcome, verification, likely failures and one next step where applicable. (Not applicable: status snapshot.)
• Learning and reference content link back to the owning repository, and repository documentation is updated when required.
• Planned or scaffold content is clearly labelled and does not imply validation or readiness.
• I reviewed the Documentation Information Architecture and Engineering Quality Standard.

Intellectual property and provenance

• Every commit is signed off under the OpenAMRobot DCO.
• I am covered by an accepted Individual or Corporate Contributor Agreement. (For the maintainer to confirm.)
• I have all required employer, university, client, sponsor, co-author, or institutional authorization. (For the maintainer to confirm.)
• Third-party and material AI-assisted content is identified with source, licence, modifications, and notices. (Generated with Claude Code; sources are cited on each page.)
• No unauthorized confidential, personal, proprietary, credential, or export-controlled information is included.

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