docs: roadmap — north star swervebot autonomous waypoints - #36
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The charters-and-gates principle applied at system level: the robot application is the consumer of the family; work queues behind gaps the milestone exposes. Gap walk across all repos: Phase 0 platform decision (PocketBeagle is armv7 — the seqlock primitives require lock-free 64-bit atomics; aarch64 SBC recommended) + app skeleton rework (standalone application, never umbrella-pinned); Phase 1 hardware teleop (steering-servo driver is the likely xmDriver gap; safety envelope first); Phase 2 estimation (odometry model, MEKF L0-L5 ladder on robot data); Phase 3 waypoint autonomy (messaging's first production composition, lineage-gated actuation, sim-first); Phase 4 tuning/soak/the end-to-end observability claim. Plus the 70/20/10 portfolio, the four-question test, the standing debt lane, and the explicitly gate-deferred list (iceoryx2, Zenoh, EventHub, reserved taxonomy rows).
Owner clarification folded in: swervebot_controller keeps its firmware role on the existing PocketBeagle (motors/servos/kinematics/ RC failsafe, high-level interface over CAN); the autonomy tier (estimation/planning/control/messaging/observability) runs on an aarch64/x86 upper computer that sees the base as a CAN device. armv7 support scoped to the driver tier only (xmDriver + xmBase core); corrects the earlier over-claim — Cortex-A8 is ARMv7-A with ldrexd/strexd, so the seqlock atomics are likely available, status 'unverified' not 'incompatible'. New Phase 0 gap: the base CAN protocol spec (command/state/heartbeat/timeout-failsafe, versioned wire vocabulary, owned by the swervebot repo); new Phase 0.5: the swerve_base CAN device driver in xmDriver (upper side), replacing the steering-servo gap at that tier (steering stays base-internal).
The application naming rule made derivable (xmApp + function word; compose released components, never umbrella-pinned; type-and-tier over instance — instances are named by config files): codifies the existing xmAppCamera precedent and the swervebot_controller -> xmAppSwerveBase rename. Roadmap links updated.
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The system-level answer to 'what next, without blind expansion': the milestone (measured, falsifiable), the phase-ordered gap walk across all repos, the 70/20/10 portfolio, the four-question task test, the debt lane, and the explicitly gate-deferred list. Two decisions surfaced for the owner inside Phase 0/2: the compute platform (PocketBeagle is 32-bit ARM — incompatible with the seqlock primitives' 64-bit atomic requirement; aarch64 SBC recommended) and the localization source honesty check (dead-reckoning drift vs an absolute reference). Docs-only.