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anima_module.yaml

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+schema_version: "1.0"
+
+module:
+  name: sleipnir
+  version: "0.1.0"
+  display_name: "SLEIPNIR — Ground-Fusion++ Robust Sensor-Fusion Ground SLAM"
+  description: "Robust sensor-fusion ground SLAM combining LiDAR, camera, and IMU for degraded environments"
+  category: perception.slam
+  license: Apache-2.0
+  paper: "Ground-Fusion++: Towards Robust Sensor-Fusion Ground SLAM (arXiv:2507.08364)"
+
+capabilities:
+  provides:
+    - type: slam
+      subtype: multi_sensor_fusion
+    - type: robustness
+      subtype: degraded_environment
+
+interface:
+  inputs:
+    - name: point_cloud
+      ros2_type: sensor_msgs/msg/PointCloud2
+    - name: image
+      ros2_type: sensor_msgs/msg/Image
+    - name: imu
+      ros2_type: sensor_msgs/msg/Imu
+  outputs:
+    - name: pose
+      ros2_type: geometry_msgs/msg/PoseStamped
+    - name: map
+      ros2_type: sensor_msgs/msg/PointCloud2
+
+hardware:
+  platforms:
+    - name: linux_x86
+      backends: [onnxruntime_cuda, onnxruntime_cpu]
+    - name: nvidia_jetson
+      backends: [tensorrt, onnxruntime_cuda]
+
+performance:
+  profiles:
+    - platform: linux_x86
+      model: sleipnir-base
+      backend: onnxruntime_cuda
+      fps: 15
+      latency_p50_ms: 50
+
+safety:
+  failure_mode: returns_empty
+  timeout_ms: 1000
+  health_topic: /anima/sleipnir/health
+
+composability:
+  pairs_well_with:
+    - perception.depth_estimation
+    - navigation.path_planning
+  conflicts_with: []
+
+container:
+  image: ghcr.io/robotflow-labs/anima-sleipnir:0.1.0
+  port: 8149