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