Communication Protocols

Name	Type
IMU → Jetson	UART
Depth Sensor → Jetson	I2C
Jetson → Depth Sensor	I2C
Planner → Controller	ROS2 Message
Controller → State Estimator	ROS2 Message
State Estimator → Controller	ROS2 Message
Computer Vision → Planner	ROS2 Message
Computer Vision → State Estimator	ROS2 Message
Jetson → Motors	ROS2 Message
Jetson → LEDs	ROS2 Message
Motorboard → Jetson	ROS2 Message