> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/simulation/workspace-and-package-layout.md).

# Workspace and Package Layout

The simulator should be a first-class part of the CAREC repository, not a separate demonstration that drifts from the robot software.

```
carec_ws/src/
  carec_description/       URDF/Xacro, meshes, collision geometry, TF
  carec_control/           ros2_control configuration and drive limits
  carec_simulation/        Gazebo worlds, models, plugins, launch files
  carec_sensors/           sensor definitions, bridges, noise profiles
  carec_localization/      SLAM and localization parameters
  carec_navigation/        Nav2 behavior trees, planners, controllers
  carec_safety/            supervisor, mode logic, stop and fault handling
  carec_scenarios/         scenario definitions, assertions, fixtures
  carec_bringup/           composed system launch and configuration
  carec_interfaces/        project messages, services, and actions
  carec_test/              integration tests, reports, and test utilities
```

## Stable command contract

The repository should converge on these command responsibilities even if final launch-file names change:

| Command responsibility | Required behavior                                                                |
| ---------------------- | -------------------------------------------------------------------------------- |
| Build                  | Resolve dependencies and build from a clean workspace                            |
| Smoke launch           | Start a small headless world, robot, controllers, sensors, and safety supervisor |
| Desktop launch         | Add Gazebo GUI, RViz, teleoperation, and diagnostics                             |
| Navigation launch      | Start localization or SLAM plus Nav2                                             |
| Scenario runner        | Accept scenario ID, seed, timeout, and output directory                          |
| Test command           | Produce machine-readable and human-readable results                              |

Every launch argument needs a default, description, type, and ownership package. Configuration belongs in version-controlled YAML; launch files should assemble components rather than hide large parameter dictionaries.


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