4. 配置管线

Autonomy 采用 Lua → Protobuf → Server 统一配置管线，与 Cartographer / Autoware 风格一致。

4.1 加载链

config/autonomy.lua
        │
        ▼
ConfigurationFileResolver
        │
        ▼
LuaParameterDictionary
        │
        ▼
system::LoadOptions()  →  proto::AutonomyOptions
        │
        ├── map_options        → MapServer
        ├── planner_options    → PlannerServer
        ├── controller_options → ControllerServer
        ├── navigator_options  → navigator / BT
        └── transform_options  → TransformServer

4.2 API

#include "autonomy/system/options.hpp"

auto options = autonomy::system::CreateOptions(
    "config",           // configuration_directory
    "autonomy.lua");    // configuration_basename

system/options.cpp 按 key 分发：

Lua key	Loader	Proto 字段
`map`	`map::LoadOptions`	`map_options`
`planning`	`planning::LoadOptions`	`planner_options`
`controller`	`control::LoadOptions`	`controller_options`
`navigator`	`navigator::LoadOptions`	`navigator_options`
`transform`	`transform::LoadOptions`	`transform_options`

4.3 顶层 `autonomy.lua`

include "common.lua"
include "map/map.lua"
include "planner/planner.lua"
include "controller/controller.lua"
include "navigator/navigator.lua"
include "transform/transform.lua"

AUTONOMY = {
  map = AUTONOMY_MAP,
  planning = AUTONOMY_PLANNER,
  controller = AUTONOMY_CONTROLLER,
  navigator = navigator,
  transform = AUTONOMY_TRANSFORM,
}
return AUTONOMY

4.4 共享参数 `common.lua`

跨模块参数须在多处保持一致：

参数	使用方
`global_frame`	map, planner, controller, navigator
`robot_base_frame`	同上
`default_planner_id`	planner, navigator
`default_controller_id`	controller, navigator
`goal_reached_tolerance`	controller, navigator

4.5 运行时覆盖

RuntimeOptions 可在 Configure() 时覆盖配置：

autonomy::system::RuntimeOptions runtime;
runtime.planner_id = "theta_star_planner";
runtime.use_bt_navigation = true;
runtime.global_frame = "map";
autonomy->Configure(runtime);

4.6 子模块配置文档

模块	配置文件	文档
Map	`config/map/map.lua`	07 Map
Planning	`config/planner/planner.lua`	08 Planning
Control	`config/controller/controller.lua`	09 Control
Navigator	`config/navigator/navigator.lua`	16 Navigator

4.7 相关文档