The repository history is retained, but root-level legacy scripts are not the
recommended runtime path. They include blocking sleep-based motion and an unsafe
text-to-exec control interface. New work belongs in turtlebot3_multimodal/.
| Legacy path | Replacement |
|---|---|
/chatter Python source text |
/turtlebot3/command validated JSON |
exec(msg.data) |
strict parser and action whitelist |
| blocking movement loops | timer-driven MotionExecutor |
| hard-coded rosbridge address | ROS-native local command topic |
| model-generated Python | model-generated JSON only |
| no emergency-stop state | latched stop/reset services and watchdog |
The previous MediaPipe task file and legacy scripts remain recoverable from the
main branch and repository history but are removed from this upgrade branch.
The task model is not required by the safe core; a later perception phase will
use a documented download and checksum workflow instead of committing binaries.