Pose, health and link context
Position, orientation, localization state, health signals and other bounded platform context can be shared with peer systems.
ROS 2 federation architecture
Shared robotic awareness. Local physical authority.
TacWing-X uses authenticated federation to move bounded platform state and world observations between robotic systems. ROS 2 can expand what the operator knows without becoming a back door around the platform's own command boundary.
ROS 2Companion interoperability
AuthenticatedFederation messages
Replay boundedFreshness protection
Shared world stateSource-aware evidence
Local authorityNo remote actuator bypass
What crosses the bridge
Share evidence, not unquestioned control.
The bridge is for bounded operational information. It is intentionally different from exposing a generic remote motor or flight-control topic.
Tracks and external sensing
Companion sensors can contribute normalized observations while retaining source and freshness information.
Events and shared awareness
Mission events and selected world-state information can be distributed without requiring raw video to traverse the federation layer.
Architecture
One shared picture. Separate command boundaries.
The ROS 2 bridge sits beside the platform runtime, not above it. Incoming observations can inform the canonical world model; physical operations still pass through TacWing-X governance and the platform-specific adapter.
Operational patterns
Different robots contribute different vantage points.
The illustrations below show the kinds of mission patterns the architecture is designed to support. They are architecture concepts, not claims of customer deployment.
Air, surface and ground observations in one operational picture.
Aerial perspective, surface persistence and ground-level sensing can complement each other without collapsing every platform into a single actuator authority.
Maritime and perimeter awareness: a surface or ground platform can contribute persistent observations while an aircraft adds a different viewing geometry.
GNSS-degraded or constrained environments: external observations can add context while localization integrity and platform limitations remain visible to the operator.
How the team works together
Normalize evidence before it becomes shared state.
Each system contributes what it can sense well. TacWing-X keeps source identity, freshness and authority boundaries explicit while presenting a common operational picture.
01
Observe locally
Each platform or companion computer produces its own bounded telemetry and sensor observations.
02
Authenticate and normalize
Federation messages are checked, normalized and carried with source context.
03
Update shared world state
Accepted observations can enrich the canonical operational picture without inheriting actuator authority.
04
Support human decisions
The operator sees a more complete picture while each platform keeps its own governed physical-control boundary.
More sensors. Clearer evidence. Governed authority.
The federation layer is about shared awareness first, not remote control by default.
Companion awareness
ROS 2 can also feed read-only spatial awareness.
The Meta Quest companion is a separate presentation surface for authenticated platform and world information. It does not create another aircraft-control path.