# Backgrounds The Background Tasks system provides a framework for running continuous, long-running processes that operate independently of the main control loop. These tasks typically handle sensor data collection, state monitoring, and other background operations. Key components: * **BackgroundOrchestrator**: Manages the lifecycle of all background tasks, including startup and graceful shutdown. * **Plugins**: Background tasks are loaded dynamically from the `backgrounds/plugins` directory. * Each background task runs in its own thread, with thread pooling for efficient resource utilization. Available background tasks include: * **GPS**: Handles GPS data processing * **ODOM**: Manages odometry data * **RF Mapper**: Implements RF signal mapping functionality * **RPLIDAR**: Interfaces with RPLIDAR sensors * **RTK**: Real-Time Kinematic positioning * **Unitree Go2 State**: Manages state for Unitree Go2 robots Background tasks are configured through the main runtime configuration and can be extended by adding new plugin modules. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.openmind.com/core-concepts/concepts/8_backgrounds.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.