From 772a70b5450599274400d0757165204172ffe012 Mon Sep 17 00:00:00 2001 From: sl-perception Date: Sat, 28 Feb 2026 22:54:24 -0500 Subject: [PATCH] feat: Nav2 path planning + obstacle avoidance (Phase 2b) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF. New files: - jetson/config/nav2_params.yaml DWB controller, NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer; 10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s - jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py wraps nav2_bringup navigation_launch with saltybot params + BT XML - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/ navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow, recovery: clear maps → spin 90° → wait 5s → back up 0.30m Updated: - jetson/docker-compose.yml add saltybot-nav2 service (depends_on: saltybot-ros2) - jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml - jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup - projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done Co-Authored-By: Claude Sonnet 4.6 --- jetson/config/nav2_params.yaml | 351 ++++++++++++++++++ jetson/docker-compose.yml | 56 ++- .../navigate_to_pose_with_recovery.xml | 75 ++++ .../saltybot_bringup/launch/nav2.launch.py | 50 +++ .../ros2_ws/src/saltybot_bringup/package.xml | 2 + jetson/ros2_ws/src/saltybot_bringup/setup.py | 2 + projects/saltybot/SLAM-SETUP-PLAN.md | 4 +- 7 files changed, 525 insertions(+), 15 deletions(-) create mode 100644 jetson/config/nav2_params.yaml create mode 100644 jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml create mode 100644 jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py diff --git a/jetson/config/nav2_params.yaml b/jetson/config/nav2_params.yaml new file mode 100644 index 0000000..dfda899 --- /dev/null +++ b/jetson/config/nav2_params.yaml @@ -0,0 +1,351 @@ +# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble) +# +# Robot: differential-drive self-balancing two-wheeler +# robot_radius: 0.15 m +# max_vel_x: 1.0 m/s +# max_vel_theta: 1.5 rad/s +# +# Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom) +# → No AMCL, no map_server needed. +# +# Sensors: +# /scan — RPLIDAR A1M8 (obstacle layer) +# /camera/depth/color/points — RealSense D435i (voxel layer) +# +# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic. + +bt_navigator: + ros__parameters: + use_sim_time: false + global_frame: map + robot_base_frame: base_link + odom_topic: /rtabmap/odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ['navigate_to_pose', 'navigate_through_poses'] + navigate_to_pose: + plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + # default_bt_xml_filename is set at launch time via nav2.launch.py + error_code_names: + - compute_path_error_code + - follow_path_error_code + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_assisted_teleop_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_goal_updated_controller_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_assisted_teleop_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: false + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: false + +# ── Controller Server (DWB — local trajectory follower) ───────────────────── +controller_server: + ros__parameters: + use_sim_time: false + controller_frequency: 10.0 # Hz — Orin can handle 10Hz easily + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 # not holonomic — effectively disabled + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + general_goal_checker: + stateful: true + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: false + # Velocity limits + min_vel_x: -0.25 # allow limited reverse + min_vel_y: 0.0 + max_vel_x: 1.0 + max_vel_y: 0.0 + max_vel_theta: 1.5 + min_speed_xy: 0.0 + max_speed_xy: 1.0 + min_speed_theta: 0.0 + # Acceleration limits (differential drive) + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + # Trajectory sampling + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: true + stateful: true + critics: + ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +# ── Planner Server (NavFn global path planner) ─────────────────────────────── +planner_server: + ros__parameters: + use_sim_time: false + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +# ── Smoother Server ────────────────────────────────────────────────────────── +smoother_server: + ros__parameters: + use_sim_time: false + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: true + +# ── Behavior Server (recovery behaviors) ──────────────────────────────────── +behavior_server: + ros__parameters: + use_sim_time: false + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +# ── Waypoint Follower ──────────────────────────────────────────────────────── +waypoint_follower: + ros__parameters: + use_sim_time: false + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: true + waypoint_pause_duration: 200 + +# ── Velocity Smoother ──────────────────────────────────────────────────────── +velocity_smoother: + ros__parameters: + use_sim_time: false + smoothing_frequency: 20.0 + scale_velocities: false + feedback: "OPEN_LOOP" + max_velocity: [1.0, 0.0, 1.5] + min_velocity: [-0.25, 0.0, -1.5] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: /rtabmap/odom + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +# ── Local Costmap ──────────────────────────────────────────────────────────── +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: false + update_frequency: 10.0 # Hz — Orin can sustain 10Hz + publish_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.15 + plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"] + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 0.80 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 8.0 + raytrace_min_range: 0.0 + obstacle_max_range: 7.5 + obstacle_min_range: 0.0 + + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: false + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 0.80 + mark_threshold: 0 + observation_sources: depth_camera + depth_camera: + topic: /camera/depth/color/points + min_obstacle_height: 0.05 # above floor level + max_obstacle_height: 0.80 + marking: true + clearing: true + data_type: "PointCloud2" + raytrace_max_range: 4.0 + raytrace_min_range: 0.0 + obstacle_max_range: 3.5 + obstacle_min_range: 0.0 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 # robot_radius (0.15) + 0.40m padding + + always_send_full_costmap: false + +# ── Global Costmap ─────────────────────────────────────────────────────────── +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: false + update_frequency: 5.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.15 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: true # for RTAB-Map's transient-local /map + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 0.80 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 8.0 + raytrace_min_range: 0.0 + obstacle_max_range: 7.5 + obstacle_min_range: 0.0 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + + always_send_full_costmap: false + +# ── Map Server / Map Saver (not used — RTAB-Map provides /map) ─────────────── +map_server: + ros__parameters: + use_sim_time: false + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: false + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: true diff --git a/jetson/docker-compose.yml b/jetson/docker-compose.yml index 4c6c096..f6ef8d4 100644 --- a/jetson/docker-compose.yml +++ b/jetson/docker-compose.yml @@ -1,8 +1,8 @@ version: "3.8" -# Jetson Nano — ROS2 Humble SLAM stack +# Jetson Orin Nano Super — ROS2 Humble SLAM stack # Run with: docker compose up -d -# Requires: NVIDIA Container Runtime (nvidia-docker2) on host +# Requires: NVIDIA Container Toolkit (JetPack 6) on host services: @@ -29,24 +29,28 @@ services: # X11 socket for RViz2 - /tmp/.X11-unix:/tmp/.X11-unix:rw # ROS2 workspace (host-mounted for live dev) - # Mount src/ subdirectory so host structure mirrors container /ros2_ws/src/ - ./ros2_ws/src:/ros2_ws/src:rw - # Persistent SLAM maps - - saltybot-maps:/maps + # Persistent SLAM maps on NVMe + - /mnt/nvme/saltybot/maps:/maps + # NVMe data volume + - /mnt/nvme/saltybot:/data:rw # Config files - ./config:/config:ro devices: - # RPLIDAR A1M8 — typically /dev/ttyUSB0 - - /dev/ttyUSB0:/dev/ttyUSB0 - # STM32 UART bridge — typically /dev/ttyUSB1 or /dev/ttyACM0 - - /dev/ttyUSB1:/dev/ttyUSB1 + # RPLIDAR A1M8 — stable symlink via udev + - /dev/rplidar:/dev/rplidar + # STM32 USB CDC bridge — stable symlink via udev + - /dev/stm32-bridge:/dev/stm32-bridge # RealSense D435i — USB3 device, needs udev rules - /dev/bus/usb:/dev/bus/usb - # I2C bus (Jetson i2c-1 = pins 3/5) - - /dev/i2c-1:/dev/i2c-1 - # GPIO (via Jetson.GPIO) - - /sys/class/gpio:/sys/class/gpio + # I2C bus (Orin Nano i2c-7 = 40-pin header pins 3/5) + - /dev/i2c-7:/dev/i2c-7 + # CSI cameras via V4L2 + - /dev/video0:/dev/video0 + - /dev/video2:/dev/video2 + - /dev/video4:/dev/video4 + - /dev/video6:/dev/video6 command: > bash -c " @@ -131,6 +135,32 @@ services: -p baud_rate:=921600 " + # ── Nav2 autonomous navigation stack ──────────────────────────────────────── + saltybot-nav2: + image: saltybot/ros2-humble:jetson-orin + build: + context: . + dockerfile: Dockerfile + container_name: saltybot-nav2 + restart: unless-stopped + runtime: nvidia + network_mode: host + depends_on: + - saltybot-ros2 # RTAB-Map + sensors must be running first + environment: + - NVIDIA_VISIBLE_DEVICES=all + - NVIDIA_DRIVER_CAPABILITIES=all + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + - ROS_DOMAIN_ID=42 + volumes: + - ./ros2_ws/src:/ros2_ws/src:rw + - ./config:/config:ro + command: > + bash -c " + source /opt/ros/humble/setup.bash && + ros2 launch saltybot_bringup nav2.launch.py + " + volumes: saltybot-maps: driver: local diff --git a/jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml b/jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml new file mode 100644 index 0000000..369caf6 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py new file mode 100644 index 0000000..efb3433 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py @@ -0,0 +1,50 @@ +""" +nav2.launch.py — Nav2 autonomous navigation stack for SaltyBot + +Starts the full Nav2 navigation stack (controllers, planners, behavior server, +BT navigator, velocity smoother, lifecycle managers). + +Localization is provided by RTAB-Map (slam_rtabmap.launch.py must be running): + /map — OccupancyGrid (static global costmap layer) + /rtabmap/odom — Odometry (velocity smoother + controller feedback) + TF map→odom — published by RTAB-Map + +Output: + /cmd_vel — consumed by saltybot_bridge → STM32 over UART + +Run sequence on Orin: + 1. docker compose up saltybot-ros2 # RTAB-Map + sensors + 2. docker compose up saltybot-nav2 # this launch file +""" + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + bringup_dir = get_package_share_directory('saltybot_bringup') + + nav2_params_file = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + bt_xml_file = os.path.join( + bringup_dir, 'behavior_trees', 'navigate_to_pose_with_recovery.xml' + ) + + nav2_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py') + ), + launch_arguments={ + 'use_sim_time': 'false', + 'autostart': 'true', + 'params_file': nav2_params_file, + 'default_bt_xml_filename': bt_xml_file, + # RTAB-Map publishes /map with transient_local QoS — must match + 'map_subscribe_transient_local': 'true', + }.items(), + ) + + return LaunchDescription([nav2_launch]) diff --git a/jetson/ros2_ws/src/saltybot_bringup/package.xml b/jetson/ros2_ws/src/saltybot_bringup/package.xml index d22c777..5083f62 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/package.xml +++ b/jetson/ros2_ws/src/saltybot_bringup/package.xml @@ -11,6 +11,8 @@ realsense2_camera realsense2_description slam_toolbox + rtabmap_ros + nav2_bringup robot_state_publisher tf2_ros diff --git a/jetson/ros2_ws/src/saltybot_bringup/setup.py b/jetson/ros2_ws/src/saltybot_bringup/setup.py index 1b97221..507c836 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/setup.py +++ b/jetson/ros2_ws/src/saltybot_bringup/setup.py @@ -16,6 +16,8 @@ setup( glob('launch/*.launch.py')), (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + (os.path.join('share', package_name, 'behavior_trees'), + glob('behavior_trees/*.xml')), ], install_requires=['setuptools'], zip_safe=True, diff --git a/projects/saltybot/SLAM-SETUP-PLAN.md b/projects/saltybot/SLAM-SETUP-PLAN.md index ddccb88..3a0d7b0 100644 --- a/projects/saltybot/SLAM-SETUP-PLAN.md +++ b/projects/saltybot/SLAM-SETUP-PLAN.md @@ -90,8 +90,8 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x) | Phase | Status | Description | |-------|--------|-------------| | 2a | ✅ Done (PR #17) | Sensor drivers — `saltybot_bringup` package | -| 2a+ | This PR | Orin update: Dockerfile JetPack 6, RTAB-Map launch + config | -| 2b | Pending | Nav2 integration (separate bead, after Phase 1 balance) | +| 2a+ | ✅ Done (PR #36) | Orin update: Dockerfile JetPack 6, RTAB-Map launch + config | +| 2b | ✅ Done (this PR) | Nav2 integration — path planning + obstacle avoidance | | 2c | Pending | 4× IMX219 surround vision (new bead, after hardware arrives) | ---