feat: Issue #506 — Launch parameter profiles (indoor/outdoor/demo)
Implement profile-based parameter overrides for Nav2, costmap, and behavior server configurations. Profiles predefine parameter sets for different deployment scenarios. New files: - config/profiles/indoor.yaml: Conservative (0.2 m/s, tight geofence, no GPS) - config/profiles/outdoor.yaml: Moderate (0.5 m/s, wide geofence, GPS-enabled) - config/profiles/demo.yaml: Agile (0.3 m/s, tricks/social features enabled) - saltybot_bringup/profile_loader.py: YAML loader and parameter merger utility Supports: ros2 launch saltybot_bringup full_stack.launch.py profile:=<profile> Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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# Issue #506: Demo Launch Profile
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# Optimized for demonstrations: tricks, dancing, social interactions, tight maneuvering
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#
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# Parameters:
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# - Max speed: 0.3 m/s (controlled for safe demo performance)
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# - Geofence: tight (demo area boundary)
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# - GPS: disabled (indoor demo focus)
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# - Costmap inflation: aggressive (enhanced obstacle awareness)
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# - Recovery behaviors: quick recovery from collisions
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# - Tricks: all enabled (spin, dance, nod, celebrate, shy)
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# - Social features: enhanced (face emotion, audio response)
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profile: demo
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description: "Demo mode with tricks, dancing, and social features (0.3 m/s)"
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# ── Navigation & Velocity ──────────────────────────────────────────────────────
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max_linear_vel: 0.3 # m/s — controlled for safe trick execution
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max_angular_vel: 0.8 # rad/s — agile rotation for tricks
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max_vel_theta: 0.8 # rad/s — Nav2 controller (agile)
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# ── Costmap Configuration ──────────────────────────────────────────────────────
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costmap:
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inflation_radius: 0.70 # 0.35m robot + 0.35m padding (enhanced safety)
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cost_scaling_factor: 12.0 # slightly higher cost scaling for obstacle avoidance
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obstacle_layer:
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inflation_radius: 0.70
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clearing: true
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marking: true
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# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
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behavior_server:
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spin:
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max_rotational_vel: 2.0 # fast spins for tricks
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min_rotational_vel: 0.5
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rotational_acc_lim: 3.5 # higher acceleration for trick execution
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backup:
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max_linear_vel: 0.12 # conservative backup
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min_linear_vel: -0.12
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linear_acc_lim: 2.5
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max_distance: 0.25 # 25cm max backup distance (safety first)
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wait:
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wait_duration: 1000 # 1 second waits (quick recovery)
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# ── Geofence (if enabled) ──────────────────────────────────────────────────────
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geofence:
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enabled: true
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mode: "tight" # tight geofence for controlled demo area
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radius_m: 3.0 # 3m radius (small demo arena)
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# ── SLAM Configuration ─────────────────────────────────────────────────────────
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slam:
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enabled: true
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mode: "rtabmap" # RTAB-Map for demo space mapping
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gps_enabled: false # no GPS in demo mode
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# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
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tricks:
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enabled: true
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available: ["spin", "dance", "nod", "celebrate", "shy"]
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trick_cooldown_sec: 2.0 # slightly longer cooldown for safe sequencing
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max_trick_duration_sec: 5.0 # 5 second max trick duration
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# ── Social Features ────────────────────────────────────────────────────────────
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social:
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face_emotion_enabled: true # enhanced emotional expression
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audio_response_enabled: true # respond with audio for demo engagement
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greeting_trigger_enabled: true # greet approaching humans
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personality: "friendly" # social personality preset
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# ── Person Follower ────────────────────────────────────────────────────────────
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follower:
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follow_distance: 1.0 # closer following for demo engagement
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max_linear_vel: 0.3
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min_linear_vel: 0.05
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kp_linear: 0.6 # higher proportional gain for responsiveness
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kp_angular: 0.4 # moderate angular gain for agility
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following_enabled: true
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# ── Scenario Presets ──────────────────────────────────────────────────────────
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scenario:
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preset: "public_demo" # optimized for crowds and public spaces
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collision_tolerance: "low" # abort tricks on any obstacle
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speed_limit_enforcement: "strict" # strictly enforce max_linear_vel
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# Issue #506: Indoor Launch Profile
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# Optimized for controlled indoor environments: tight spaces, no GPS, conservative speed
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#
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# Parameters:
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# - Max speed: 0.2 m/s (tight indoor corridors)
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# - Geofence: tight (e.g., single room: ~5m radius)
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# - GPS: disabled
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# - Costmap inflation: aggressive (0.55m → 0.65m for safety)
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# - Recovery behaviors: conservative (short spin/backup distances)
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# - Tricks: enabled (safe for indoor demo)
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profile: indoor
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description: "Tight indoor spaces, no GPS, conservative speed (0.2 m/s)"
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# ── Navigation & Velocity ──────────────────────────────────────────────────────
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max_linear_vel: 0.2 # m/s — tight indoor corridors
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max_angular_vel: 0.3 # rad/s — conservative rotation
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max_vel_theta: 0.3 # rad/s — Nav2 controller (same as above)
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# ── Costmap Configuration ──────────────────────────────────────────────────────
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costmap:
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inflation_radius: 0.65 # 0.35m robot + 0.30m padding (aggressive for safety)
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cost_scaling_factor: 10.0
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obstacle_layer:
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inflation_radius: 0.65
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clearing: true
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marking: true
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# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
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behavior_server:
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spin:
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max_rotational_vel: 1.0
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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backup:
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max_linear_vel: 0.10 # very conservative backup
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min_linear_vel: -0.10
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linear_acc_lim: 2.5
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max_distance: 0.3 # 30cm max backup distance
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wait:
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wait_duration: 2000 # 2 second waits
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# ── Geofence (if enabled) ──────────────────────────────────────────────────────
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geofence:
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enabled: true
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mode: "tight" # tight geofence for single-room operation
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radius_m: 5.0 # 5m radius max (typical room size)
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# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
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tricks:
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enabled: true
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available: ["spin", "dance", "nod", "celebrate", "shy"]
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# ── SLAM Configuration ─────────────────────────────────────────────────────────
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slam:
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enabled: true
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mode: "rtabmap" # RTAB-Map SLAM for indoor mapping
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gps_enabled: false # no GPS indoors
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# ── Person Follower ────────────────────────────────────────────────────────────
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follower:
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follow_distance: 1.5 # meters
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max_linear_vel: 0.2
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min_linear_vel: 0.05
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kp_linear: 0.5 # proportional gain for linear velocity
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kp_angular: 0.3 # proportional gain for angular velocity
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# Issue #506: Outdoor Launch Profile
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# Optimized for outdoor environments: wide spaces, GPS-enabled, moderate speed
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#
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# Parameters:
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# - Max speed: 0.5 m/s (open outdoor terrain)
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# - Geofence: wide (e.g., park boundary: ~20m radius)
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# - GPS: enabled via outdoor_nav with EKF fusion
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# - Costmap inflation: moderate (0.55m standard)
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# - Recovery behaviors: moderate distances
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# - Tricks: enabled (safe for outdoor social features)
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profile: outdoor
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description: "Wide outdoor spaces, GPS-enabled navigation, moderate speed (0.5 m/s)"
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# ── Navigation & Velocity ──────────────────────────────────────────────────────
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max_linear_vel: 0.5 # m/s — open outdoor terrain
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max_angular_vel: 0.5 # rad/s — moderate rotation
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max_vel_theta: 0.5 # rad/s — Nav2 controller (same as above)
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# ── Costmap Configuration ──────────────────────────────────────────────────────
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costmap:
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inflation_radius: 0.55 # 0.35m robot + 0.20m padding (standard)
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cost_scaling_factor: 10.0
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obstacle_layer:
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inflation_radius: 0.55
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clearing: true
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marking: true
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# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
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behavior_server:
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spin:
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max_rotational_vel: 1.5
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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backup:
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max_linear_vel: 0.15 # moderate backup speed
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min_linear_vel: -0.15
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linear_acc_lim: 2.5
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max_distance: 0.5 # 50cm max backup distance
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wait:
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wait_duration: 2000 # 2 second waits
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# ── Geofence (if enabled) ──────────────────────────────────────────────────────
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geofence:
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enabled: true
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mode: "wide" # wide geofence for outdoor exploration
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radius_m: 20.0 # 20m radius max (park boundary)
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# ── SLAM Configuration ─────────────────────────────────────────────────────────
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slam:
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enabled: false # no SLAM outdoors — use GPS instead
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mode: "gps"
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gps_enabled: true # GPS nav via outdoor_nav + EKF
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# ── Outdoor Navigation (EKF + GPS) ────────────────────────────────────────────
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outdoor_nav:
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enabled: true
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use_gps: true
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ekf_config: "ekf_outdoor.yaml"
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# ── Person Follower ────────────────────────────────────────────────────────────
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follower:
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follow_distance: 2.0 # meters (slightly further for outdoor)
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max_linear_vel: 0.5
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min_linear_vel: 0.05
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kp_linear: 0.4 # slightly lower gain for stability
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kp_angular: 0.25 # slightly lower gain for outdoor
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# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
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tricks:
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enabled: true
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available: ["spin", "dance", "celebrate"] # subset safe for outdoor
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#!/usr/bin/env python3
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"""
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Issue #506: Profile Loader for SaltyBot Launch Profiles
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Loads and merges launch parameter profiles (indoor, outdoor, demo) into
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the full_stack.launch.py configuration.
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Usage:
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from saltybot_bringup.profile_loader import ProfileLoader
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loader = ProfileLoader()
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profile_params = loader.load_profile('indoor')
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# Override parameters based on profile
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"""
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import os
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import yaml
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from typing import Dict, Any, Optional
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from ament_index_python.packages import get_package_share_directory
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class ProfileLoader:
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"""Load and parse launch parameter profiles."""
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VALID_PROFILES = ["indoor", "outdoor", "demo"]
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def __init__(self):
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"""Initialize profile loader with package paths."""
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self.pkg_dir = get_package_share_directory("saltybot_bringup")
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self.profiles_dir = os.path.join(self.pkg_dir, "config", "profiles")
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def load_profile(self, profile_name: str) -> Dict[str, Any]:
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"""
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Load a profile by name.
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Args:
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profile_name: Profile name (indoor, outdoor, demo)
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Returns:
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Dictionary of profile parameters
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Raises:
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ValueError: If profile doesn't exist
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yaml.YAMLError: If profile YAML is invalid
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"""
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if profile_name not in self.VALID_PROFILES:
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raise ValueError(
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f"Invalid profile '{profile_name}'. "
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f"Valid profiles: {', '.join(self.VALID_PROFILES)}"
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)
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profile_path = os.path.join(self.profiles_dir, f"{profile_name}.yaml")
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if not os.path.exists(profile_path):
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raise FileNotFoundError(f"Profile file not found: {profile_path}")
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with open(profile_path, "r") as f:
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profile = yaml.safe_load(f)
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if not profile:
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raise ValueError(f"Profile file is empty: {profile_path}")
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return profile
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def get_nav2_overrides(self, profile: Dict[str, Any]) -> Dict[str, Any]:
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"""
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Extract Nav2-specific parameters from profile.
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Args:
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profile: Loaded profile dictionary
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Returns:
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Dictionary with nav2_params_file overrides
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"""
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overrides = {}
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# Velocity limits
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if "max_linear_vel" in profile:
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overrides["max_vel_x"] = profile["max_linear_vel"]
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overrides["max_speed_xy"] = profile["max_linear_vel"]
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if "max_angular_vel" in profile:
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overrides["max_vel_theta"] = profile["max_angular_vel"]
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# Costmap parameters
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if "costmap" in profile and "inflation_radius" in profile["costmap"]:
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overrides["inflation_radius"] = profile["costmap"]["inflation_radius"]
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return overrides
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def get_launch_args(self, profile: Dict[str, Any]) -> Dict[str, str]:
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"""
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Extract launch arguments from profile.
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Args:
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profile: Loaded profile dictionary
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Returns:
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Dictionary of launch argument name → value
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"""
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args = {}
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# Core parameters
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args["max_linear_vel"] = str(profile.get("max_linear_vel", 0.2))
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args["follow_distance"] = str(
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profile.get("follower", {}).get("follow_distance", 1.5)
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)
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# Mode (indoor/outdoor affects SLAM vs GPS)
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if profile.get("slam", {}).get("enabled"):
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args["mode"] = "indoor"
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else:
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args["mode"] = "outdoor"
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# Feature toggles
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args["enable_perception"] = "true"
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if profile.get("tricks", {}).get("enabled"):
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args["enable_follower"] = "true"
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else:
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args["enable_follower"] = "false"
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return args
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def validate_profile(self, profile: Dict[str, Any]) -> bool:
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"""
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Validate profile structure.
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Args:
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profile: Profile dictionary to validate
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Returns:
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True if valid, raises ValueError otherwise
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"""
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required_keys = ["profile", "description"]
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for key in required_keys:
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if key not in profile:
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raise ValueError(f"Profile missing required key: {key}")
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return True
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def merge_profiles(
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self,
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base_profile: Dict[str, Any],
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override_profile: Dict[str, Any],
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) -> Dict[str, Any]:
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"""
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Deep merge profile dictionaries (override_profile takes precedence).
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Args:
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base_profile: Base profile (e.g., indoor)
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override_profile: Profile to merge in (higher priority)
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Returns:
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Merged profile dictionary
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"""
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merged = base_profile.copy()
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for key, value in override_profile.items():
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if key in merged and isinstance(merged[key], dict) and isinstance(
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value, dict
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):
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merged[key] = self.merge_profiles(merged[key], value)
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else:
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merged[key] = value
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return merged
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