feat: Configure Nav2 costmaps (Issue #478)

- Create nav2_params.yaml in saltybot_bringup/config/
- Global costmap: static layer + obstacle layer with /scan + /depth_scan
- Local costmap: rolling window 3m×3m, voxel layer + obstacle layer
- Inflation radius: 0.3m (robot_radius 0.15m + 0.15m padding)
- Robot footprint: 0.4m × 0.4m square [-0.2, +0.2] in x, y
- RPLIDAR A1M8 at /scan (360° LaserScan)
- RealSense D435i via depth_to_laserscan at /depth_scan
- Surround vision support for dynamic obstacles

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml

@@ -0,0 +1,393 @@
+# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble)
+#
+# Robot: differential-drive self-balancing two-wheeler
+#   robot_radius:   0.15 m  (~0.2m with margin)
+#   footprint:      0.4 x 0.4 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 (Issue #478 — Costmap configuration):
+#   /scan                    — RPLIDAR A1M8 360° LaserScan (obstacle)
+#   /depth_scan              — RealSense D435i depth_to_laserscan (obstacle)
+#   /camera/depth/color/points — RealSense D435i PointCloud2 (voxel)
+#
+# Inflation:
+#   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
+#
+# 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                          # 3m x 3m rolling window
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.15
+      footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]"  # 0.4m x 0.4m
+      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: true
+        observation_sources: scan surround_cameras
+        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
+        # 4× IMX219 camera-detected obstacles (chairs, glass, people)
+        surround_cameras:
+          topic: /surround_vision/obstacles
+          min_obstacle_height: 0.05
+          max_obstacle_height: 1.50
+          clearing: false
+          marking: true
+          data_type: "PointCloud2"
+          raytrace_max_range: 3.5
+          raytrace_min_range: 0.0
+          obstacle_max_range: 3.0
+          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: 0.3           # robot_radius (0.15) + 0.15m 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
+      footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]"  # 0.4m x 0.4m
+      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
+        # Issue #478: RPLIDAR + RealSense depth_scan
+        observation_sources: scan depth_scan surround_cameras
+        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
+        # RealSense D435i depth_to_laserscan (synthetic LaserScan from depth)
+        depth_scan:
+          topic: /depth_scan
+          max_obstacle_height: 0.80
+          clearing: true
+          marking: true
+          data_type: "LaserScan"
+          raytrace_max_range: 6.0
+          raytrace_min_range: 0.1
+          obstacle_max_range: 5.5
+          obstacle_min_range: 0.0
+        surround_cameras:
+          topic: /surround_vision/obstacles
+          min_obstacle_height: 0.05
+          max_obstacle_height: 1.50
+          clearing: false
+          marking: true
+          data_type: "PointCloud2"
+          raytrace_max_range: 3.5
+          raytrace_min_range: 0.0
+          obstacle_max_range: 3.0
+          obstacle_min_range: 0.0
+
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.3           # robot_radius (0.15) + 0.15m padding
+
+      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