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a00dbe6429
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feat: UWB follow-me system (#57) — saltybot_uwb package + sensor fusion
New packages
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saltybot_uwb_msgs (ament_cmake)
• UwbRange.msg — per-anchor range reading (anchor_id, range_m, raw_mm, rssi)
• UwbRangeArray.msg — array of UwbRange published on /uwb/ranges
saltybot_uwb (ament_python)
• ranging_math.py — pure triangulate_2anchor() (height-compensated TWR
geometry, 2-anchor intersection) + KalmanFilter2D
(constant-velocity, numpy-free, 16 tests pass)
• uwb_driver_node.py — SerialReader threads poll MaUWB ESP32-S3 DW3000
anchors via AT+RANGE?, triangulate, Kalman-smooth,
publish /uwb/target (PoseStamped/base_link) + /uwb/ranges
• config/uwb_config.yaml, launch/uwb.launch.py
• test/test_ranging_math.py — 16 unit tests (triangulation + Kalman), all pass
Updated saltybot_follower
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• person_follower_node.py — adds fuse_targets() pure helper + /uwb/target
subscriber (primary, weight=0.7); /person/target secondary (weight=0.3);
weighted blend when both fresh, graceful fallback to single source; new
params uwb_weight + uwb_timeout
• person_follower_params.yaml — uwb_weight: 0.7, uwb_timeout: 1.0s
• test_person_follower.py — 7 new TestFuseTargets cases; total 60 pass
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-01 00:48:03 -05:00 |
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432d5cb267
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feat: person-following control loop (Phase 2b)
Adds saltybot_follower ROS2 package — proportional person-following
controller that bridges sl-jetson's /person/target detections to Nav2
/cmd_vel, with the cmd_vel_bridge_node (PR #46) providing safety wrapping.
Controller features:
- Proportional control: linear.x ∝ distance error, angular.z ∝ bearing
- Follow distance: 1.5m default with ±0.3m dead zone (no jitter at target)
- Max speed: 0.5 m/s linear, 1.0 rad/s angular (conservative for balance)
- Obstacle override: zeroes forward cmd_vel when Nav2 local costmap
detects obstacle in forward corridor; turning still allowed
- Lost-target state machine:
FOLLOWING → person visible
STOPPING → lost > 2s, publish zero
SEARCHING → lost > 5s, slow rotation (0.3 rad/s) to re-acquire
- Mode integration: follow_enabled param (toggle via ros2 param set)
independently gates the controller; cmd_vel bridge gates on md=2
Deliverables:
saltybot_follower/person_follower_node.py — ROS2 node (314 lines)
config/person_follower_params.yaml — all params documented
launch/person_follower.launch.py — all params as launch args
test/test_person_follower.py — 53 pytest tests, no ROS2
package.xml / setup.py / setup.cfg — package metadata
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 23:22:49 -05:00 |
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