ec4527b8f3
refactor: replace mamba_protocol with balance_protocol, remove all Mamba/STM32 refs
...
- Add balance_protocol.py: canonical CAN codec for Orin <-> ESP32 BALANCE + VESC
- ORIN_CMD_DRIVE 0x300, ORIN_CMD_MODE 0x301, ORIN_CMD_ESTOP 0x302
- FC_STATUS 0x400, FC_VESC 0x401; VESC_LEFT_ID=56, VESC_RIGHT_ID=68
- Delete mamba_protocol.py (had MAMBA_CMD_* 0x100-0x102, MAMBA_TELEM_* 0x200-0x201)
- Rewrite can_bridge_node.py: uses balance_protocol, can0 interface, no mamba_can_id param
- Rewrite test_can_bridge.py: tests balance_protocol encode/decode
- Rewrite saltybot_can_e2e_test: protocol_defs.py + all 5 test files use new IDs
- Update saltybot_bridge: stm32f722 → esp32_balance in hardware_id fields
- Update configs/YAMLs: remove Mamba F722S/STM32F722/slcan0 references
Hardware: Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO, FSESC 6.7 VESC ×2
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:51:50 -04:00
2d60aab79c
feat: SLAM map persistence for AMCL (Issue #696 )
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- New map_persistence.launch.py: launches map_saver_server lifecycle node
(nav2_map_server) + saltybot_map_saver helper node + lifecycle_manager.
Configurable map_dir (default /mnt/nvme/saltybot/maps) and map_name.
- New map_saver_node.py: ROS2 node providing /saltybot/save_map (Trigger
service) that calls nav2_map_server map_saver_cli. On startup logs whether
a saved map is present. Auto-saves map on shutdown (auto_save_on_shutdown).
- New config/map_saver_params.yaml: map_saver_server params
(save_map_timeout=5s, free/occupied thresholds, transient-local QoS).
- nav2_slam_bringup.launch.py: adds map_dir + map_name args; includes
map_persistence.launch.py so map_saver_server runs during SLAM sessions.
- nav2_amcl_bringup.launch.py: adds map_dir arg; auto-detects saved map at
/mnt/nvme/saltybot/maps/saltybot_map.yaml at launch time and uses it as
the AMCL map; falls back to placeholder if not found.
- setup.py: registers map_persistence.launch.py, map_saver_params.yaml,
map_saver_node console_scripts entry point.
- test_nav2_amcl.py: 21 new tests covering params, launch syntax,
node service/shutdown behaviour, SLAM bringup inclusion, AMCL auto-detect.
Workflow:
1. ros2 launch saltybot_nav2_slam nav2_slam_bringup.launch.py (build map)
2. ros2 service call /saltybot/save_map std_srvs/srv/Trigger {} (save)
3. ros2 launch saltybot_nav2_slam nav2_amcl_bringup.launch.py (auto-loads)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-20 16:27:52 -04:00
fdda6fe5ee
Merge pull request 'feat: Nav2 AMCL integration (Issue #655 )' ( #664 ) from sl-perception/issue-655-nav2-integration into main
2026-03-18 07:57:02 -04:00
06101371ff
fix: Use correct VESC topic names /vesc/left|right/state (Issue #670 )
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- VESCCANOdometryNode subscriptions now use left_state_topic/right_state_topic
params (defaulting to /vesc/left/state and /vesc/right/state) instead of
building /vesc/can_<id>/state from CAN IDs — those topics never existed
- Update right_can_id default: 79 → 68 (Mamba F722S architecture update)
- Update vesc_odometry_params.yaml: CAN IDs 61/79 → 56/68; add explicit
left_state_topic and right_state_topic entries; remove stale can_N comments
- All IDs remain fully configurable via ROS2 params
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-18 07:55:04 -04:00
ee16bae9fb
fix: Make VESC CAN IDs configurable, default 56/68 (Issue #667 )
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FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all
driver, telemetry, and odometry bridge files to use correct defaults.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-18 07:50:20 -04:00
7d2d41ba9f
fix: Standardize VESC topic naming to /vesc/left|right/state (Issue #669 )
...
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 15:18:43 -04:00
b74307c58a
feat: Nav2 AMCL integration with VESC odometry + LiDAR (Issue #655 )
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AMCL-based autonomous navigation on pre-built static maps, wired to
VESC CAN differential-drive odometry (/odom, Issue #646 ) and RPLiDAR
(/scan) as the primary sensor sources.
New files (saltybot_nav2_slam):
- config/amcl_nav2_params.yaml — complete Nav2 + AMCL parameter file
with inline global/local costmap configs (required by nav2_bringup):
· AMCL: DifferentialMotionModel, 500–3000 particles, z-weights=1.0,
odom_frame=/odom, scan_topic=/scan
· Global costmap: static_layer + obstacle_layer (LiDAR) +
inflation_layer (0.55m radius)
· Local costmap: 4m rolling window, obstacle_layer (LiDAR) +
inflation_layer, global_frame=odom
· DWB controller: 1.0 m/s max, diff-drive constrained (vy=0)
· NavFn A* planner
· Recovery: spin + backup + wait
· Lifecycle managers for localization and navigation
- launch/nav2_amcl_bringup.launch.py — orchestrates:
1. sensors.launch.py (RealSense + RPLIDAR, conditional)
2. odometry_bridge.launch.py (VESC CAN → /odom)
3. nav2_bringup localization_launch.py (map_server + AMCL)
4. nav2_bringup navigation_launch.py (full nav stack)
Exposes: map, use_sim_time, autostart, params_file, include_sensors
- maps/saltybot_map.yaml — placeholder map descriptor (0.05m/cell)
- maps/saltybot_map.pgm — 200×200 P5 PGM, all free space (10m×10m)
- test/test_nav2_amcl.py — 38 unit tests (no ROS2 required):
params structure, z-weight sum, costmap layers, DWB/NavFn validity,
recovery behaviors, PGM format, launch file syntax checks
Updated:
- saltybot_bringup/launch/nav2.launch.py — adds nav_mode argument:
nav_mode:=slam (default, existing RTAB-Map behaviour unchanged)
nav_mode:=amcl (new, delegates to nav2_amcl_bringup.launch.py)
- saltybot_nav2_slam/setup.py — installs new launch, config, maps
- saltybot_nav2_slam/package.xml — adds nav2_amcl, nav2_map_server,
nav2_behaviors, dwb_core, nav2_navfn_planner exec_depends
All 58 tests pass (38 new + 20 from Issue #646 ).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 11:39:08 -04:00
d8b25bad77
feat: VESC CAN odometry for nav2 (Issue #646 )
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Replace single-motor vesc_odometry_bridge with dual-CAN differential
drive odometry for left (CAN 61) and right (CAN 79) VESC motors.
New files:
- diff_drive_odom.py: pure-Python kinematics (eRPM→wheel vel, exact arc
integration, heading wrap), no ROS deps, fully unit-tested
- test/test_vesc_odometry.py: 20 unit tests (straight, arc, spin,
invert_right, guard conditions) — all pass
- config/vesc_odometry_params.yaml: configurable wheel_radius,
wheel_separation, motor_poles, invert_right, covariance tuning
Updated:
- vesc_odometry_bridge.py: rewritten as VESCCANOdometryNode; subscribes
to /vesc/can_61/state and /vesc/can_79/state (std_msgs/String JSON);
publishes /odom and /saltybot/wheel_odom (nav_msgs/Odometry) + TF
odom→base_link with proper 6×6 covariance matrices
- odometry_bridge.launch.py: updated to launch vesc_can_odometry with
vesc_odometry_params.yaml
- setup.py: added vesc_can_odometry entry point + config install
- pose_fusion_node.py: added optional wheel_odom_topic subscriber that
feeds DiffDriveOdometry velocities into EKF via update_vo_velocity
- pose_fusion_params.yaml: added use_wheel_odom, wheel_odom_topic,
sigma_wheel_vel_m_s, sigma_wheel_omega_r_s parameters
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:54:19 -04:00
ca95489b1d
feat: Nav2 SLAM integration with RPLIDAR + RealSense (Issue #422 )
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Complete autonomous navigation stack for SaltyBot:
- SLAM Toolbox: online_async 2D LIDAR SLAM from RPLIDAR A1M8
- RealSense D435i: depth → pointcloud → costmap obstacle layer
- Nav2 stack: controllers, planners, behavior server, lifecycle management
- DWB planner: tuned for 20km/h (5.5 m/s) max velocity operation
- VESC odometry bridge: motor telemetry → nav_msgs/Odometry
- Costmap integration: LIDAR + depth for global + local costmaps
- TF tree: complete setup with base_link→laser, camera_link, odom
- Goal interface: /navigate_to_pose action for autonomous goals
Configuration:
- slam_toolbox_params: loop closure, scan matching, fine/coarse search
- nav2_params: AMCL, controllers, planners, behavior trees, lifecycle
- Global costmap: static layer + LIDAR obstacle layer + inflation
- Local costmap: rolling window + LIDAR + RealSense depth + inflation
- DWB planner: 20 vx samples, 40 theta samples, 1.7s horizon
Nodes and launch files:
- vesc_odometry_bridge: integrates motor RPM to wheel odometry
- nav2_slam_bringup: main integrated launch entry point
- depth_to_costmap: RealSense depth processing pipeline
- odometry_bridge: VESC telemetry bridge
Hardware support:
- RPLIDAR A1M8: 5.5 Hz, 12m range, 360° omnidirectional
- RealSense D435i: 15 Hz RGB-D, 200 Hz IMU, depth range 5m
- VESC Flipsky FSESC 4.20: dual motor control via UART
- SaltyBot 2-wheel balancer: 0.35m radius, hoverboard motors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-04 23:35:15 -05:00
