seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 4 Actions Packages Projects Releases Wiki Activity
765 Commits 389 Branches 0 Tags
Commit Graph

3 Commits

Author SHA1 Message Date
sl-firmware
291dd689f8 feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only 
Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md

Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
  stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
  stm32_cmd.launch.py → esp32_cmd.launch.py,
  test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node

Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF

docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md

TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF

No new functionality — cleanup only.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:41:26 -04:00
sl-perception
f71fdae747 feat: Depth-to-costmap plugin for RealSense D435i (Issue #532) 
Add saltybot_depth_costmap — a Nav2 costmap2d plugin that converts
D435i depth images directly into obstacle markings on both local and
global costmaps.

Pipeline:
  1. Subscribe to /camera/depth/image_rect_raw (16UC1 mm) + camera_info
  2. Back-project depth pixels to 3D using pinhole camera intrinsics
  3. Transform points to costmap global_frame via TF2
  4. Apply configurable height filter (min_height..max_height above ground)
  5. Mark obstacle cells as LETHAL_OBSTACLE
  6. Inflate neighbours within inflation_radius as INSCRIBED_INFLATED_OBSTACLE

Parameters:
  min_height: 0.05 m       — floor clearance (ignores ground returns)
  max_height: 0.80 m       — ceiling cutoff (ignores lights/ceiling)
  obstacle_range: 3.5 m    — max marking distance from camera
  clearing_range: 4.0 m    — max distance processed at all
  inflation_radius: 0.10 m — in-layer inflation (works before inflation_layer)
  downsample_factor: 4     — process 1 of N rows+cols (~19k pts @ 640×480)

Integration (#478):
  - Added depth_costmap_layer to local_costmap plugins list
  - Added depth_costmap_layer to global_costmap plugins list
  - Plugin registered via pluginlib (plugin.xml)

Files:
  jetson/ros2_ws/src/saltybot_depth_costmap/
    CMakeLists.txt, package.xml, plugin.xml
    include/saltybot_depth_costmap/depth_costmap_layer.hpp
    src/depth_costmap_layer.cpp
  jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml (updated)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-07 09:52:18 -05:00
sl-perception
e66bcc2ab0 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>
 2026-03-05 14:41:41 -05:00