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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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5dcaa7bd49
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feat: route recording + autonomous replay (#71)
Implements Phase 3 ride-once-replay-forever route system.
saltybot_routes package:
- route_recorder_node: samples GPS+odom+heading at 1Hz during follow-me
rides; 2m waypoint spacing; JSON-Lines .jsonl on NVMe /data/routes/;
services start_recording/stop_recording/save/discard
- route_replayer_node: loads .jsonl, GPS->ENU flat-earth conversion,
heading->quaternion, 3m subsampling for Nav2 navigate_through_poses;
2m GPS tolerance (SIM7600X +-2.5m); pause/resume/stop services
- route_manager_node: list/info/delete services for saved routes
- route_system.launch.py: all three nodes with shared params
- route_params.yaml: waypoint_spacing_m=2.0, replay_spacing_m=3.0
GPS: /gps/fix from SIM7600X (PR #65)
UWB: /uwb/target from follow-me (PR #66)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-01 01:07:06 -05:00 |
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