saltylab-firmware

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Author	SHA1	Message	Date
sl-firmware	e35bd949c0	feat: Integrate 360° LIDAR obstacle avoidance into full_stack (Issue #364 ) Adds saltybot_lidar_avoidance node to the launch sequence at t=3s. The RPLIDAR A1M8 node was already fully implemented with: - Emergency stop if obstacle detected within 0.5m - Speed-dependent safety zones (0.6m @ 0 m/s → 3.0m @ 5.56 m/s) - Forward scanning window (±30° cone) - Debounced obstacle detection (2-frame debounce) - Publishes /cmd_vel_safe with filtered velocity commands Integrates seamlessly with Nav2 stack and cmd_vel_mux multiplexer. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 12:23:43 -05:00
sl-jetson	039355d5bb	feat: full_stack.launch.py — one-command autonomous stack bringup Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file that brings up the entire SaltyBot software stack in dependency order, with mode selection (indoor / outdoor / follow). Launch sequence (wall-clock delays): t= 0s robot_description (URDF + TF) t= 0s STM32 bidirectional serial bridge t= 2s sensors (RPLIDAR A1M8 + RealSense D435i) t= 2s cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate) t= 4s UWB driver (MaUWB DW3000 anchors on USB) t= 4s CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true) t= 6s SLAM — RTAB-Map RGB-D+LIDAR (indoor only) t= 6s Outdoor GPS nav (outdoor only) t= 6s YOLOv8n person detection (TensorRT) t= 9s Person follower (UWB primary + camera fusion) t=14s Nav2 navigation stack (indoor only) t=17s rosbridge WebSocket server (port 9090) Modes: indoor — SLAM + Nav2 + full sensor suite + follow + UWB (default) outdoor — GPS nav + sensors + follow + UWB (no SLAM) follow — sensors + UWB + perception + follower only Launch arguments: mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception, enable_follower, enable_bridge, enable_rosbridge, follow_distance, max_linear_vel, uwb_port_a, uwb_port_b, stm32_port Also updates saltybot_bringup/package.xml: - Adds exec_depend for all saltybot_* packages included by full_stack - Updates maintainer to sl-jetson Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-01 00:56:39 -05:00

Author

SHA1

Message

Date

sl-firmware

e35bd949c0

feat: Integrate 360° LIDAR obstacle avoidance into full_stack (Issue #364 )

Adds saltybot_lidar_avoidance node to the launch sequence at t=3s.
The RPLIDAR A1M8 node was already fully implemented with:
- Emergency stop if obstacle detected within 0.5m
- Speed-dependent safety zones (0.6m @ 0 m/s → 3.0m @ 5.56 m/s)
- Forward scanning window (±30° cone)
- Debounced obstacle detection (2-frame debounce)
- Publishes /cmd_vel_safe with filtered velocity commands

Integrates seamlessly with Nav2 stack and cmd_vel_mux multiplexer.

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

2026-03-04 12:23:43 -05:00

sl-jetson

039355d5bb

feat: full_stack.launch.py — one-command autonomous stack bringup

Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file
that brings up the entire SaltyBot software stack in dependency order,
with mode selection (indoor / outdoor / follow).

Launch sequence (wall-clock delays):
  t= 0s  robot_description (URDF + TF)
  t= 0s  STM32 bidirectional serial bridge
  t= 2s  sensors (RPLIDAR A1M8 + RealSense D435i)
  t= 2s  cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate)
  t= 4s  UWB driver (MaUWB DW3000 anchors on USB)
  t= 4s  CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true)
  t= 6s  SLAM — RTAB-Map RGB-D+LIDAR (indoor only)
  t= 6s  Outdoor GPS nav (outdoor only)
  t= 6s  YOLOv8n person detection (TensorRT)
  t= 9s  Person follower (UWB primary + camera fusion)
  t=14s  Nav2 navigation stack (indoor only)
  t=17s  rosbridge WebSocket server (port 9090)

Modes:
  indoor  — SLAM + Nav2 + full sensor suite + follow + UWB (default)
  outdoor — GPS nav + sensors + follow + UWB (no SLAM)
  follow  — sensors + UWB + perception + follower only

Launch arguments:
  mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception,
  enable_follower, enable_bridge, enable_rosbridge, follow_distance,
  max_linear_vel, uwb_port_a, uwb_port_b, stm32_port

Also updates saltybot_bringup/package.xml:
  - Adds exec_depend for all saltybot_* packages included by full_stack
  - Updates maintainer to sl-jetson

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:56:39 -05:00

2 Commits