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d97fa5fab0
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Merge remote-tracking branch 'origin/sl-webui/issue-482-behavior-tree'
# Conflicts:
# jetson/ros2_ws/src/saltybot_bringup/behavior_trees/autonomous_coordinator.xml
# jetson/ros2_ws/src/saltybot_bringup/launch/autonomous_mode.launch.py
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2026-03-06 11:43:26 -05:00 |
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50d1ebbdcc
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feat: Behavior tree coordinator for autonomous mode (Issue #482)
State machine: idle → patrol → investigate → interact → return
- IDLE: Waiting for activation or battery recovery
- PATROL: Autonomous patrolling with curiosity-driven exploration (#470)
- INVESTIGATE: Approach and track detected persons
- INTERACT: Social interaction with face recognition and gestures
- RETURN: Navigate back to home/dock with recovery behaviors
Integrations:
- Patrol mode (#446): Waypoint routes with geofence (#441)
- Curiosity behavior (#470): Autonomous exploration
- Person following: Approach detected persons
- Emergency stop cascade (#459): Highest priority safety
- Geofence constraint (#441): Keep patrol within boundaries
Blackboard variables:
- battery_level: Current battery percentage
- person_detected: Person detection state
- current_mode: Current behavior tree state
- home_pose: Home/dock location
Files:
- behavior_trees/autonomous_coordinator.xml: BehaviorTree definition
- launch/autonomous_mode.launch.py: Full launch setup
- saltybot_bringup/bt_nodes.py: Custom BT node plugins
- BEHAVIOR_TREE_README.md: Documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 14:42:57 -05:00 |
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fd742f6890
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feat: Configure Nav2 recovery behaviors (Issue #479)
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.
Recovery Sequence (round-robin, 6 retries):
1. Clear costmaps (local + global)
2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
3. Wait 5 seconds (allow dynamic obstacles to move)
4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)
Configuration:
- backup: 0.3m reverse, 0.1 m/s speed, 5s timeout
- spin: 90° rotation, 0.5 rad/s max angular velocity
- wait: 5-second pause for obstacle clearing
- progress_checker: 20cm minimum movement threshold in 10s window
Safety:
- E-stop (Issue #459) takes priority over recovery behaviors
- Emergency stop system runs independently on STM32 firmware
- Conservative speeds for FC + Hoverboard ESC stability
Files Modified:
- jetson/config/nav2_params.yaml: behavior_server parameters
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
- jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 14:40:45 -05:00 |
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772a70b545
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feat: Nav2 path planning + obstacle avoidance (Phase 2b)
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 22:54:24 -05:00 |
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