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cea3eaff97
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cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
* Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
* Device paths: /dev/stm32-bridge → /dev/esp32-io
* Node names: stm32_serial_bridge → esp32_io_serial_bridge
* hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
chassis, docs, scripts, and project files
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:56:09 -04:00 |
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dd459c0df7
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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 Details:
- backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout
- spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel
- 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 14:41:11 -05:00 |
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