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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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