saltylab-firmware

seb/saltylab-firmware

Fork 0

Commit Graph

Author	SHA1	Message	Date
sl-firmware	f5877756d5	feat: Map save/load service for SLAM Toolbox persistence (Issue #480 ) Implement automatic map serialization and persistence for slam_toolbox: - New SlamToolboxPersistenceNode with auto-save every 5 minutes - Auto-load most recent map on startup - Services: /saltybot/save_map, /saltybot/load_map, /saltybot/list_maps - Export to Nav2-compatible YAML + PGM format - Stores maps in ~/.saltybot-data/maps/ with .posegraph format - Integrates with slam_toolbox serialize/deserialize services Changes: - Created saltybot_mapping/slam_toolbox_persistence.py - Added slam_toolbox_persistence.launch.py - Updated slam.launch.py to include persistence service - Updated CMakeLists.txt to install new executable - Added slam_toolbox dependency to package.xml Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-05 14:46:33 -05:00
sl-perception	76067d6d89	feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration Adds saltybot_bringup ROS2 package with four launch files: - realsense.launch.py — D435i at 640x480x15fps, IMU unified topic - rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink - sensors.launch.py — both sensors + static TF (base_link→laser/camera) - slam.launch.py — sensors + slam_toolbox online_async (compose entry point) Sensor config YAMLs (mounted at /config/ in container): - realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud) - rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution) Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src (was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory) Topic reference and verification commands in SENSORS.md. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-02-28 17:14:21 -05:00

Author

SHA1

Message

Date

sl-firmware

f5877756d5

feat: Map save/load service for SLAM Toolbox persistence (Issue #480 )

Implement automatic map serialization and persistence for slam_toolbox:
- New SlamToolboxPersistenceNode with auto-save every 5 minutes
- Auto-load most recent map on startup
- Services: /saltybot/save_map, /saltybot/load_map, /saltybot/list_maps
- Export to Nav2-compatible YAML + PGM format
- Stores maps in ~/.saltybot-data/maps/ with .posegraph format
- Integrates with slam_toolbox serialize/deserialize services

Changes:
- Created saltybot_mapping/slam_toolbox_persistence.py
- Added slam_toolbox_persistence.launch.py
- Updated slam.launch.py to include persistence service
- Updated CMakeLists.txt to install new executable
- Added slam_toolbox dependency to package.xml

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

2026-03-05 14:46:33 -05:00

sl-perception

76067d6d89

feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration

Adds saltybot_bringup ROS2 package with four launch files:
  - realsense.launch.py  — D435i at 640x480x15fps, IMU unified topic
  - rplidar.launch.py    — RPLIDAR A1M8 via /dev/rplidar udev symlink
  - sensors.launch.py    — both sensors + static TF (base_link→laser/camera)
  - slam.launch.py       — sensors + slam_toolbox online_async (compose entry point)

Sensor config YAMLs (mounted at /config/ in container):
  - realsense_d435i.yaml  — Nano power-budget settings (15fps, no pointcloud)
  - rplidar_a1m8.yaml     — Standard scan mode, 115200 baud, laser frame
  - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution)

Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src
(was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory)

Topic reference and verification commands in SENSORS.md.

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

2026-02-28 17:14:21 -05:00

2 Commits