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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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1f4929b68c
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Merge remote-tracking branch 'origin/sl-jetson/issue-477-urdf'
# Conflicts:
# jetson/config/RECOVERY_BEHAVIORS.md
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2026-03-06 11:43:31 -05:00 |
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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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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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9341e9d986
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feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)
- Add saltybot_mapping package: MapDatabase, MapExporter, MapManagerNode
- 6 ROS2 services: list/save_as/load/delete maps + export occupancy/pointcloud
- Auto-save current.db every 5 min; keep last 5 autosaves; warn at 2 GB
- Update rtabmap_params.yaml: database_path, Mem/InitWMWithAllNodes=true,
Rtabmap/StartNewMapOnLoopClosure=false (multi-session persistence by default)
- Update slam_rtabmap.launch.py: remove --delete_db_on_start, add fresh_start
arg (deletes DB before launch) and database_path arg (load named map)
- CLI tools: backup_map.py, export_map.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:17:54 -05:00 |
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a9b2242a2c
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feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
- Dockerfile.social: social-bot container with faster-whisper, llama-cpp-python
(CUDA), piper-tts, insightface, pyannote.audio, OpenWakeWord, pyaudio
- scripts/convert_models.sh: TRT FP16 conversion for SCRFD-10GF, ArcFace-R100,
ECAPA-TDNN; CTranslate2 setup for Whisper; Piper voice download; benchmark suite
- config/asound.conf: ALSA USB mic (card1) + USB speaker (card2) config
- models/README.md: version-pinned model table, /models/ layout, perf targets
- systemd/: saltybot-social.service + saltybot.target + install_systemd.sh
- docker-compose.yml: saltybot-social service with GPU, audio device passthrough,
NVMe volume mounts for /models and /social_db
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 08:08:57 -05:00 |
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dc01efe323
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feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)
New ROS2 package saltybot_surround:
surround_costmap_node
- Subscribes to /camera/{front,left,rear,right}/image_raw
- Detects obstacles via Canny edge detection + ground projection
- Pinhole back-projection: pixel row → forward distance (d = h*fy/(v-cy))
- Rotates per-camera points to base_link frame using known camera yaws
- Publishes /surround_vision/obstacles (PointCloud2, 5 Hz)
- Catches chairs, glass walls, people that RPLIDAR misses
- Placeholder IMX219 fisheye calibration (hook for real cal via cv2.fisheye)
surround_vision_node
- IPM homography computed from camera height + pinhole model
- 4× bird's-eye patches composited into 240×240px 360° overhead view
- Publishes /surround_vision/birdseye (Image, 10 Hz)
- Robot footprint + compass overlay
surround_vision.launch.py
- Launches both nodes with surround_vision_params.yaml
- start_cameras arg: set false when csi-cameras container runs separately
Updated:
- jetson/config/nav2_params.yaml add surround_cameras PointCloud2 source
to local + global costmap obstacle_layer
- jetson/docker-compose.yml add saltybot-surround service
(depends_on: csi-cameras, start_cameras:=false)
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2c ✅ Done
Calibration TODO (run after hardware assembly):
ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 \
image:=/camera/front/image_raw camera:=/camera/front
Replace placeholder K/D in surround_costmap_node._undistort()
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 23:19:23 -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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c5d6a72d39
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feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026)
All Nano-era constraints removed — power/rate/resolution limits obsolete.
Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x),
ROS2 Humble via native apt, added ros-humble-rtabmap-ros,
ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c)
New: slam_rtabmap.launch.py — Orin primary SLAM entry point
RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i)
Replaces slam_toolbox as docker-compose default
New: config/rtabmap_params.yaml — Orin-optimized
DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true,
TimeThr 0 (no limit), Mem/STMSize 0 (unlimited)
Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled
Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval
Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram,
Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget
docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 21:46:27 -05:00 |
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76067d6d89
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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>
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2026-02-28 17:14:21 -05:00 |
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