Merge remote-tracking branch 'origin/sl-jetson/issue-477-urdf'

# Conflicts:
#	jetson/config/RECOVERY_BEHAVIORS.md

jetson/config/RECOVERY_BEHAVIORS.md

@@ -4,12 +4,7 @@
 
 ## Overview
 
-Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up:
-
-1. **Clear costmaps** — Reset perception obstacles
-2. **Spin recovery** — In-place 90° rotation to detect surroundings
-3. **Wait recovery** — 5-second pause for dynamic obstacles to move
-4. **Backup recovery** — Reverse 0.3m to escape deadlocks
+Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.
 
 ## Configuration Details
 
@@ -37,29 +32,13 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path
 
 ## Safety: E-Stop Priority (Issue #459)
 
-The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority:
-
-- **Trigger**: Obstacles within 0.3m (configurable)
-- **Action**: Immediate zero velocity command, overrides all recovery behaviors
-- **Integration**: Publishes directly to `/cmd_vel`, pre-empting Nav2 output
+The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
 
 Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the STM32 firmware.
 
 ## Behavior Tree Sequence
 
-Recovery runs in a round-robin fashion with up to 6 retry cycles:
-
-```
-NavigateRecovery (6 retries)
-├── Normal navigation (compute path → follow path)
-└── Recovery fallback:
-    ├── Clear costmaps
-    ├── Spin 90°
-    ├── Wait 5s
-    └── Back up 0.3m @ 0.1 m/s
-```
-
-Each cycle, the next recovery action is attempted (round-robin). If navigation succeeds, recovery stops. If all retries exhaust, goal fails.
+Recovery runs in a round-robin fashion with up to 6 retry cycles.
 
 ## Constraints for FC + Hoverboard ESC
 
@@ -70,31 +49,3 @@ This configuration is specifically tuned for:
 - **Recovery velocity constraints**: 50% of normal for stability
 
 The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.
-
-## Configuration Files
-
-- **nav2_params.yaml**: behavior_server section with spin, backup, wait parameters
-- **navigate_to_pose_with_recovery.xml**: Behavior tree defining recovery sequence
-- **emergency.launch.py**: E-stop system (independent, higher priority)
-
-## Testing
-
-To test recovery behaviors:
-
-```bash
-# Run Nav2 with recovery enabled
-ros2 launch saltybot_bringup nav2.launch.py
-
-# Trigger recovery by creating obstacles in the path
-# or setting unreachable goals
-
-# Monitor recovery with:
-ros2 topic echo /cmd_vel  # Check velocity commands during recovery
-ros2 topic echo /diagnostics  # Monitor Nav2 status
-```
-
-## References
-
-- Issue #479: Nav2 recovery behaviors
-- Issue #459: Emergency stop cascade (E-stop takes priority)
-- Nav2 recovery behavior documentation: https://docs.nav2.org/