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[P1] Nav2 SLAM integration — RPLIDAR + RealSense depth for autonomous navigation #422

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opened 2026-03-04 23:29:54 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-04 23:29:54 -05:00
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Goal

Full autonomous navigation stack using Nav2 with RPLIDAR A1M8 for 2D SLAM and RealSense D435i depth for 3D obstacle detection.

Requirements

  • nav2_bringup launch file configured for SaltyBot
  • SLAM Toolbox (async) for real-time map building from /scan
  • RealSense depth → pointcloud → costmap layer
  • TF tree: base_link → laser_frame, base_link → camera_link, odom → base_link
  • Odometry from wheel encoders (VESC telemetry) or visual odometry
  • costmap_2d with LIDAR + depth layers
  • DWB local planner tuned for SaltyBots max speed (20km/h) and turning radius
  • Publish /map (OccupancyGrid), /odom (Odometry), /tf
  • Goal interface: /navigate_to_pose action for go-to-point commands
  • Integration with obstacle avoidance (#364 merged) and follow-me (#366 merged)
## Goal Full autonomous navigation stack using Nav2 with RPLIDAR A1M8 for 2D SLAM and RealSense D435i depth for 3D obstacle detection. ## Requirements - nav2_bringup launch file configured for SaltyBot - SLAM Toolbox (async) for real-time map building from /scan - RealSense depth → pointcloud → costmap layer - TF tree: base_link → laser_frame, base_link → camera_link, odom → base_link - Odometry from wheel encoders (VESC telemetry) or visual odometry - costmap_2d with LIDAR + depth layers - DWB local planner tuned for SaltyBots max speed (20km/h) and turning radius - Publish /map (OccupancyGrid), /odom (Odometry), /tf - Goal interface: /navigate_to_pose action for go-to-point commands - Integration with obstacle avoidance (#364 merged) and follow-me (#366 merged)
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#422
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