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[P1] Behavior tree coordinator — autonomous mode state machine #482

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opened 2026-03-05 14:39:18 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 14:39:18 -05:00
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Nav2 behavior tree XML for SaltyBot autonomous mode. States: idle → patrol → investigate → interact → return. Integrate with: patrol node (#446), curiosity (#470), person following, e-stop (#459), geofence (#441). Fallback: return to home pose on any failure. Blackboard variables for battery level, person detected, obstacle state.

Nav2 behavior tree XML for SaltyBot autonomous mode. States: idle → patrol → investigate → interact → return. Integrate with: patrol node (#446), curiosity (#470), person following, e-stop (#459), geofence (#441). Fallback: return to home pose on any failure. Blackboard variables for battery level, person detected, obstacle state.
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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#482
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