feat: Nav2 path planning + obstacle avoidance (Phase 2b) #49

sl-perception · 2026-02-28T22:55:00-05:00

sl-perception commented

2026-02-28 22:55:00 -05:00

Summary

jetson/config/nav2_params.yaml — DWB local planner, NavFn global planner, 10Hz local / 5Hz global costmap, robot_radius: 0.15m, max_vel_x: 1.0 m/s. RPLIDAR /scan as ObstacleLayer; RealSense depth/color/points as VoxelLayer.
launch/nav2.launch.py — includes nav2_bringup/navigation_launch.py; no AMCL/map_server (RTAB-Map provides /map + map→odom TF + /rtabmap/odom).
behavior_trees/navigate_to_pose_with_recovery.xml — BT replan @ 1 Hz, DWB path follow; recovery round-robin: clear costmaps → spin 90° → wait 5s → back up 0.30m (6 retries).
docker-compose.yml — add saltybot-nav2 service (depends_on: saltybot-ros2).
package.xml — add rtabmap_ros + nav2_bringup exec deps.
setup.py — install behavior_trees/*.xml to share directory.
SLAM-SETUP-PLAN.md — Phase 2b marked Done.

Start sequence on Orin

docker compose up saltybot-ros2 # RTAB-Map + sensors first
docker compose up saltybot-nav2 # Nav2 stack

Test plan

ros2 topic echo /cmd_vel — verify commands during navigation goal
ros2 topic hz /local_costmap/costmap — verify ~10Hz
ros2 topic hz /global_costmap/costmap — verify ~5Hz
Obstacle test: block path, verify RPLIDAR marks it, robot replans
Recovery test: block all paths, verify spin/wait/backup sequence fires

Generated with Claude Code

## Summary - **`jetson/config/nav2_params.yaml`** — DWB local planner, NavFn global planner, 10Hz local / 5Hz global costmap, robot_radius: 0.15m, max_vel_x: 1.0 m/s. RPLIDAR /scan as ObstacleLayer; RealSense depth/color/points as VoxelLayer. - **`launch/nav2.launch.py`** — includes nav2_bringup/navigation_launch.py; no AMCL/map_server (RTAB-Map provides /map + map→odom TF + /rtabmap/odom). - **`behavior_trees/navigate_to_pose_with_recovery.xml`** — BT replan @ 1 Hz, DWB path follow; recovery round-robin: clear costmaps → spin 90° → wait 5s → back up 0.30m (6 retries). - **docker-compose.yml** — add saltybot-nav2 service (depends_on: saltybot-ros2). - **package.xml** — add rtabmap_ros + nav2_bringup exec deps. - **setup.py** — install behavior_trees/*.xml to share directory. - **SLAM-SETUP-PLAN.md** — Phase 2b marked Done. ## Start sequence on Orin docker compose up saltybot-ros2 # RTAB-Map + sensors first docker compose up saltybot-nav2 # Nav2 stack ## Test plan - [ ] ros2 topic echo /cmd_vel — verify commands during navigation goal - [ ] ros2 topic hz /local_costmap/costmap — verify ~10Hz - [ ] ros2 topic hz /global_costmap/costmap — verify ~5Hz - [ ] Obstacle test: block path, verify RPLIDAR marks it, robot replans - [ ] Recovery test: block all paths, verify spin/wait/backup sequence fires Generated with Claude Code

sl-perception added 1 commit 2026-02-28 22:55:01 -05:00

feat: Nav2 path planning + obstacle avoidance (Phase 2b) 772a70b545

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>

seb merged commit 3f627ac3c8 into main

2026-02-28 22:58:50 -05:00

seb deleted branch sl-perception/nav2-integration

2026-02-28 22:58:50 -05:00

seb referenced this issue from a commit

2026-02-28 22:58:51 -05:00

Merge pull request 'feat: Nav2 path planning + obstacle avoidance (Phase 2b)' (#49) from sl-perception/nav2-integration into main

sl-jetson referenced this pull request

2026-03-01 00:33:41 -05:00

feat: Outdoor navigation — OSM sidewalk routing + RTK GPS (Phase 2d) #59

sl-perception referenced this pull request

2026-03-01 00:53:24 -05:00