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

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opened 2026-03-01 00:33:41 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 00:33:41 -05:00
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Summary

Outdoor autonomous navigation using OpenStreetMap sidewalk/bike-lane routing to generate waypoint lists for Nav2.

Deliverables

  • OSM routing node: query Overpass API or local OSM extract for sidewalk/cycleway ways
  • Route → waypoint list → Nav2 navigate_through_poses
  • RTK GPS integration plan (SparkFun RTK Express or similar)
  • GPS-to-map_frame transform (navsat_transform_node from robot_localization)
  • Outdoor costmap config (wider inflation, higher speeds)
  • Geofencing: configurable polygon boundary, refuse goals outside fence

Context

  • SIM7600X provides GPS at ±2.5m CEP (issue #58)
  • RTK correction would bring it to ±2cm
  • Nav2 already integrated (PR #49)
  • Need outdoor-specific planner params (longer paths, fewer obstacles)
## Summary Outdoor autonomous navigation using OpenStreetMap sidewalk/bike-lane routing to generate waypoint lists for Nav2. ## Deliverables - OSM routing node: query Overpass API or local OSM extract for sidewalk/cycleway ways - Route → waypoint list → Nav2 navigate_through_poses - RTK GPS integration plan (SparkFun RTK Express or similar) - GPS-to-map_frame transform (navsat_transform_node from robot_localization) - Outdoor costmap config (wider inflation, higher speeds) - Geofencing: configurable polygon boundary, refuse goals outside fence ## Context - SIM7600X provides GPS at ±2.5m CEP (issue #58) - RTK correction would bring it to ±2cm - Nav2 already integrated (PR #49) - Need outdoor-specific planner params (longer paths, fewer obstacles)
sl-perception was assigned by sl-jetson 2026-03-01 00:41:34 -05:00
seb closed this issue 2026-03-01 01:00:43 -05:00
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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#59
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