seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

Nav2 integration: AMCL + costmap with VESC odometry and LiDAR #655

New Issue
Closed
opened 2026-03-17 11:28:32 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 11:28:32 -04:00
Collaborator
Copy Link

Goal

Set up nav2 stack with AMCL localization using RPLiDAR scan data and VESC wheel odometry.

Requirements

  • nav2 bringup launch file with AMCL, costmap2d, planner, controller
  • Use /odom from VESC odometry as odometry source
  • Use /scan from RPLiDAR as laser source
  • Static map server (load from saved map YAML)
  • Costmap: obstacle layer (LiDAR), inflation layer, static layer
  • Recovery behaviors: spin, backup, wait
  • Configurable parameters YAML
  • Integration with existing saltybot_bringup launch system
  • Unit/integration tests where possible
## Goal Set up nav2 stack with AMCL localization using RPLiDAR scan data and VESC wheel odometry. ## Requirements - nav2 bringup launch file with AMCL, costmap2d, planner, controller - Use /odom from VESC odometry as odometry source - Use /scan from RPLiDAR as laser source - Static map server (load from saved map YAML) - Costmap: obstacle layer (LiDAR), inflation layer, static layer - Recovery behaviors: spin, backup, wait - Configurable parameters YAML - Integration with existing saltybot_bringup launch system - Unit/integration tests where possible
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#655
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?