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UWB-VESC integration: position-based speed limiting near obstacles #657

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opened 2026-03-17 11:28:44 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 11:28:44 -04:00
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Goal

Use UWB position data to enforce speed limits when the robot is near known boundaries or obstacles.

Requirements

  • Subscribe to /saltybot/pose/authoritative (UWB+IMU fused position)
  • Define geofence zones (configurable YAML: polygon vertices + max_speed per zone)
  • When robot enters a zone, publish speed-limited /cmd_vel_limited
  • Smooth speed transitions at zone boundaries (no sudden jerks)
  • Emergency zone: zero speed + e-stop if robot exits outer boundary
  • Publish /saltybot/geofence/status (current zone, speed limit, distance to boundary)
  • Unit tests
  • NOTE: Jetson-side ROS2 only — do NOT modify ESP32 UWB firmware (calibration freeze active)
## Goal Use UWB position data to enforce speed limits when the robot is near known boundaries or obstacles. ## Requirements - Subscribe to /saltybot/pose/authoritative (UWB+IMU fused position) - Define geofence zones (configurable YAML: polygon vertices + max_speed per zone) - When robot enters a zone, publish speed-limited /cmd_vel_limited - Smooth speed transitions at zone boundaries (no sudden jerks) - Emergency zone: zero speed + e-stop if robot exits outer boundary - Publish /saltybot/geofence/status (current zone, speed limit, distance to boundary) - Unit tests - NOTE: Jetson-side ROS2 only — do NOT modify ESP32 UWB firmware (calibration freeze active)
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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#657
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