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feat: Route recording + autonomous replay (Phase 3) #71

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opened 2026-03-01 01:01:44 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 01:01:44 -05:00
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Summary

Record GPS+odometry+UWB path during follow-me rides, then replay the route autonomously.

Deliverables

  • route_recorder_node — records /gps/fix + /odom + /uwb/target to rosbag or custom format
  • route_replayer_node — loads recorded route, feeds waypoints to Nav2
  • Route management: save/load/list/delete named routes
  • Smooth replay with odometry correction (not just blind GPS waypoints)

Context

Enables "ride once, replay forever" — Tee rides the EUC route, SaltyBot follows. Next time SaltyBot does it alone.

## Summary Record GPS+odometry+UWB path during follow-me rides, then replay the route autonomously. ## Deliverables - route_recorder_node — records /gps/fix + /odom + /uwb/target to rosbag or custom format - route_replayer_node — loads recorded route, feeds waypoints to Nav2 - Route management: save/load/list/delete named routes - Smooth replay with odometry correction (not just blind GPS waypoints) ## Context Enables "ride once, replay forever" — Tee rides the EUC route, SaltyBot follows. Next time SaltyBot does it alone.
sl-perception was assigned by sl-jetson 2026-03-01 01:01:45 -05:00
seb closed this issue 2026-03-01 01:10:03 -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#71
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