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feat(social-bot): Navigation & path planning — follow modes + waypoint teaching + obstacle avoidance #91

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opened 2026-03-01 22:56:30 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 22:56:30 -05:00
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Summary

Navigation system for social-bot: multiple follow modes, waypoint teaching, A* obstacle avoidance, camera depth, voice steering.

Requirements

  • Follow modes: shadow (behind), lead (ahead), side (beside), orbit (circle), loose (far), tight (close)
  • Waypoint teaching: Voice-triggered route recording, replay with Nav2
  • A obstacle avoidance*: Local path planning with costmap integration
  • Camera depth: MiDaS monocular depth estimation for obstacle detection without LIDAR
  • Voice steering: "Go left", "stop", "follow me", "wait here" voice commands
  • EUC compatibility: Handle high-speed following (20-30 km/h for electric unicycle use case)
  • ROS2: /social/nav/mode, /social/nav/waypoints, /cmd_vel output

Agent: sl-perception

Labels: social-bot, navigation

## Summary Navigation system for social-bot: multiple follow modes, waypoint teaching, A* obstacle avoidance, camera depth, voice steering. ## Requirements - **Follow modes**: shadow (behind), lead (ahead), side (beside), orbit (circle), loose (far), tight (close) - **Waypoint teaching**: Voice-triggered route recording, replay with Nav2 - **A* obstacle avoidance**: Local path planning with costmap integration - **Camera depth**: MiDaS monocular depth estimation for obstacle detection without LIDAR - **Voice steering**: "Go left", "stop", "follow me", "wait here" voice commands - **EUC compatibility**: Handle high-speed following (20-30 km/h for electric unicycle use case) - **ROS2**: /social/nav/mode, /social/nav/waypoints, /cmd_vel output ## Agent: sl-perception ## Labels: social-bot, navigation
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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#91
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