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feat: Nav2 SLAM integration (Issue #422) #428

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sl-jetson merged 2 commits from sl-controls/issue-422-nav2-slam into main 2026-03-04 23:59:33 -05:00
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sl-jetson commented 2026-03-04 23:35:24 -05:00
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RPLIDAR + RealSense + SLAM Toolbox + DWB planner

RPLIDAR + RealSense + SLAM Toolbox + DWB planner
sl-jetson added 2 commits 2026-03-04 23:35:24 -05:00 
Implement WebSocket telemetry relay with:
- 2Hz JSON aggregation (battery, motors, IMU, GPS, health, social)
- Port 9091 with token authentication
- msgpack compression option
- 5-minute circular history buffer
- Mobile-friendly responsive HTML UI
- Auto-reconnect WebSocket with fallback
- Critical alerts: low battery (< 15%), high temps, node crash
- Real-time dashboard with telemetry gauges

Features:
- Battery monitoring with SOC/voltage/current
- Motor command visualization (L/R duty)
- IMU attitude display (roll/pitch/yaw)
- CPU/GPU temperature with thresholds
- RAM/Disk usage progress bars
- GPS coordinates (lat/lon/alt)
- Social state (speaking, face tracking)
- Alert history with severity levels

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Complete autonomous navigation stack for SaltyBot:
- SLAM Toolbox: online_async 2D LIDAR SLAM from RPLIDAR A1M8
- RealSense D435i: depth → pointcloud → costmap obstacle layer
- Nav2 stack: controllers, planners, behavior server, lifecycle management
- DWB planner: tuned for 20km/h (5.5 m/s) max velocity operation
- VESC odometry bridge: motor telemetry → nav_msgs/Odometry
- Costmap integration: LIDAR + depth for global + local costmaps
- TF tree: complete setup with base_link→laser, camera_link, odom
- Goal interface: /navigate_to_pose action for autonomous goals

Configuration:
- slam_toolbox_params: loop closure, scan matching, fine/coarse search
- nav2_params: AMCL, controllers, planners, behavior trees, lifecycle
- Global costmap: static layer + LIDAR obstacle layer + inflation
- Local costmap: rolling window + LIDAR + RealSense depth + inflation
- DWB planner: 20 vx samples, 40 theta samples, 1.7s horizon

Nodes and launch files:
- vesc_odometry_bridge: integrates motor RPM to wheel odometry
- nav2_slam_bringup: main integrated launch entry point
- depth_to_costmap: RealSense depth processing pipeline
- odometry_bridge: VESC telemetry bridge

Hardware support:
- RPLIDAR A1M8: 5.5 Hz, 12m range, 360° omnidirectional
- RealSense D435i: 15 Hz RGB-D, 200 Hz IMU, depth range 5m
- VESC Flipsky FSESC 4.20: dual motor control via UART
- SaltyBot 2-wheel balancer: 0.35m radius, hoverboard motors

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit c1b3a4368d into main 2026-03-04 23:59:33 -05:00
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Reference: seb/saltylab-firmware#428
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