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

feat: Configure Nav2 recovery behaviors (Issue #479) #484

Closed
sl-jetson wants to merge 0 commits from sl-mechanical/issue-479-recovery-behaviors into main
pull from: sl-mechanical/issue-479-recovery-behaviors
merge into: seb:main
Conversation 0 Commits - Files Changed -
sl-jetson commented 2026-03-05 14:41:27 -05:00
Collaborator
Copy Link

Conservative recovery behaviors for FC + Hoverboard ESC

Summary

  • Backup recovery: 0.3m @ 0.1 m/s (deadlock escape)
  • Spin recovery: 90° in-place rotation @ 0.5 rad/s max
  • Wait recovery: 5-second pause for obstacles to clear
  • Progress checker: 20cm minimum movement in 10s window
  • E-stop (Issue #459) takes absolute priority

Configuration

  • jetson/config/nav2_params.yaml: Detailed recovery behavior parameters
  • navigate_to_pose_with_recovery.xml: Behavior tree with recovery sequence
  • RECOVERY_BEHAVIORS.md: Documentation

Testing

Recovery behaviors trigger when:

  • Path following fails repeatedly
  • Robot detected as stuck (no movement progress)
  • After costmap failures
Conservative recovery behaviors for FC + Hoverboard ESC ## Summary - Backup recovery: 0.3m @ 0.1 m/s (deadlock escape) - Spin recovery: 90° in-place rotation @ 0.5 rad/s max - Wait recovery: 5-second pause for obstacles to clear - Progress checker: 20cm minimum movement in 10s window - E-stop (Issue #459) takes absolute priority ## Configuration - jetson/config/nav2_params.yaml: Detailed recovery behavior parameters - navigate_to_pose_with_recovery.xml: Behavior tree with recovery sequence - RECOVERY_BEHAVIORS.md: Documentation ## Testing Recovery behaviors trigger when: - Path following fails repeatedly - Robot detected as stuck (no movement progress) - After costmap failures
sl-jetson added 1 commit 2026-03-05 14:41:28 -05:00 
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.

Recovery Sequence (round-robin, 6 retries):
  1. Clear costmaps (local + global)
  2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
  3. Wait 5 seconds (allow dynamic obstacles to move)
  4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)

Configuration Details:
  - backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout
  - spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel
  - wait: 5-second pause for obstacle clearing
  - progress_checker: 20cm minimum movement threshold in 10s window

Safety:
  - E-stop (Issue #459) takes priority over recovery behaviors
  - Emergency stop system runs independently on STM32 firmware
  - Conservative speeds for FC + Hoverboard ESC stability

Files Modified:
  - jetson/config/nav2_params.yaml: behavior_server parameters
  - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
  - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-05 17:14:41 -05:00

Pull request closed

Please reopen this pull request to perform a merge.
Sign in to join this conversation.
Reviewers
No Reviewers
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#484
No description provided.
Delete Branch "sl-mechanical/issue-479-recovery-behaviors"

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?