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feat: Configure Nav2 navigation stack (Issue #475) #487

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sl-jetson wants to merge 0 commits from sl-controls/issue-475-nav2-config into main
pull from: sl-controls/issue-475-nav2-config
merge into: seb:main
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sl-jetson commented 2026-03-05 14:50:47 -05:00
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sl-jetson added 1 commit 2026-03-05 14:50:47 -05:00 
- Update max_vel_x to 0.3 m/s (conservative for FC + hoverboard ESC)
- Update max_vel_theta to 0.5 rad/s (conservative for FC + hoverboard ESC)
- Set robot_radius to 0.22 m for 0.4m x 0.4m footprint
- Configure velocity smoother with conservative limits
- Both DWB local planner and velocity smoother updated for consistency
- RPLIDAR (/scan) + depth_to_laserscan (/depth_scan) costmap layers enabled
- NavFn global planner, DWB local planner configured

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-05 17:14:42 -05:00

Pull request closed

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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#487
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