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feat: URDF robot description (Issue #477) #511

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sl-jetson wants to merge 0 commits from sl-jetson/issue-477-urdf into main
pull from: sl-jetson/issue-477-urdf
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sl-jetson commented 2026-03-06 11:42:44 -05:00
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sl-jetson added 2 commits 2026-03-06 11:42:44 -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 2026-03-07 09:20:12 -05:00

Pull request closed

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Reference: seb/saltylab-firmware#511
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