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d872ea5e34
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feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91)
- saltybot_social_msgs: full message/service definitions (standalone compilation)
- saltybot_social_nav: social navigation orchestrator
- Follow modes: shadow/lead/side/orbit/loose/tight
- Voice steering: mode switching + route commands via /social/speech/*
- A* obstacle avoidance on Nav2/SLAM occupancy grid (8-directional, inflation)
- MiDaS monocular depth for CSI cameras (TRT FP16 + ONNX fallback)
- Waypoint teaching + replay with WaypointRoute persistence
- High-speed EUC tracking (5.5 m/s = ~20 km/h)
- Predictive position extrapolation (0.3s ahead at high speed)
- Launch: social_nav.launch.py (social_nav + midas_depth + waypoint_teacher)
- Config: social_nav_params.yaml
- Script: build_midas_trt_engine.py (ONNX -> TRT FP16)
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2026-03-01 23:15:00 -05:00 |
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