sl-controls
ca95489b1d
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>