sl-uwb bb35ddd56d chore: resolve git conflict markers and complete legacy STM32/Mamba → ESP32-S3 rename

- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side)
- Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_*
- Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py
- Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with
  balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem,
  decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node
- Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py
- Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived
- Update can_bridge_params.yaml: mamba_can_id → balance_can_id
- Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture
- Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py
- No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 09:11:24 -04:00

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Nav2 Recovery Behaviors Configuration

Issue #479: Configure conservative recovery behaviors for SaltyBot autonomous navigation.

Overview

Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.

Configuration Details

Backup Recovery (Issue #479)

Distance: 0.3 meters reverse
Speed: 0.1 m/s (very conservative for FC + Hoverboard ESC)
Max velocity: 0.15 m/s (absolute limit)
Time limit: 5 seconds maximum

Spin Recovery

Angle: 1.57 radians (90°)
Max angular velocity: 0.5 rad/s (conservative for self-balancing robot)
Min angular velocity: 0.25 rad/s
Angular acceleration: 1.6 rad/s² (half of normal to ensure smooth motion)
Time limit: 10 seconds

Wait Recovery

Duration: 5 seconds
Purpose: Allow dynamic obstacles (people, other robots) to clear the path

Progress Checker (Issue #479)

Minimum movement threshold: 0.2 meters (20 cm)
Time window: 10 seconds
Behavior: If the robot doesn't move 20cm in 10 seconds, trigger recovery sequence

Safety: E-Stop Priority (Issue #459)

The emergency stop system (Issue #459, saltybot_emergency package) runs independently of Nav2 and takes absolute priority.

Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.

Behavior Tree Sequence

Recovery runs in a round-robin fashion with up to 6 retry cycles.

Constraints for FC + Hoverboard ESC

This configuration is specifically tuned for:

Drivetrain: Flux Capacitor (FC) balancing controller + Hoverboard brushless ESC
Max linear velocity: 1.0 m/s
Max angular velocity: 1.5 rad/s
Recovery velocity constraints: 50% of normal for stability

The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.

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