sl-jetson
40b0917c33
New package saltybot_nav2_uwb replacing AMCL-based localization with UWB-IMU EKF fused pose. Key components: - uwb_pose_bridge_node: subscribes /saltybot/pose/fused_cov (from EKF), computes map→odom TF via T_map_odom = T_map_base × inv(T_odom_base), broadcasts at 20 Hz. Publishes /initialpose on first valid pose. - waypoint_sequencer.py: pure-Python state machine (IDLE→RUNNING→ SUCCEEDED/ABORTED/CANCELED) for sequential waypoint execution. - waypoint_follower_node: action server on /saltybot/nav/follow_waypoints (nav2_msgs/FollowWaypoints), sends each goal to Nav2 NavigateToPose in sequence; JSON topic /saltybot/nav/waypoints for operator use. - nav2_uwb_params.yaml: DWB controller capped at 1.0 m/s, global+local costmap with /scan (RPLIDAR), rolling-window global costmap (no static map needed), AMCL removed from lifecycle manager. - nav2_uwb.launch.py: bridge (t=0) → Nav2 (t=2s) → waypoint follower (t=4s) with LogInfo markers. - 65 unit tests passing (waypoint dataclass, sequencer state machine, 2-D TF maths, progress tracking). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>