sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
52 lines
2.0 KiB
Markdown
52 lines
2.0 KiB
Markdown
# Nav2 Recovery Behaviors Configuration
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**Issue #479**: Configure conservative recovery behaviors for SaltyBot autonomous navigation.
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## Overview
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Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.
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## Configuration Details
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### Backup Recovery (Issue #479)
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- **Distance**: 0.3 meters reverse
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- **Speed**: 0.1 m/s (very conservative for FC + Hoverboard ESC)
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- **Max velocity**: 0.15 m/s (absolute limit)
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- **Time limit**: 5 seconds maximum
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### Spin Recovery
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- **Angle**: 1.57 radians (90°)
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- **Max angular velocity**: 0.5 rad/s (conservative for self-balancing robot)
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- **Min angular velocity**: 0.25 rad/s
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- **Angular acceleration**: 1.6 rad/s² (half of normal to ensure smooth motion)
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- **Time limit**: 10 seconds
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### Wait Recovery
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- **Duration**: 5 seconds
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- **Purpose**: Allow dynamic obstacles (people, other robots) to clear the path
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### Progress Checker (Issue #479)
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- **Minimum movement threshold**: 0.2 meters (20 cm)
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- **Time window**: 10 seconds
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- **Behavior**: If the robot doesn't move 20cm in 10 seconds, trigger recovery sequence
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## Safety: E-Stop Priority (Issue #459)
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The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
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Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
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## Behavior Tree Sequence
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Recovery runs in a round-robin fashion with up to 6 retry cycles.
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## Constraints for FC + Hoverboard ESC
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This configuration is specifically tuned for:
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- **Drivetrain**: Flux Capacitor (FC) balancing controller + Hoverboard brushless ESC
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- **Max linear velocity**: 1.0 m/s
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- **Max angular velocity**: 1.5 rad/s
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- **Recovery velocity constraints**: 50% of normal for stability
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The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.
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