sl-perception
b74307c58a
AMCL-based autonomous navigation on pre-built static maps, wired to VESC CAN differential-drive odometry (/odom, Issue #646) and RPLiDAR (/scan) as the primary sensor sources. New files (saltybot_nav2_slam): - config/amcl_nav2_params.yaml — complete Nav2 + AMCL parameter file with inline global/local costmap configs (required by nav2_bringup): · AMCL: DifferentialMotionModel, 500–3000 particles, z-weights=1.0, odom_frame=/odom, scan_topic=/scan · Global costmap: static_layer + obstacle_layer (LiDAR) + inflation_layer (0.55m radius) · Local costmap: 4m rolling window, obstacle_layer (LiDAR) + inflation_layer, global_frame=odom · DWB controller: 1.0 m/s max, diff-drive constrained (vy=0) · NavFn A* planner · Recovery: spin + backup + wait · Lifecycle managers for localization and navigation - launch/nav2_amcl_bringup.launch.py — orchestrates: 1. sensors.launch.py (RealSense + RPLIDAR, conditional) 2. odometry_bridge.launch.py (VESC CAN → /odom) 3. nav2_bringup localization_launch.py (map_server + AMCL) 4. nav2_bringup navigation_launch.py (full nav stack) Exposes: map, use_sim_time, autostart, params_file, include_sensors - maps/saltybot_map.yaml — placeholder map descriptor (0.05m/cell) - maps/saltybot_map.pgm — 200×200 P5 PGM, all free space (10m×10m) - test/test_nav2_amcl.py — 38 unit tests (no ROS2 required): params structure, z-weight sum, costmap layers, DWB/NavFn validity, recovery behaviors, PGM format, launch file syntax checks Updated: - saltybot_bringup/launch/nav2.launch.py — adds nav_mode argument: nav_mode:=slam (default, existing RTAB-Map behaviour unchanged) nav_mode:=amcl (new, delegates to nav2_amcl_bringup.launch.py) - saltybot_nav2_slam/setup.py — installs new launch, config, maps - saltybot_nav2_slam/package.xml — adds nav2_amcl, nav2_map_server, nav2_behaviors, dwb_core, nav2_navfn_planner exec_depends All 58 tests pass (38 new + 20 from Issue #646). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>