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saltylab-firmware/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
sl-firmware 291dd689f8 feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only 
Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md

Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
  stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
  stm32_cmd.launch.py → esp32_cmd.launch.py,
  test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node

Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF

docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md

TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF

No new functionality — cleanup only.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:41:26 -04:00

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# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble)
#
# Robot: differential-drive self-balancing two-wheeler
# robot_radius: 0.15 m (~0.2m with margin)
# footprint: 0.4 x 0.4 m
# max_vel_x: 1.0 m/s
# max_vel_theta: 1.5 rad/s
#
# Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom)
# → No AMCL, no map_server needed.
#
# Sensors (Issue #478 — Costmap configuration):
# /scan — RPLIDAR A1M8 360° LaserScan (obstacle)
# /depth_scan — RealSense D435i depth_to_laserscan (obstacle)
# /camera/depth/color/points — RealSense D435i PointCloud2 (voxel)
# /camera/depth/image_rect_raw — RealSense D435i depth image (Issue #532 DepthCostmapLayer)
#
# Inflation:
# inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
# DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
#
# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
bt_navigator:
ros__parameters:
use_sim_time: false
global_frame: map
robot_base_frame: base_link
odom_topic: /rtabmap/odom
bt_loop_duration: 10
default_server_timeout: 20
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ['navigate_to_pose', 'navigate_through_poses']
navigate_to_pose:
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
# default_bt_xml_filename is set at launch time via nav2.launch.py
error_code_names:
- compute_path_error_code
- follow_path_error_code
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: false
bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: false
# ── Controller Server (DWB — local trajectory follower) ─────────────────────
controller_server:
ros__parameters:
use_sim_time: false
controller_frequency: 10.0 # Hz — Orin can handle 10Hz easily
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5 # not holonomic — effectively disabled
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"]
controller_plugins: ["FollowPath"]
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
general_goal_checker:
stateful: true
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: false
# Velocity limits
min_vel_x: -0.25 # allow limited reverse
min_vel_y: 0.0
max_vel_x: 1.0
max_vel_y: 0.0
max_vel_theta: 1.5
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
# Acceleration limits (differential drive)
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
# Trajectory sampling
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: true
stateful: true
critics:
["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
# ── Planner Server (NavFn global path planner) ───────────────────────────────
planner_server:
ros__parameters:
use_sim_time: false
expected_planner_frequency: 20.0
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
# ── Smoother Server ──────────────────────────────────────────────────────────
smoother_server:
ros__parameters:
use_sim_time: false
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: true
# ── Behavior Server (recovery behaviors) ────────────────────────────────────
behavior_server:
ros__parameters:
use_sim_time: false
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
# ── Waypoint Follower ────────────────────────────────────────────────────────
waypoint_follower:
ros__parameters:
use_sim_time: false
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: true
waypoint_pause_duration: 200
# ── Velocity Smoother ────────────────────────────────────────────────────────
velocity_smoother:
ros__parameters:
use_sim_time: false
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.0, 0.0, 1.5]
min_velocity: [-0.25, 0.0, -1.5]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: /rtabmap/odom
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# ── Local Costmap ────────────────────────────────────────────────────────────
local_costmap:
local_costmap:
ros__parameters:
use_sim_time: false
update_frequency: 10.0 # Hz — Orin can sustain 10Hz
publish_frequency: 5.0
global_frame: odom
robot_base_frame: base_link
rolling_window: true
width: 3 # 3m x 3m rolling window
height: 3
resolution: 0.05
robot_radius: 0.15
footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" # 0.4m x 0.4m
plugins: ["obstacle_layer", "voxel_layer", "depth_costmap_layer", "inflation_layer"]
# Issue #532: RealSense D435i depth-to-costmap plugin
# Point cloud projection with height filter + in-layer inflation
depth_costmap_layer:
plugin: "saltybot_depth_costmap::DepthCostmapLayer"
enabled: true
depth_topic: /camera/depth/image_rect_raw
camera_info_topic: /camera/depth/camera_info
min_height: 0.05 # m — ignore floor reflections
max_height: 0.80 # m — ignore ceiling/lights
obstacle_range: 3.5 # m — max range to mark obstacles
clearing_range: 4.0 # m — max range for clearing
inflation_radius: 0.10 # m — in-layer inflation (before inflation_layer)
downsample_factor: 4 # process 1 of 4 rows/cols (~19k pts @ 640x480)
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: true
observation_sources: scan surround_cameras
scan:
topic: /scan
max_obstacle_height: 0.80
clearing: true
marking: true
data_type: "LaserScan"
raytrace_max_range: 8.0
raytrace_min_range: 0.0
obstacle_max_range: 7.5
obstacle_min_range: 0.0
# 4× IMX219 camera-detected obstacles (chairs, glass, people)
surround_cameras:
topic: /surround_vision/obstacles
min_obstacle_height: 0.05
max_obstacle_height: 1.50
clearing: false
marking: true
data_type: "PointCloud2"
raytrace_max_range: 3.5
raytrace_min_range: 0.0
obstacle_max_range: 3.0
obstacle_min_range: 0.0
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: true
publish_voxel_map: false
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 0.80
mark_threshold: 0
observation_sources: depth_camera
depth_camera:
topic: /camera/depth/color/points
min_obstacle_height: 0.05 # above floor level
max_obstacle_height: 0.80
marking: true
clearing: true
data_type: "PointCloud2"
raytrace_max_range: 4.0
raytrace_min_range: 0.0
obstacle_max_range: 3.5
obstacle_min_range: 0.0
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.3 # robot_radius (0.15) + 0.15m padding
always_send_full_costmap: false
# ── Global Costmap ───────────────────────────────────────────────────────────
global_costmap:
global_costmap:
ros__parameters:
use_sim_time: false
update_frequency: 5.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
robot_radius: 0.15
footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" # 0.4m x 0.4m
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "depth_costmap_layer", "inflation_layer"]
# Issue #532: RealSense D435i depth-to-costmap plugin (global costmap)
depth_costmap_layer:
plugin: "saltybot_depth_costmap::DepthCostmapLayer"
enabled: true
depth_topic: /camera/depth/image_rect_raw
camera_info_topic: /camera/depth/camera_info
min_height: 0.05
max_height: 0.80
obstacle_range: 3.5
clearing_range: 4.0
inflation_radius: 0.10
downsample_factor: 4
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: true # for RTAB-Map's transient-local /map
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: true
# Issue #478: RPLIDAR + RealSense depth_scan
observation_sources: scan depth_scan surround_cameras
scan:
topic: /scan
max_obstacle_height: 0.80
clearing: true
marking: true
data_type: "LaserScan"
raytrace_max_range: 8.0
raytrace_min_range: 0.0
obstacle_max_range: 7.5
obstacle_min_range: 0.0
# RealSense D435i depth_to_laserscan (synthetic LaserScan from depth)
depth_scan:
topic: /depth_scan
max_obstacle_height: 0.80
clearing: true
marking: true
data_type: "LaserScan"
raytrace_max_range: 6.0
raytrace_min_range: 0.1
obstacle_max_range: 5.5
obstacle_min_range: 0.0
surround_cameras:
topic: /surround_vision/obstacles
min_obstacle_height: 0.05
max_obstacle_height: 1.50
clearing: false
marking: true
data_type: "PointCloud2"
raytrace_max_range: 3.5
raytrace_min_range: 0.0
obstacle_max_range: 3.0
obstacle_min_range: 0.0
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.3 # robot_radius (0.15) + 0.15m padding
always_send_full_costmap: false
# ── Map Server / Map Saver (not used — RTAB-Map provides /map) ───────────────
map_server:
ros__parameters:
use_sim_time: false
yaml_filename: ""
map_saver:
ros__parameters:
use_sim_time: false
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: true
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