sl-perception
b9b866854f
New packages:
saltybot_fleet_msgs — 4 msgs (RobotInfo, MapChunk, Frontier, FrontierArray)
+ 2 srvs (RegisterRobot, RequestFrontier)
saltybot_fleet — 4 nodes + 2 launch files + config + CLI tool
Nodes:
map_broadcaster_node — zlib-compress local OccupancyGrid → /fleet/maps @ 1Hz
+ /fleet/robots heartbeat with battery/status
fleet_manager_node — robot registry, MapMerger (multi-grid SE2-aligned merge),
frontier aggregation, /fleet/request_frontier service,
heartbeat timeout + stale frontier re-assignment
frontier_detector_node — scipy label-based frontier detection on merged map
→ /fleet/exploration_frontiers_raw
fleet_explorer_node — Nav2 NavigateToPose cooperative exploration state machine:
IDLE→request→NAVIGATING→ARRIVED→IDLE + STALLED backoff
Supporting modules:
map_compressor.py — binary serialise + zlib OccupancyGrid encode/decode
map_merger.py — SE(2)-transform-aware multi-grid merge with conservative
obstacle inflation (occupied beats free on conflict)
frontier_detector.py — numpy frontier mask + scipy connected-components + scoring
landmark_aligner.py — ArUco-landmark SE(2) estimation (Horn 2D least-squares)
to align robot map frames into common fleet_map frame
Topic layout:
/fleet/maps MapChunk per-robot compressed grids
/fleet/robots RobotInfo heartbeats + status
/fleet/merged_map OccupancyGrid coordinator merged output
/fleet/exploration_frontiers FrontierArray consolidated frontiers
/fleet/status String (JSON) coordinator health
/<robot_ns>/rtabmap/map input per robot
/<robot_ns>/rtabmap/odom input per robot
/<robot_ns>/navigate_to_pose Nav2 action per robot
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
29 lines
920 B
Python
29 lines
920 B
Python
from setuptools import setup, find_packages
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package_name = 'saltybot_fleet'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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[f'resource/{package_name}']),
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(f'share/{package_name}', ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='Multi-robot SLAM coordination for saltybot',
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license='MIT',
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entry_points={
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'console_scripts': [
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'map_broadcaster = saltybot_fleet.map_broadcaster_node:main',
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'fleet_manager = saltybot_fleet.fleet_manager_node:main',
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'frontier_detector = saltybot_fleet.frontier_detector_node:main',
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'fleet_explorer = saltybot_fleet.fleet_explorer_node:main',
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],
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},
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)
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