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>
50 lines
2.8 KiB
YAML
50 lines
2.8 KiB
YAML
# saltybot_fleet — default parameters
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#
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# Override per-robot values at launch time:
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# ros2 launch saltybot_fleet fleet_robot.launch.py robot_id:=saltybot_2 robot_namespace:=/saltybot_2
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#
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# Fleet topic layout:
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# /fleet/maps MapChunk — robot → coordinator (compressed grids)
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# /fleet/robots RobotInfo — heartbeat / status (all robots)
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# /fleet/merged_map OccupancyGrid — coordinator → all (merged map)
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# /fleet/exploration_frontiers FrontierArray — coordinator → all (consolidated frontiers)
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# /fleet/status String (JSON) — coordinator health
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#
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# Per-robot topics (namespaced):
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# /<robot_ns>/rtabmap/map OccupancyGrid — local RTAB-Map output
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# /<robot_ns>/rtabmap/odom Odometry — local odometry
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# /<robot_ns>/navigate_to_pose Nav2 action — local navigation
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# ── Fleet coordinator ──────────────────────────────────────────────────────────
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fleet_manager:
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ros__parameters:
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heartbeat_timeout_sec: 10.0 # seconds before a silent robot is considered lost
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merge_hz: 2.0 # merged map publish rate (Hz)
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frontier_timeout_sec: 60.0 # re-assign frontier if robot silent this long
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map_resolution: 0.05 # all robots MUST match this (RTAB-Map Grid/CellSize)
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# ── Frontier detector ──────────────────────────────────────────────────────────
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frontier_detector:
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ros__parameters:
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detection_hz: 1.0 # frontier detection rate
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min_frontier_cells: 10 # minimum frontier cluster size (cells)
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# ── Per-robot: map broadcaster ────────────────────────────────────────────────
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# Override robot_id / robot_namespace per robot at launch.
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map_broadcaster:
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ros__parameters:
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robot_id: 'saltybot_1'
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robot_namespace: '/saltybot_1'
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broadcast_hz: 1.0
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# ── Per-robot: cooperative explorer ──────────────────────────────────────────
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fleet_explorer:
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ros__parameters:
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robot_id: 'saltybot_1'
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robot_namespace: '/saltybot_1'
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exploration_hz: 0.5 # state machine tick rate
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goal_tolerance_m: 0.5 # distance threshold to declare frontier reached
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nav_timeout_sec: 120.0 # cancel Nav2 goal after this long
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backoff_sec: 5.0 # wait after stall before requesting new frontier
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battery_min_pct: 20.0 # stop exploration below this battery level
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