sl-perception
772a70b545
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
1.8 KiB
Python
51 lines
1.8 KiB
Python
"""
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nav2.launch.py — Nav2 autonomous navigation stack for SaltyBot
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Starts the full Nav2 navigation stack (controllers, planners, behavior server,
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BT navigator, velocity smoother, lifecycle managers).
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Localization is provided by RTAB-Map (slam_rtabmap.launch.py must be running):
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/map — OccupancyGrid (static global costmap layer)
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/rtabmap/odom — Odometry (velocity smoother + controller feedback)
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TF map→odom — published by RTAB-Map
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Output:
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/cmd_vel — consumed by saltybot_bridge → STM32 over UART
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Run sequence on Orin:
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1. docker compose up saltybot-ros2 # RTAB-Map + sensors
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2. docker compose up saltybot-nav2 # this launch file
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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bringup_dir = get_package_share_directory('saltybot_bringup')
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nav2_params_file = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
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bt_xml_file = os.path.join(
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bringup_dir, 'behavior_trees', 'navigate_to_pose_with_recovery.xml'
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)
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nav2_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py')
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),
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launch_arguments={
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'use_sim_time': 'false',
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'autostart': 'true',
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'params_file': nav2_params_file,
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'default_bt_xml_filename': bt_xml_file,
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# RTAB-Map publishes /map with transient_local QoS — must match
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'map_subscribe_transient_local': 'true',
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}.items(),
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)
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return LaunchDescription([nav2_launch])
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