sl-webui
f71dad5344
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
84 lines
3.4 KiB
YAML
84 lines
3.4 KiB
YAML
# route_params.yaml — Route recording and replay configuration for SaltyBot
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#
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# "Ride once, replay forever."
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#
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# Flow:
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# 1. Tee rides EUC, SaltyBot follows via UWB follow-me (PR #66)
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# 2. route_recorder_node samples GPS + odom → /data/routes/<name>.jsonl
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# 3. Next ride: route_replayer_node loads file → Nav2 navigate_through_poses
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#
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# GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
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# Heading: D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
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# Odometry: ESP32 BALANCE wheel encoders → /odom
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# UWB: /uwb/target (follow-me reference, logged for context)
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route_recorder:
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ros__parameters:
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save_dir: "/data/routes"
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route_name: "route" # override via param or launch arg
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waypoint_spacing_m: 2.0 # skip GPS samples closer than this
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sample_rate_hz: 1.0 # max recording frequency (GPS ~1Hz)
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min_fix_status: 0 # 0=STATUS_FIX; reject STATUS_NO_FIX (-1)
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route_replayer:
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ros__parameters:
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save_dir: "/data/routes"
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route_name: "route"
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replay_spacing_m: 3.0 # subsample waypoints for Nav2 (3m spacing)
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goal_tolerance_xy: 2.0 # metres — matches SIM7600X ±2.5m CEP
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replay_speed_factor: 1.0 # 1.0 = same speed as recorded
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map_frame: "map"
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nav_timeout_s: 600.0 # 10 min max per nav batch
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route_manager:
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ros__parameters:
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save_dir: "/data/routes"
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route_name: "route"
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# ── Operational notes ─────────────────────────────────────────────────────────
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#
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# Recording a route (EUC follow-me session):
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# ros2 param set /route_recorder route_name "friday_loop"
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# ros2 service call /route/start_recording std_srvs/srv/Trigger '{}'
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# # ... follow Tee for the full route ...
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# ros2 service call /route/stop_recording std_srvs/srv/Trigger '{}'
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# ros2 service call /route/save std_srvs/srv/Trigger '{}'
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#
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# Replaying a route (autonomous):
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# ros2 param set /route_replayer route_name "friday_loop"
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# ros2 service call /route/load std_srvs/srv/Trigger '{}'
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# ros2 service call /route/start_replay std_srvs/srv/Trigger '{}'
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# ros2 topic echo /route/replay_status
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#
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# Listing routes:
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# ros2 service call /route/list std_srvs/srv/Trigger '{}'
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#
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# Route info:
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# ros2 param set /route_manager route_name "friday_loop"
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# ros2 service call /route/info std_srvs/srv/Trigger '{}'
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#
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# Delete route:
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# ros2 param set /route_manager route_name "friday_loop"
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# ros2 service call /route/delete std_srvs/srv/Trigger '{}'
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#
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# Emergency stop during replay:
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# ros2 service call /route/stop std_srvs/srv/Trigger '{}'
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# # or: ros2 topic pub /route/pause_cmd std_msgs/msg/Bool '{data: true}'
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#
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# ── File format (JSON Lines, .jsonl) ─────────────────────────────────────────
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#
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# {
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# "version": 1,
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# "name": "friday_loop",
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# "recorded_at": "2026-03-01T14:22:00+00:00",
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# "waypoint_count": 142,
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# "total_distance_m": 1240.5,
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# "duration_s": 820.3,
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# "waypoints": [
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# {"t": 1740839000.1, "lat": 37.7749, "lon": -122.4194,
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# "heading_deg": 45.0, "speed_mps": 1.2, "odom_x": 0.0, "odom_y": 0.0,
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# "gps_status": 0},
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# ...
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# ]
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# }
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