sl-mechanical
7379aa459c
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain. Recovery Sequence (round-robin, 6 retries): 1. Clear costmaps (local + global) 2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer) 3. Wait 5 seconds (allow dynamic obstacles to move) 4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative) Configuration Details: - backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout - spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel - wait: 5-second pause for obstacle clearing - progress_checker: 20cm minimum movement threshold in 10s window Safety: - E-stop (Issue #459) takes priority over recovery behaviors - Emergency stop system runs independently on STM32 firmware - Conservative speeds for FC + Hoverboard ESC stability Files Modified: - jetson/config/nav2_params.yaml: behavior_server parameters - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>