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sl-perception 772a70b545 feat: Nav2 path planning + obstacle avoidance (Phase 2b)

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>

2026-02-28 22:54:24 -05:00

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

feat: CRSF/ELRS RC integration — 16ch input with failsafe (#Phase2)

2026-02-28 21:54:58 -05:00

jetson

feat: Nav2 path planning + obstacle avoidance (Phase 2b)