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sl-jetson a00dbe6429 feat: UWB follow-me system (#57 ) — saltybot_uwb package + sensor fusion

New packages
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saltybot_uwb_msgs (ament_cmake)
  • UwbRange.msg     — per-anchor range reading (anchor_id, range_m, raw_mm, rssi)
  • UwbRangeArray.msg — array of UwbRange published on /uwb/ranges

saltybot_uwb (ament_python)
  • ranging_math.py    — pure triangulate_2anchor() (height-compensated TWR
                         geometry, 2-anchor intersection) + KalmanFilter2D
                         (constant-velocity, numpy-free, 16 tests pass)
  • uwb_driver_node.py — SerialReader threads poll MaUWB ESP32-S3 DW3000
                         anchors via AT+RANGE?, triangulate, Kalman-smooth,
                         publish /uwb/target (PoseStamped/base_link) + /uwb/ranges
  • config/uwb_config.yaml, launch/uwb.launch.py
  • test/test_ranging_math.py — 16 unit tests (triangulation + Kalman), all pass

Updated saltybot_follower
-------------------------
  • person_follower_node.py — adds fuse_targets() pure helper + /uwb/target
    subscriber (primary, weight=0.7); /person/target secondary (weight=0.3);
    weighted blend when both fresh, graceful fallback to single source; new
    params uwb_weight + uwb_timeout
  • person_follower_params.yaml — uwb_weight: 0.7, uwb_timeout: 1.0s
  • test_person_follower.py — 7 new TestFuseTargets cases; total 60 pass

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:48:03 -05:00

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat: bumper + frame crash protection for SaltyBot

2026-02-28 23:30:06 -05:00

include

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

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

jetson

feat: UWB follow-me system (#57 ) — saltybot_uwb package + sensor fusion