sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
52 lines
2.0 KiB
Markdown
52 lines
2.0 KiB
Markdown
# Nav2 Recovery Behaviors Configuration
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**Issue #479**: Configure conservative recovery behaviors for SaltyBot autonomous navigation.
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## Overview
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Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.
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## Configuration Details
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### Backup Recovery (Issue #479)
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- **Distance**: 0.3 meters reverse
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- **Speed**: 0.1 m/s (very conservative for ESP32-S3 BALANCE + VESC)
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- **Max velocity**: 0.15 m/s (absolute limit)
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- **Time limit**: 5 seconds maximum
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### Spin Recovery
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- **Angle**: 1.57 radians (90°)
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- **Max angular velocity**: 0.5 rad/s (conservative for self-balancing robot)
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- **Min angular velocity**: 0.25 rad/s
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- **Angular acceleration**: 1.6 rad/s² (half of normal to ensure smooth motion)
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- **Time limit**: 10 seconds
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### Wait Recovery
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- **Duration**: 5 seconds
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- **Purpose**: Allow dynamic obstacles (people, other robots) to clear the path
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### Progress Checker (Issue #479)
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- **Minimum movement threshold**: 0.2 meters (20 cm)
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- **Time window**: 10 seconds
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- **Behavior**: If the robot doesn't move 20cm in 10 seconds, trigger recovery sequence
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## Safety: E-Stop Priority (Issue #459)
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The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
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Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 BALANCE firmware.
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## Behavior Tree Sequence
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Recovery runs in a round-robin fashion with up to 6 retry cycles.
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## Constraints for ESP32-S3 BALANCE + VESC
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This configuration is specifically tuned for:
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- **Drivetrain**: ESP32-S3 BALANCE + VESC (CAN bus)
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- **Max linear velocity**: 1.0 m/s
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- **Max angular velocity**: 1.5 rad/s
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- **Recovery velocity constraints**: 50% of normal for stability
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The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.
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