sl-perception
e0987fcec8
Implements Phase 2d outdoor autonomous navigation for SaltyBot. GPS source: SIM7600X /gps/fix from PR #65 (saltybot_cellular). saltybot_outdoor package: - osm_router_node: Overpass API + A* haversine graph + Douglas-Peucker simplification, /outdoor/route (Path) + /outdoor/waypoints (PoseArray) - gps_waypoint_follower_node: GPS->Nav2 navigate_through_poses bridge, quality-adaptive tolerances (2m cellular / 0.30m RTK) - geofence_node: ray-casting polygon safety, emergency stop on violation - outdoor_nav.launch.py: dual-EKF + navsat_transform + all nodes - outdoor_nav_params.yaml: 1.5m/s, no static_layer, 2m GPS tolerance - ekf_outdoor.yaml: robot_localization dual-EKF + navsat_transform - geofence_vertices.yaml: template with usage instructions docker-compose.yml: fix malformed saltybot-surround block; add saltybot-outdoor service (depends on saltybot-nav2, OSM NVMe cache) SLAM-SETUP-PLAN.md: Phase 2d done RTK upgrade: SIM7600X (+-2.5m) -> ZED-F9P (+-2cm), set use_rtk:=true Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
35 lines
1.1 KiB
Python
35 lines
1.1 KiB
Python
import os
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from glob import glob
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from setuptools import find_packages, setup
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package_name = 'saltybot_outdoor'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@saltylab.io',
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description='Outdoor navigation: OSM routing, GPS waypoint following, geofence',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'osm_router_node = saltybot_outdoor.osm_router_node:main',
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'gps_waypoint_follower = saltybot_outdoor.gps_waypoint_follower_node:main',
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'geofence_node = saltybot_outdoor.geofence_node:main',
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],
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},
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)
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