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sl-firmware b4bb6a44e0 feat: Phase 2a URDF robot description for SLAM and Nav2

Add saltybot_description ROS2 package with full kinematic model:

urdf/saltybot.urdf.xacro
  - base_footprint → base_link (axle_height = 0.310m, from AXLE_HEIGHT SCAD)
  - wheel_left/right_link (continuous, separation=0.600m, radius=0.1015m)
  - imu_link (FC/MPU-6000 at x=+50mm forward, z=+12mm)
  - stem_link (visual: 38.1mm EMT, 1.050m — from stem_battery_clamp.scad)
  - sensor_head_link at top of stem
    - laser (RPLIDAR A1M8, z=COL_H=36mm — frame matches slam_toolbox config)
    - camera_link (RealSense D435i, ARM_R=50mm — matches realsense2_camera)
    - camera_{front,left,rear,right}_link (IMX219, 10° down tilt, ARM_R=50mm
      — positions match camera_tf.launch.py; that file superseded when live)

config/saltybot_properties.yaml
  All dimensions from chassis/chassis_frame.scad + ASSEMBLY.md Rev A.

launch/robot_description.launch.py
  Compiles xacro at launch time, runs robot_state_publisher.
  Publishes /robot_description + /tf_static for all fixed joints.

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

2026-02-28 22:57:58 -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: Phase 2a URDF robot description for SLAM and Nav2