sl-perception b722279739 feat(bringup): scan height filter with IMU pitch compensation (Issue #211) ...

Two files added to saltybot_bringup:
- _scan_height_filter.py: pure-Python helpers (no rclpy) —
  filter_scan_by_height() projects each LIDAR ray to world-frame height
  using pitch/roll from the IMU and filters ground/ceiling returns;
  pitch_roll_from_accel() uses convention-agnostic atan2 formula;
  AttitudeEstimator low-pass filters the accelerometer attitude.
- scan_height_filter_node.py: subscribes /scan + /camera/imu, publishes
  /scan_filtered (LaserScan) for Nav2 at source rate (up to 20 Hz).

setup.py: adds scan_height_filter entry point.
18/18 unit tests pass.

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

2026-03-02 11:50:56 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

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

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

chassis

feat(mechanical): modular payload bay system (Issue #170)

2026-03-02 10:38:07 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm

2026-03-01 17:49:17 -05:00

esp32/social_expression

feat(social): Issue #86 — physical expression + motor attention

2026-03-01 23:35:59 -05:00

include

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

jetson

feat(bringup): scan height filter with IMU pitch compensation (Issue #211)

2026-03-02 11:50:56 -05:00

lib/USB_CDC

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

projects/saltybot

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

test

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

ui

feat(webui): robot event log viewer — emergency/docking/diagnostics (Issue #192)

2026-03-02 11:04:53 -05:00

.DS_Store

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

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

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

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

platformio.ini

Balance firmware + USB CDC bug

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

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

Languages

Python 67.1%

C 11.4%

JavaScript 9.2%

OpenSCAD 7.8%

HTML 1.5%

Other 2.9%