feat: Nav2 AMCL integration with VESC odometry + LiDAR (Issue #655)
AMCL-based autonomous navigation on pre-built static maps, wired to
VESC CAN differential-drive odometry (/odom, Issue #646) and RPLiDAR
(/scan) as the primary sensor sources.
New files (saltybot_nav2_slam):
- config/amcl_nav2_params.yaml — complete Nav2 + AMCL parameter file
with inline global/local costmap configs (required by nav2_bringup):
· AMCL: DifferentialMotionModel, 500–3000 particles, z-weights=1.0,
odom_frame=/odom, scan_topic=/scan
· Global costmap: static_layer + obstacle_layer (LiDAR) +
inflation_layer (0.55m radius)
· Local costmap: 4m rolling window, obstacle_layer (LiDAR) +
inflation_layer, global_frame=odom
· DWB controller: 1.0 m/s max, diff-drive constrained (vy=0)
· NavFn A* planner
· Recovery: spin + backup + wait
· Lifecycle managers for localization and navigation
- launch/nav2_amcl_bringup.launch.py — orchestrates:
1. sensors.launch.py (RealSense + RPLIDAR, conditional)
2. odometry_bridge.launch.py (VESC CAN → /odom)
3. nav2_bringup localization_launch.py (map_server + AMCL)
4. nav2_bringup navigation_launch.py (full nav stack)
Exposes: map, use_sim_time, autostart, params_file, include_sensors
- maps/saltybot_map.yaml — placeholder map descriptor (0.05m/cell)
- maps/saltybot_map.pgm — 200×200 P5 PGM, all free space (10m×10m)
- test/test_nav2_amcl.py — 38 unit tests (no ROS2 required):
params structure, z-weight sum, costmap layers, DWB/NavFn validity,
recovery behaviors, PGM format, launch file syntax checks
Updated:
- saltybot_bringup/launch/nav2.launch.py — adds nav_mode argument:
nav_mode:=slam (default, existing RTAB-Map behaviour unchanged)
nav_mode:=amcl (new, delegates to nav2_amcl_bringup.launch.py)
- saltybot_nav2_slam/setup.py — installs new launch, config, maps
- saltybot_nav2_slam/package.xml — adds nav2_amcl, nav2_map_server,
nav2_behaviors, dwb_core, nav2_navfn_planner exec_depends
All 58 tests pass (38 new + 20 from Issue #646).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-perception
b74307c58a