bb35ddd56d
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side) - Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_* - Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py - Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem, decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node - Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py - Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived - Update can_bridge_params.yaml: mamba_can_id → balance_can_id - Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture - Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py - No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
99 lines
3.1 KiB
Python
99 lines
3.1 KiB
Python
"""
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route_system.launch.py — Route recording and replay system for SaltyBot
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Starts:
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route_recorder_node — records GPS + odom path during follow-me rides
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route_replayer_node — replays recorded routes autonomously via Nav2
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route_manager_node — list/delete/info for saved routes
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Depends on:
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saltybot-nav2 container (Nav2 action server /navigate_through_poses)
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saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
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saltybot_uwb (/uwb/target — PR #66, used for context during recording)
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ESP32-S3 bridge (/odom from wheel encoders) D435i (/imu/data for heading)
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Usage — record a route:
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# Set name, start recording, ride with Tee, stop and save:
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ros2 param set /route_recorder route_name "friday_loop"
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ros2 service call /route/start_recording std_srvs/srv/Trigger '{}'
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# ... ride the route ...
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ros2 service call /route/stop_recording std_srvs/srv/Trigger '{}'
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ros2 service call /route/save std_srvs/srv/Trigger '{}'
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Usage — replay a route:
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ros2 param set /route_replayer route_name "friday_loop"
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ros2 service call /route/load std_srvs/srv/Trigger '{}'
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ros2 service call /route/start_replay std_srvs/srv/Trigger '{}'
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Arguments:
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save_dir (default /data/routes) — NVMe route storage
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route_name (default route) — name for record/replay
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_dir = get_package_share_directory('saltybot_routes')
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params_file = os.path.join(pkg_dir, 'config', 'route_params.yaml')
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args = [
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DeclareLaunchArgument('save_dir', default_value='/data/routes'),
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DeclareLaunchArgument('route_name', default_value='route'),
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]
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recorder = Node(
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package='saltybot_routes',
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executable='route_recorder_node',
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name='route_recorder',
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output='screen',
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parameters=[
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params_file,
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{
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'save_dir': LaunchConfiguration('save_dir'),
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'route_name': LaunchConfiguration('route_name'),
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},
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],
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)
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replayer = Node(
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package='saltybot_routes',
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executable='route_replayer_node',
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name='route_replayer',
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output='screen',
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parameters=[
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params_file,
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{
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'save_dir': LaunchConfiguration('save_dir'),
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'route_name': LaunchConfiguration('route_name'),
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},
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],
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)
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manager = Node(
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package='saltybot_routes',
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executable='route_manager_node',
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name='route_manager',
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output='screen',
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parameters=[
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params_file,
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{
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'save_dir': LaunchConfiguration('save_dir'),
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'route_name': LaunchConfiguration('route_name'),
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},
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],
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)
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return LaunchDescription([
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*args,
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recorder,
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replayer,
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manager,
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])
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