sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
186 lines
7.3 KiB
YAML
186 lines
7.3 KiB
YAML
# Consolidated SaltyBot parameters (Issue #447)
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# Master configuration for full stack bringup
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# ────────────────────────────────────────────────────────────────────────────
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<<<<<<< HEAD
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# HARDWARE — ESP32 BALANCE Bridge & Motor Control
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=======
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# HARDWARE — ESP32-S3 Bridge & Motor Control
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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# ────────────────────────────────────────────────────────────────────────────
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saltybot_bridge_node:
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ros__parameters:
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serial_port: "/dev/esp32-bridge"
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baud_rate: 921600
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timeout: 0.05
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reconnect_delay: 2.0
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heartbeat_period: 0.2
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saltybot_cmd_vel_bridge:
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ros__parameters:
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speed_scale: 1000.0 # m/s → ESC units
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steer_scale: -500.0 # rad/s → ESC units
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deadman_timeout: 0.5 # seconds
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max_linear_vel: 0.5 # m/s (can be overridden at launch)
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ramp_rate: 0.2 # m/s²
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# ────────────────────────────────────────────────────────────────────────────
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# PERCEPTION — Sensors & Detection
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# ────────────────────────────────────────────────────────────────────────────
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rplidar_node:
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ros__parameters:
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serial_port: "/dev/rplidar"
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serial_baudrate: 115200
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frame_id: "laser"
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angle_compensate: true
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realsense_node:
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ros__parameters:
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camera_name: "camera"
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depth_module:
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profile: "640x480x30"
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rgb_camera:
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profile: "640x480x30"
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yolov8_detector:
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ros__parameters:
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confidence_threshold: 0.5
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nms_threshold: 0.4
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input_shape: [640, 640]
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model_path: "/opt/models/yolov8n_coco.engine"
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enable_tracking: true
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# ────────────────────────────────────────────────────────────────────────────
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# CONTROL — Navigation & Following
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# ────────────────────────────────────────────────────────────────────────────
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person_follower:
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ros__parameters:
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follow_distance: 1.5 # meters (can be overridden at launch)
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max_linear_vel: 0.5 # m/s (can be overridden at launch)
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max_angular_vel: 1.0 # rad/s
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proportional_gain: 0.3
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derivative_gain: 0.1
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update_rate: 10 # Hz
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slam_node:
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ros__parameters:
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rtabmap:
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subscribe_depth: true
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subscribe_scan: true
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map_frame_id: "map"
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odom_frame_id: "odom"
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base_frame_id: "base_link"
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approx_sync: true
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queue_size: 10
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nav2:
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ros__parameters:
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planner_server:
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ros__parameters:
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expected_planner_frequency: 10.0
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planner_plugins: ["GridBased"]
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controller_server:
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ros__parameters:
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expected_controller_frequency: 20.0
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controller_plugins: ["FollowPath"]
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# ────────────────────────────────────────────────────────────────────────────
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# SOCIAL — Communication & Expression
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# ────────────────────────────────────────────────────────────────────────────
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tts_service:
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ros__parameters:
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voice_model_path: "/opt/models/en_US-cmu_arctic-medium.onnx"
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audio_device: "alsa_output.usb-Jabra.0.analog-stereo"
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speed: 1.0
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pitch: 1.0
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volume: 0.8
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gesture_recognition:
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ros__parameters:
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model_complexity: 0 # 0=lite, 1=full, 2=heavy
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process_fps: 10.0
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min_confidence: 0.60
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pose_enabled: true
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hands_enabled: true
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face_tracking:
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ros__parameters:
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kp_pan: 1.5
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ki_pan: 0.1
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kd_pan: 0.05
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kp_tilt: 1.2
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ki_tilt: 0.1
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kd_tilt: 0.04
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pan_limit_deg: 90.0
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tilt_limit_deg: 30.0
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# ────────────────────────────────────────────────────────────────────────────
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# MONITORING — Diagnostics & Logging
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# ────────────────────────────────────────────────────────────────────────────
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rosbridge_server:
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ros__parameters:
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address: "0.0.0.0"
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port: 9090
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max_message_size: 1000000000
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health_monitor:
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ros__parameters:
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heartbeat_timeout: 5.0
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expected_nodes:
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- "robot_state_publisher"
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- "saltybot_bridge"
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- "cmd_vel_bridge"
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- "rplidar_node"
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- "realsense_node"
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- "person_detector"
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- "slam_node"
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- "nav2"
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- "person_follower"
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- "rosbridge_server"
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# ────────────────────────────────────────────────────────────────────────────
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# HARDWARE CONFIGURATION — Mechanical Parameters
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# ────────────────────────────────────────────────────────────────────────────
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robot_description:
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ros__parameters:
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# Chassis dimensions
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wheel_diameter: 0.165 # meters
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track_width: 0.365 # meters (center-to-center)
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wheelbase: 0.270 # meters
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# Motor specs
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motor_max_rpm: 300
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motor_gearbox_ratio: 10.0
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# Weight & CoG
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total_weight: 8.0 # kg
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cog_x: 0.0 # offset from base_link
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cog_z: 0.12 # height above ground
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# ────────────────────────────────────────────────────────────────────────────
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# LAUNCH PROFILES (configured via full_stack.launch.py)
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# ────────────────────────────────────────────────────────────────────────────
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#
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# full (default)
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# - All sensors, perception, control, social components
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# - SLAM + Nav2 for indoor navigation
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# - Person detection + follower
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# - CSI cameras + rosbridge
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#
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# minimal
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# - Hardware only: bridge + basic sensors (RPLIDAR + RealSense)
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# - No SLAM, no Nav2, no person detection, no follower
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# - No CSI cameras, no rosbridge
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#
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# headless
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# - Sensors + control: no CSI cameras
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# - RPLIDAR + RealSense + UWB
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# - Limited person detection (no CSI fusion)
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# - No follower, no rosbridge
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