sl-perception
2d60aab79c
- New map_persistence.launch.py: launches map_saver_server lifecycle node
(nav2_map_server) + saltybot_map_saver helper node + lifecycle_manager.
Configurable map_dir (default /mnt/nvme/saltybot/maps) and map_name.
- New map_saver_node.py: ROS2 node providing /saltybot/save_map (Trigger
service) that calls nav2_map_server map_saver_cli. On startup logs whether
a saved map is present. Auto-saves map on shutdown (auto_save_on_shutdown).
- New config/map_saver_params.yaml: map_saver_server params
(save_map_timeout=5s, free/occupied thresholds, transient-local QoS).
- nav2_slam_bringup.launch.py: adds map_dir + map_name args; includes
map_persistence.launch.py so map_saver_server runs during SLAM sessions.
- nav2_amcl_bringup.launch.py: adds map_dir arg; auto-detects saved map at
/mnt/nvme/saltybot/maps/saltybot_map.yaml at launch time and uses it as
the AMCL map; falls back to placeholder if not found.
- setup.py: registers map_persistence.launch.py, map_saver_params.yaml,
map_saver_node console_scripts entry point.
- test_nav2_amcl.py: 21 new tests covering params, launch syntax,
node service/shutdown behaviour, SLAM bringup inclusion, AMCL auto-detect.
Workflow:
1. ros2 launch saltybot_nav2_slam nav2_slam_bringup.launch.py (build map)
2. ros2 service call /saltybot/save_map std_srvs/srv/Trigger {} (save)
3. ros2 launch saltybot_nav2_slam nav2_amcl_bringup.launch.py (auto-loads)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
1.8 KiB
Python
51 lines
1.8 KiB
Python
from setuptools import setup
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package_name = "saltybot_nav2_slam"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", [
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"launch/nav2_slam_bringup.launch.py",
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"launch/nav2_slam_integrated.launch.py",
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"launch/depth_to_costmap.launch.py",
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"launch/odometry_bridge.launch.py",
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"launch/nav2_amcl_bringup.launch.py",
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"launch/map_persistence.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/nav2_params.yaml",
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"config/slam_toolbox_params.yaml",
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"config/costmap_common_params.yaml",
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"config/global_costmap_params.yaml",
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"config/local_costmap_params.yaml",
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"config/dwb_local_planner_params.yaml",
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"config/vesc_odometry_params.yaml",
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"config/amcl_nav2_params.yaml",
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"config/map_saver_params.yaml",
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]),
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(f"share/{package_name}/maps", [
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"maps/saltybot_map.yaml",
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"maps/saltybot_map.pgm",
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]),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description="Nav2 SLAM integration with RPLIDAR + RealSense for autonomous navigation",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"vesc_odometry_bridge = saltybot_nav2_slam.vesc_odometry_bridge:main",
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"vesc_can_odometry = saltybot_nav2_slam.vesc_odometry_bridge:main",
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"map_saver_node = saltybot_nav2_slam.map_saver_node:main",
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],
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},
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)
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