sl-jetson
039355d5bb
Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file that brings up the entire SaltyBot software stack in dependency order, with mode selection (indoor / outdoor / follow). Launch sequence (wall-clock delays): t= 0s robot_description (URDF + TF) t= 0s STM32 bidirectional serial bridge t= 2s sensors (RPLIDAR A1M8 + RealSense D435i) t= 2s cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate) t= 4s UWB driver (MaUWB DW3000 anchors on USB) t= 4s CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true) t= 6s SLAM — RTAB-Map RGB-D+LIDAR (indoor only) t= 6s Outdoor GPS nav (outdoor only) t= 6s YOLOv8n person detection (TensorRT) t= 9s Person follower (UWB primary + camera fusion) t=14s Nav2 navigation stack (indoor only) t=17s rosbridge WebSocket server (port 9090) Modes: indoor — SLAM + Nav2 + full sensor suite + follow + UWB (default) outdoor — GPS nav + sensors + follow + UWB (no SLAM) follow — sensors + UWB + perception + follower only Launch arguments: mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception, enable_follower, enable_bridge, enable_rosbridge, follow_distance, max_linear_vel, uwb_port_a, uwb_port_b, stm32_port Also updates saltybot_bringup/package.xml: - Adds exec_depend for all saltybot_* packages included by full_stack - Updates maintainer to sl-jetson Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
40 lines
1.6 KiB
XML
40 lines
1.6 KiB
XML
<?xml version="1.0"?>
|
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
<package format="3">
|
|
<name>saltybot_bringup</name>
|
|
<version>0.1.0</version>
|
|
<description>SaltyBot launch files — full autonomous stack bringup (sensors, SLAM, Nav2, UWB, perception, follower)</description>
|
|
<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
|
|
<license>MIT</license>
|
|
|
|
<exec_depend>rplidar_ros</exec_depend>
|
|
<exec_depend>realsense2_camera</exec_depend>
|
|
<exec_depend>realsense2_description</exec_depend>
|
|
<exec_depend>slam_toolbox</exec_depend>
|
|
<exec_depend>rtabmap_ros</exec_depend>
|
|
<exec_depend>nav2_bringup</exec_depend>
|
|
<exec_depend>robot_state_publisher</exec_depend>
|
|
<exec_depend>tf2_ros</exec_depend>
|
|
<exec_depend>rosbridge_server</exec_depend>
|
|
<exec_depend>image_transport</exec_depend>
|
|
<exec_depend>image_transport_plugins</exec_depend>
|
|
<!-- SaltyBot packages included by full_stack.launch.py -->
|
|
<exec_depend>saltybot_bridge</exec_depend>
|
|
<exec_depend>saltybot_cameras</exec_depend>
|
|
<exec_depend>saltybot_description</exec_depend>
|
|
<exec_depend>saltybot_follower</exec_depend>
|
|
<exec_depend>saltybot_outdoor</exec_depend>
|
|
<exec_depend>saltybot_perception</exec_depend>
|
|
<exec_depend>saltybot_uwb</exec_depend>
|
|
|
|
<buildtool_depend>ament_python</buildtool_depend>
|
|
|
|
<test_depend>ament_copyright</test_depend>
|
|
<test_depend>ament_flake8</test_depend>
|
|
<test_depend>ament_pep257</test_depend>
|
|
|
|
<export>
|
|
<build_type>ament_python</build_type>
|
|
</export>
|
|
</package>
|