sl-mechanical dd459c0df7 feat: Configure Nav2 recovery behaviors (Issue #479 )

Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.

Recovery Sequence (round-robin, 6 retries):
  1. Clear costmaps (local + global)
  2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
  3. Wait 5 seconds (allow dynamic obstacles to move)
  4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)

Configuration Details:
  - backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout
  - spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel
  - wait: 5-second pause for obstacle clearing
  - progress_checker: 20cm minimum movement threshold in 10s window

Safety:
  - E-stop (Issue #459) takes priority over recovery behaviors
  - Emergency stop system runs independently on STM32 firmware
  - Conservative speeds for FC + Hoverboard ESC stability

Files Modified:
  - jetson/config/nav2_params.yaml: behavior_server parameters
  - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
  - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 14:41:11 -05:00

1.3 KiB

Raw Blame History

saltybot_dashboard — Issue #483

Remote monitoring dashboard for SaltyBot — web UI served on Orin port 8080.

Features

Real-time Status: Battery %, voltage, robot state, motor speeds
Sensor Health: Camera, LiDAR, audio, IMU status indicators
Map View: Occupancy grid visualization
Event Log: Last 20 events from event logger (Issue #473)
WiFi Signal: Signal strength monitoring
WebSocket Updates: Live push updates to all connected clients
Mobile-Friendly: Responsive design works on phones/tablets
REST API: /api/status endpoint for HTTP polling fallback

Launch

ros2 launch saltybot_dashboard dashboard.launch.py port:=8080

Access

Open browser to: http://<orin-ip>:8080

ROS2 Topics Monitored

/saltybot/battery_percent — Battery percentage
/saltybot/battery_state — Battery voltage/current
/saltybot/telemetry/motor_rpm — Motor speeds
/saltybot/state — Current robot state
/saltybot/events — Event stream
/saltybot/sensor_health — Sensor status
/map — Occupancy grid (OccupancyGrid)

Architecture

Backend: Flask + Flask-SocketIO (Python/ROS2)
Frontend: HTML5 + CSS3 + JavaScript
Protocol: WebSocket (with HTTP polling fallback)

Issue #483

Implements remote monitoring dashboard as specified in Issue #483.

1.3 KiB Raw Blame History