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sl-perception e0987fcec8 feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59 )

Implements Phase 2d outdoor autonomous navigation for SaltyBot.
GPS source: SIM7600X /gps/fix from PR #65 (saltybot_cellular).

saltybot_outdoor package:
- osm_router_node: Overpass API + A* haversine graph + Douglas-Peucker
  simplification, /outdoor/route (Path) + /outdoor/waypoints (PoseArray)
- gps_waypoint_follower_node: GPS->Nav2 navigate_through_poses bridge,
  quality-adaptive tolerances (2m cellular / 0.30m RTK)
- geofence_node: ray-casting polygon safety, emergency stop on violation
- outdoor_nav.launch.py: dual-EKF + navsat_transform + all nodes
- outdoor_nav_params.yaml: 1.5m/s, no static_layer, 2m GPS tolerance
- ekf_outdoor.yaml: robot_localization dual-EKF + navsat_transform
- geofence_vertices.yaml: template with usage instructions

docker-compose.yml: fix malformed saltybot-surround block; add
saltybot-outdoor service (depends on saltybot-nav2, OSM NVMe cache)

SLAM-SETUP-PLAN.md: Phase 2d done

RTK upgrade: SIM7600X (+-2.5m) -> ZED-F9P (+-2cm), set use_rtk:=true

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:52:54 -05:00

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat: UWB tag enclosure + stem anchor mounts (#57 , #61 , #62 )

2026-03-01 00:41:45 -05:00

include

feat: CRSF/ELRS RC integration — 16ch input with failsafe (#Phase2)

2026-02-28 21:54:58 -05:00

jetson

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59 )