sl-perception e66bcc2ab0 feat: Configure Nav2 costmaps (Issue #478) ...

- Create nav2_params.yaml in saltybot_bringup/config/
- Global costmap: static layer + obstacle layer with /scan + /depth_scan
- Local costmap: rolling window 3m×3m, voxel layer + obstacle layer
- Inflation radius: 0.3m (robot_radius 0.15m + 0.15m padding)
- Robot footprint: 0.4m × 0.4m square [-0.2, +0.2] in x, y
- RPLIDAR A1M8 at /scan (360° LaserScan)
- RealSense D435i via depth_to_laserscan at /depth_scan
- Surround vision support for dynamic obstacles

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

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

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

fix: rename MeshPeer namespace field to ros_namespace (Issue #392)

2026-03-04 12:42:35 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301)

2026-03-02 21:36:58 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm

2026-03-01 17:49:17 -05:00

esp32/social_expression

feat(social): Issue #86 — physical expression + motor attention

2026-03-01 23:35:59 -05:00

include

refactor: ESC abstraction layer with pluggable backends (Issue #388)

2026-03-04 10:36:35 -05:00

jetson

feat: Configure Nav2 costmaps (Issue #478)

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

lib/USB_CDC

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

phone

feat: Android/Termux OpenClaw node (Issue #420)

2026-03-05 08:55:47 -05:00

projects/saltybot

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

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

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat: Add watchdog reset detection and status reporting (Issue #300)

2026-03-04 12:17:56 -05:00

test

feat(webui): motor current live graph (Issue #297)

2026-03-02 21:09:17 -05:00

ui

feat: curiosity behavior — autonomous exploration when idle (Issue #470)

2026-03-05 12:10:33 -05:00

.DS_Store

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

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

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

platformio.ini

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

Languages

Python 67.1%

C 11.4%

JavaScript 9.2%

OpenSCAD 7.8%

HTML 1.5%

Other 2.9%