saltylab-firmware

History

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

behavior_trees

feat: Nav2 path planning + obstacle avoidance (Phase 2b)

2026-02-28 22:54:24 -05:00

config

feat: Configure Nav2 costmaps (Issue #478 )

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

docs

Merge pull request 'feat: Replace GNOME with Cage+Chromium kiosk (Issue #374 )' (#377 ) from sl-webui/issue-374-cage-kiosk into main

2026-03-03 17:46:14 -05:00

launch

feat: YOLOv8n object detection with RealSense depth integration (Issue #468 )