sl-firmware f5877756d5 feat: Map save/load service for SLAM Toolbox persistence (Issue #480) ...

Implement automatic map serialization and persistence for slam_toolbox:
- New SlamToolboxPersistenceNode with auto-save every 5 minutes
- Auto-load most recent map on startup
- Services: /saltybot/save_map, /saltybot/load_map, /saltybot/list_maps
- Export to Nav2-compatible YAML + PGM format
- Stores maps in ~/.saltybot-data/maps/ with .posegraph format
- Integrates with slam_toolbox serialize/deserialize services

Changes:
- Created saltybot_mapping/slam_toolbox_persistence.py
- Added slam_toolbox_persistence.launch.py
- Updated slam.launch.py to include persistence service
- Updated CMakeLists.txt to install new executable
- Added slam_toolbox dependency to package.xml

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

2026-03-05 14:46:33 -05:00

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docs

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include

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jetson

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2026-03-05 14:46:33 -05:00

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scripts

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src

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test

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ui

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CLAUDE.md

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flash.sh

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platformio.ini

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TEAM.md

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USB_CDC_BUG.md

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Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

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