sl-firmware
f5877756d5
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>
72 lines
2.3 KiB
Python
72 lines
2.3 KiB
Python
"""
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slam.launch.py — Full SLAM stack (sensors + slam_toolbox)
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Entry point referenced by docker-compose.yml saltybot-ros2 service.
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Stack:
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sensors.launch.py (RPLIDAR + RealSense + static TF)
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slam_toolbox online_async — 2D LIDAR SLAM from /scan
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SLAM input:
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/scan LaserScan from RPLIDAR A1M8
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/tf base_link → laser (from sensors.launch.py)
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SLAM output:
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/map OccupancyGrid (2D occupancy map)
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/slam_toolbox/... Internal slam_toolbox topics
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Note: slam_toolbox uses LIDAR-only SLAM (no RGB-D from D435i at this stage).
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For RGB-D SLAM (RTAB-Map), use a separate launch file once slam_toolbox
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mapping is validated — see SLAM-SETUP-PLAN.md (bd-wax) for full plan.
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Config: /config/slam_toolbox_params.yaml (mounted from jetson/config/)
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Verify:
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ros2 topic hz /map # expect update every ~5s (map_update_interval)
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ros2 run rviz2 rviz2 # visualize map + scan
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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SLAM_PARAMS_FILE = '/config/slam_toolbox_params.yaml'
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def generate_launch_description():
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bringup_share = get_package_share_directory('saltybot_bringup')
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slam_share = get_package_share_directory('slam_toolbox')
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mapping_share = get_package_share_directory('saltybot_mapping')
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sensors_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(bringup_share, 'launch', 'sensors.launch.py')
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),
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)
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slam_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(slam_share, 'launch', 'online_async_launch.py')
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),
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launch_arguments={
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'params_file': SLAM_PARAMS_FILE,
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'use_sim_time': 'false',
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}.items(),
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)
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# Map persistence service for SLAM Toolbox
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persistence_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(mapping_share, 'launch', 'slam_toolbox_persistence.launch.py')
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),
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)
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return LaunchDescription([
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sensors_launch,
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slam_launch,
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persistence_launch,
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])
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