sl-webui f71dad5344 feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0

Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).

- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
  wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
  (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
  "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
  binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
  rosbridge "Received a message without an op" incompatibility)

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

2026-04-04 08:25:24 -04:00

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Nav2 Recovery Behaviors Configuration

Issue #479: Configure conservative recovery behaviors for SaltyBot autonomous navigation.

Overview

Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.

Configuration Details

Backup Recovery (Issue #479)

Distance: 0.3 meters reverse
Speed: 0.1 m/s (very conservative for FC + Hoverboard ESC)
Max velocity: 0.15 m/s (absolute limit)
Time limit: 5 seconds maximum

Spin Recovery

Angle: 1.57 radians (90°)
Max angular velocity: 0.5 rad/s (conservative for self-balancing robot)
Min angular velocity: 0.25 rad/s
Angular acceleration: 1.6 rad/s² (half of normal to ensure smooth motion)
Time limit: 10 seconds

Wait Recovery

Duration: 5 seconds
Purpose: Allow dynamic obstacles (people, other robots) to clear the path

Progress Checker (Issue #479)

Minimum movement threshold: 0.2 meters (20 cm)
Time window: 10 seconds
Behavior: If the robot doesn't move 20cm in 10 seconds, trigger recovery sequence

Safety: E-Stop Priority (Issue #459)

The emergency stop system (Issue #459, saltybot_emergency package) runs independently of Nav2 and takes absolute priority.

Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.

Behavior Tree Sequence

Recovery runs in a round-robin fashion with up to 6 retry cycles.

Constraints for FC + Hoverboard ESC

This configuration is specifically tuned for:

Drivetrain: Flux Capacitor (FC) balancing controller + Hoverboard brushless ESC
Max linear velocity: 1.0 m/s
Max angular velocity: 1.5 rad/s
Recovery velocity constraints: 50% of normal for stability

The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.

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