sl-webui
f71dad5344
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>
182 lines
7.2 KiB
YAML
182 lines
7.2 KiB
YAML
# Consolidated SaltyBot parameters (Issue #447)
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# Master configuration for full stack bringup
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# ────────────────────────────────────────────────────────────────────────────
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# HARDWARE — ESP32 BALANCE Bridge & Motor Control
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# ────────────────────────────────────────────────────────────────────────────
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saltybot_bridge_node:
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ros__parameters:
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serial_port: "/dev/esp32-bridge"
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baud_rate: 921600
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timeout: 0.05
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reconnect_delay: 2.0
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heartbeat_period: 0.2
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saltybot_cmd_vel_bridge:
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ros__parameters:
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speed_scale: 1000.0 # m/s → ESC units
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steer_scale: -500.0 # rad/s → ESC units
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deadman_timeout: 0.5 # seconds
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max_linear_vel: 0.5 # m/s (can be overridden at launch)
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ramp_rate: 0.2 # m/s²
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# ────────────────────────────────────────────────────────────────────────────
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# PERCEPTION — Sensors & Detection
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# ────────────────────────────────────────────────────────────────────────────
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rplidar_node:
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ros__parameters:
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serial_port: "/dev/rplidar"
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serial_baudrate: 115200
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frame_id: "laser"
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angle_compensate: true
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realsense_node:
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ros__parameters:
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camera_name: "camera"
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depth_module:
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profile: "640x480x30"
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rgb_camera:
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profile: "640x480x30"
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yolov8_detector:
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ros__parameters:
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confidence_threshold: 0.5
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nms_threshold: 0.4
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input_shape: [640, 640]
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model_path: "/opt/models/yolov8n_coco.engine"
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enable_tracking: true
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# ────────────────────────────────────────────────────────────────────────────
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# CONTROL — Navigation & Following
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# ────────────────────────────────────────────────────────────────────────────
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person_follower:
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ros__parameters:
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follow_distance: 1.5 # meters (can be overridden at launch)
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max_linear_vel: 0.5 # m/s (can be overridden at launch)
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max_angular_vel: 1.0 # rad/s
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proportional_gain: 0.3
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derivative_gain: 0.1
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update_rate: 10 # Hz
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slam_node:
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ros__parameters:
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rtabmap:
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subscribe_depth: true
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subscribe_scan: true
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map_frame_id: "map"
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odom_frame_id: "odom"
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base_frame_id: "base_link"
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approx_sync: true
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queue_size: 10
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nav2:
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ros__parameters:
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planner_server:
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ros__parameters:
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expected_planner_frequency: 10.0
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planner_plugins: ["GridBased"]
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controller_server:
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ros__parameters:
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expected_controller_frequency: 20.0
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controller_plugins: ["FollowPath"]
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# ────────────────────────────────────────────────────────────────────────────
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# SOCIAL — Communication & Expression
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# ────────────────────────────────────────────────────────────────────────────
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tts_service:
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ros__parameters:
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voice_model_path: "/opt/models/en_US-cmu_arctic-medium.onnx"
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audio_device: "alsa_output.usb-Jabra.0.analog-stereo"
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speed: 1.0
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pitch: 1.0
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volume: 0.8
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gesture_recognition:
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ros__parameters:
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model_complexity: 0 # 0=lite, 1=full, 2=heavy
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process_fps: 10.0
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min_confidence: 0.60
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pose_enabled: true
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hands_enabled: true
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face_tracking:
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ros__parameters:
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kp_pan: 1.5
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ki_pan: 0.1
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kd_pan: 0.05
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kp_tilt: 1.2
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ki_tilt: 0.1
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kd_tilt: 0.04
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pan_limit_deg: 90.0
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tilt_limit_deg: 30.0
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# ────────────────────────────────────────────────────────────────────────────
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# MONITORING — Diagnostics & Logging
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# ────────────────────────────────────────────────────────────────────────────
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rosbridge_server:
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ros__parameters:
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address: "0.0.0.0"
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port: 9090
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max_message_size: 1000000000
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health_monitor:
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ros__parameters:
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heartbeat_timeout: 5.0
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expected_nodes:
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- "robot_state_publisher"
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- "saltybot_bridge"
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- "cmd_vel_bridge"
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- "rplidar_node"
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- "realsense_node"
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- "person_detector"
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- "slam_node"
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- "nav2"
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- "person_follower"
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- "rosbridge_server"
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# ────────────────────────────────────────────────────────────────────────────
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# HARDWARE CONFIGURATION — Mechanical Parameters
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# ────────────────────────────────────────────────────────────────────────────
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robot_description:
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ros__parameters:
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# Chassis dimensions
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wheel_diameter: 0.165 # meters
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track_width: 0.365 # meters (center-to-center)
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wheelbase: 0.270 # meters
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# Motor specs
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motor_max_rpm: 300
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motor_gearbox_ratio: 10.0
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# Weight & CoG
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total_weight: 8.0 # kg
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cog_x: 0.0 # offset from base_link
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cog_z: 0.12 # height above ground
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# ────────────────────────────────────────────────────────────────────────────
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# LAUNCH PROFILES (configured via full_stack.launch.py)
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# ────────────────────────────────────────────────────────────────────────────
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#
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# full (default)
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# - All sensors, perception, control, social components
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# - SLAM + Nav2 for indoor navigation
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# - Person detection + follower
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# - CSI cameras + rosbridge
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#
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# minimal
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# - Hardware only: bridge + basic sensors (RPLIDAR + RealSense)
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# - No SLAM, no Nav2, no person detection, no follower
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# - No CSI cameras, no rosbridge
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#
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# headless
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# - Sensors + control: no CSI cameras
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# - RPLIDAR + RealSense + UWB
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# - Limited person detection (no CSI fusion)
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# - No follower, no rosbridge
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