sl-mechanical
fd742f6890
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain. Recovery Sequence (round-robin, 6 retries): 1. Clear costmaps (local + global) 2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer) 3. Wait 5 seconds (allow dynamic obstacles to move) 4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative) Configuration: - backup: 0.3m reverse, 0.1 m/s speed, 5s timeout - spin: 90° rotation, 0.5 rad/s max angular velocity - wait: 5-second pause for obstacle clearing - progress_checker: 20cm minimum movement threshold in 10s window Safety: - E-stop (Issue #459) takes priority over recovery behaviors - Emergency stop system runs independently on STM32 firmware - Conservative speeds for FC + Hoverboard ESC stability Files Modified: - jetson/config/nav2_params.yaml: behavior_server parameters - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
28 lines
1010 B
XML
28 lines
1010 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_dashboard</name>
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<version>0.1.0</version>
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<description>Remote monitoring dashboard for SaltyBot with WebSocket live updates</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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