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>
335 lines
5.0 KiB
CSS
335 lines
5.0 KiB
CSS
* {
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margin: 0;
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padding: 0;
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box-sizing: border-box;
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}
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:root {
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--primary: #2196F3;
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--success: #4CAF50;
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--warning: #FF9800;
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--danger: #f44336;
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--dark: #1a1a1a;
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--light: #f5f5f5;
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--border: #ddd;
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}
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html, body {
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font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, Cantarell, sans-serif;
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background: #0a0e27;
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color: #fff;
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height: 100%;
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}
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.container {
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max-width: 1400px;
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margin: 0 auto;
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padding: 20px;
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display: flex;
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flex-direction: column;
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min-height: 100vh;
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}
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header {
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display: flex;
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justify-content: space-between;
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align-items: center;
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margin-bottom: 30px;
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padding-bottom: 20px;
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border-bottom: 2px solid #333;
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}
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header h1 {
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font-size: 28px;
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font-weight: 600;
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}
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.connection-status {
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display: flex;
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align-items: center;
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gap: 8px;
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font-size: 14px;
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}
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.status-dot {
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width: 12px;
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height: 12px;
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border-radius: 50%;
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background: #999;
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animation: pulse 2s infinite;
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}
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.status-dot.connected {
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background: #4CAF50;
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}
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@keyframes pulse {
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0%, 100% { opacity: 1; }
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50% { opacity: 0.5; }
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}
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main {
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flex: 1;
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display: flex;
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flex-direction: column;
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gap: 20px;
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}
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.grid-2 {
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display: grid;
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grid-template-columns: 1fr 1fr;
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gap: 20px;
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}
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.grid-full {
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display: grid;
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grid-template-columns: 1fr;
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}
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.card {
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background: #1a1a2e;
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border: 1px solid #333;
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border-radius: 8px;
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padding: 20px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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}
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.card h2 {
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font-size: 18px;
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margin-bottom: 15px;
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color: #fff;
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}
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/* Battery Card */
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.battery-display {
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display: flex;
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gap: 15px;
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align-items: center;
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}
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.battery-bar {
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flex: 1;
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height: 40px;
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background: #333;
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border-radius: 20px;
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overflow: hidden;
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border: 2px solid #555;
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}
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.battery-fill {
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height: 100%;
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background: linear-gradient(90deg, #4CAF50, #8BC34A);
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width: 100%;
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transition: width 0.3s ease;
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}
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.battery-text {
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display: flex;
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flex-direction: column;
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align-items: center;
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min-width: 80px;
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}
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.battery-text span:first-child {
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font-size: 24px;
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font-weight: bold;
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}
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.subtitle {
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font-size: 12px;
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color: #999;
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}
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/* State Card */
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.state-display {
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display: flex;
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flex-direction: column;
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gap: 12px;
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}
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.state-badge {
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display: inline-block;
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padding: 8px 16px;
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background: #2196F3;
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border-radius: 20px;
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font-weight: bold;
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text-align: center;
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}
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.sensor-health {
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display: flex;
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justify-content: space-around;
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gap: 10px;
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}
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.health-item {
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display: flex;
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align-items: center;
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gap: 6px;
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font-size: 16px;
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}
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.health-ok {
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color: #4CAF50;
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}
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.health-error {
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color: #f44336;
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}
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/* Motors Card */
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.motors-display {
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display: flex;
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flex-direction: column;
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gap: 15px;
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}
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.motor-item {
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display: flex;
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align-items: center;
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gap: 10px;
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}
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.motor-item label {
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min-width: 50px;
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font-weight: 600;
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}
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.motor-meter {
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flex: 1;
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height: 30px;
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background: #333;
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border-radius: 15px;
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overflow: hidden;
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border: 1px solid #555;
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}
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.motor-bar {
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height: 100%;
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background: linear-gradient(90deg, #FF9800, #F44336);
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width: 0%;
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transition: width 0.2s ease;
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}
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.motor-item span:last-child {
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min-width: 70px;
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text-align: right;
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font-size: 12px;
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color: #999;
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}
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/* WiFi Card */
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.wifi-display {
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display: flex;
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align-items: center;
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gap: 20px;
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padding: 15px;
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}
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.wifi-icon {
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font-size: 40px;
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}
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.wifi-text {
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display: flex;
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flex-direction: column;
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}
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.wifi-text span:first-child {
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font-size: 20px;
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font-weight: bold;
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}
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/* Map Card */
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.map-display {
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width: 100%;
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height: 300px;
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background: #0a0e27;
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border: 1px solid #333;
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border-radius: 4px;
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}
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.map-info {
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margin-top: 10px;
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font-size: 12px;
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color: #999;
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}
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/* Events Card */
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.event-list {
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max-height: 300px;
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overflow-y: auto;
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}
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.event-item {
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padding: 10px;
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margin-bottom: 8px;
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background: #0a0e27;
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border-left: 3px solid #2196F3;
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border-radius: 4px;
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font-size: 13px;
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line-height: 1.4;
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}
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.event-time {
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color: #999;
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font-size: 11px;
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}
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.placeholder {
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color: #666;
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text-align: center;
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padding: 20px;
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}
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footer {
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text-align: center;
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padding-top: 20px;
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border-top: 1px solid #333;
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color: #999;
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font-size: 12px;
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}
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/* Mobile Responsive */
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@media (max-width: 768px) {
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.grid-2 {
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grid-template-columns: 1fr;
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}
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header {
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flex-direction: column;
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align-items: flex-start;
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gap: 10px;
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}
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.map-display {
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height: 250px;
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}
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.container {
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padding: 10px;
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}
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.card {
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padding: 15px;
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}
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}
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/* Scrollbar styling */
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::-webkit-scrollbar {
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width: 8px;
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}
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::-webkit-scrollbar-track {
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background: #1a1a2e;
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}
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::-webkit-scrollbar-thumb {
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background: #444;
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border-radius: 4px;
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}
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::-webkit-scrollbar-thumb:hover {
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background: #666;
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}
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