sl-mechanical fd742f6890 feat: Configure Nav2 recovery behaviors (Issue #479)
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>
2026-03-05 14:40:45 -05:00

335 lines
5.0 KiB
CSS

* {
margin: 0;
padding: 0;
box-sizing: border-box;
}
:root {
--primary: #2196F3;
--success: #4CAF50;
--warning: #FF9800;
--danger: #f44336;
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--light: #f5f5f5;
--border: #ddd;
}
html, body {
font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, Cantarell, sans-serif;
background: #0a0e27;
color: #fff;
height: 100%;
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.container {
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display: flex;
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header {
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header h1 {
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.connection-status {
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animation: pulse 2s infinite;
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.status-dot.connected {
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@keyframes pulse {
0%, 100% { opacity: 1; }
50% { opacity: 0.5; }
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main {
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.card h2 {
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/* Battery Card */
.battery-display {
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gap: 15px;
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}
.battery-bar {
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overflow: hidden;
border: 2px solid #555;
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.battery-fill {
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width: 100%;
transition: width 0.3s ease;
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.battery-text {
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.subtitle {
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/* State Card */
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.state-badge {
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.sensor-health {
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.health-ok {
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.health-error {
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/* Motors Card */
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flex-direction: column;
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.motor-item label {
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border: 1px solid #555;
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background: linear-gradient(90deg, #FF9800, #F44336);
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text-align: right;
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/* WiFi Card */
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.wifi-text {
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.wifi-text span:first-child {
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/* Map Card */
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/* Events Card */
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footer {
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/* Mobile Responsive */
@media (max-width: 768px) {
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header {
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::-webkit-scrollbar-thumb:hover {
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