3

Roadmap

seb edited this page 2026-03-03 23:14:00 -05:00

Table of Contents

• SaltyBot Roadmap
• Variants
• Phase 1: Self-Balancing — COMPLETE ✅
• Phase 1.5: Mechanical + Platform — COMPLETE ✅
• Phase 2: Autonomous Navigation — NEARLY COMPLETE 🗺️
• Phase 2a: RC + Core Integration — COMPLETE ✅
• Phase 2b: SLAM + Navigation — COMPLETE ✅
• Phase 2c: Sensors + Person Following — COMPLETE ✅
• Phase 2d/2e: Outdoor + UWB + Cellular — IN PROGRESS 🔧
• Architecture Change: VESC Balance Mode (Proposed)
• Architecture
• Phase 3: Multi-Variant Expansion — FUTURE 🚀
• Hardware Reference
• Agent Team
• Resolved Issues
• All Merged PRs

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SaltyBot Roadmap

Last updated: 2026-03-03 by salty Project: Self-balancing two-wheeled robot → autonomous navigation platform Repo: https://gitea.vayrette.com/seb/saltylab-firmware

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Variants

Variant	Description	Branch (stable)	Branch (dev)
SaltyLab	2-wheel self-balancing robot (primary)	saltylab	saltylab-dev
SaltyRover	4-wheel rover chassis	saltyrover	saltyrover-dev
SaltyTank	Tracked/tank variant	saltytank	saltytank-dev

Shared firmware (IMU drivers, USB CDC, sensor fusion) lives in main. Variant-specific code in variant branches.

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Phase 1: Self-Balancing — COMPLETE ✅

Goal: Robot stands upright on two wheels using PID control.

Feature	Status	PR	Agent
USB CDC TX fix (DCache + buffer + IMU API)	✅ MERGED	#6, #10	sl-firmware
MPU6000 sensor fusion (complementary filter)	✅ MERGED	#2	sl-controls
Runtime PID tuning via USB terminal	✅ MERGED	#3	sl-controls
Safety systems (watchdog, arm interlock, tilt cutoff)	✅ MERGED	#4	sl-controls
Motor driver (FOC ESC + differential drive mixer)	✅ MERGED	#19	sl-controls
Roll/yaw telemetry + 3D web UI visualization	✅ MERGED	#14, #20	sl-firmware
Gyro boot calibration (eliminates yaw drift)	✅ MERGED	#25	sl-controls
Status LEDs (solid=OK, blink=error)	✅ MERGED	#26	sl-firmware
Magnetometer + barometer auto-detect	✅ MERGED	#27	sl-firmware
BME280 full readout (temp/humidity/pressure)	✅ MERGED	#31	sl-firmware
CW270 IMU axis mapping for MAMBA F722S	✅ MERGED	#20	sl-firmware

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Phase 1.5: Mechanical + Platform — COMPLETE ✅

Goal: Physical chassis and compute platform ready for testing.

Feature	Status	PR	Agent
Parametric chassis frame (OpenSCAD)	✅ MERGED	#7	sl-mechanical
Prototype base plate (270×240mm) + vertical stem + battery carousel	✅ MERGED	#11	sl-mechanical
Multi-variant branch strategy	✅ MERGED	#29	sl-firmware
Jetson Nano Docker env (JetPack 4.6 + ROS2 Humble)	✅ MERGED	#8	sl-jetson
STM32-to-Jetson ROS2 serial bridge	✅ MERGED	#16	sl-jetson
SLAM setup technical plan	✅ MERGED	#1	sl-perception
RealSense + RPLIDAR ROS2 driver integration	✅ MERGED	#17	sl-perception

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Phase 2: Autonomous Navigation — NEARLY COMPLETE 🗺️

Goal: Indoor SLAM, mapping, obstacle avoidance, person following, outdoor prep.

Phase 2a: RC + Core Integration — COMPLETE ✅

Feature	Status	PR	Agent
CRSF/ELRS RC integration (420kbaud UART4 DMA)	✅ MERGED	#35	sl-firmware
Autonomous/RC mode switch (CH6, 500ms blend ramp)	✅ MERGED	#33	sl-controls
Jetson → STM32 command protocol	✅ MERGED	#34	sl-jetson
Gyro recalibration button + IWDG fix	✅ MERGED	#39	sl-firmware
Yaw inversion fix	✅ MERGED	#40	sl-firmware
SaltyBot 3D model in web UI	✅ MERGED	#41	sl-firmware
Web UI overhaul — HUD dashboard	✅ MERGED	#45	sl-firmware
Modern web UI dashboard	✅ MERGED	#47	sl-webui

Phase 2b: SLAM + Navigation — COMPLETE ✅

Feature	Status	PR	Agent
RTAB-Map SLAM (Orin Nano Super, JetPack 6)	✅ MERGED	#36	sl-perception
URDF robot description + static TF	✅ MERGED	#50	sl-firmware
Nav2 path planning + obstacle avoidance (DWB+NavFn)	✅ MERGED	#49	sl-perception
Nav2 cmd_vel → STM32 velocity bridge (37 tests)	✅ MERGED	#46	sl-controls
Rosbridge WebSocket (ROS2 ↔ browser, port 9090)	✅ MERGED	#53	sl-firmware

Phase 2c: Sensors + Person Following — COMPLETE ✅

Feature	Status	PR	Agent
Orin Nano Super platform + 4× IMX219 CSI cameras	✅ MERGED	#51	sl-jetson
4× IMX219 surround vision + Nav2 costmap layer	✅ MERGED	#52	sl-perception
Person detection + tracking (YOLOv8n TensorRT, 26 tests)	✅ MERGED	#54	sl-jetson
Person-following control loop (53 tests)	✅ MERGED	#55	sl-controls
Sensor head mounts (RPLIDAR, RealSense, 4× IMX219)	✅ MERGED	#48	sl-mechanical
Bumper + frame protection (roll cage, base bumper, stem guards)	✅ MERGED	#56	sl-mechanical

Phase 2d/2e: Outdoor + UWB + Cellular — IN PROGRESS 🔧

Feature	Status	Issue	Agent
UWB follow-me system (3× MaUWB ESP32-S3 DW3000)	🔧 In progress	#57	sl-jetson
SIM7600X 4G cellular + GPS	🔧 In progress	#58	sl-controls
Outdoor nav — OSM routing + geofence + RTK GPS plan	🔧 In progress	#59	sl-perception
UWB tag enclosure + anchor mounts	🔧 In progress	#57	sl-mechanical
Remote e-stop over 4G MQTT	🔧 In progress	#60	sl-firmware
VESC integration + balance mode testing	📦 Hardware ordered	TBD	sl-controls
Pan/tilt camera head (servos + bracket)	📦 Hardware ordered	TBD	sl-mechanical
VESC UART protocol (pyvesc) integration	⬜ Blocked on VESC arrival	TBD	sl-jetson
UWB + outdoor + e-stop dashboard panels	🔧 In progress	—	sl-webui

Architecture Change: VESC Balance Mode (Proposed)

If VESC built-in balance app works with MPU6050 over I2C, the drone FC can be eliminated entirely:

Current:  Jetson → FC (PID balance) → Hoverboard ESC → Motors
Proposed: Jetson → VESC (balance + motors) ← MPU6050 (I2C)

This simplifies the stack from 3 boards to 2 and removes the FC UART bottleneck (issues #356, #362).

Architecture

RPLIDAR A1M8 ──→ rplidar_ros ──→┐
                                 ├──→ rtabmap_ros ──→ Nav2
RealSense D435i ──→ realsense2 ─┘         ↑
4× IMX219 ──→ surround_costmap ──→ Nav2 costmap
UWB anchors ──→ saltybot_uwb ──→ person_follower
SIM7600X ──→ gpsd ──→ /gps/fix ──→ outdoor_nav
         └──→ MQTT bridge ──→ remote telemetry + e-stop

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Phase 3: Multi-Variant Expansion — FUTURE 🚀

Feature	Variant	Notes
SaltyRover chassis design	saltyrover	4-wheel differential or Ackermann steering
SaltyRover motor driver	saltyrover	4-wheel independent speed control
SaltyTank track driver	saltytank	Tracked drive, skid steering
Variant-specific control loops	all	Rover/tank: no balance PID needed
Shared sensor abstraction layer	all	Common IMU/mag/baro/motor interface across variants

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Hardware Reference

Component	Specs
FC	MAMBA F722S (STM32F722RET6, MPU6000, CW270 mount)
Motors	2× 8" pneumatic hoverboard hub motors (10×2.125, 35 PSI)
Axle	Stepped D-cut: 16.11mm base, 15.95mm shaft, 13mm flat, 65.5mm total protrusion
ESC	Hoverboard ESC (EFeru FOC firmware)
Batteries	420×88×56mm packs, 2-4 mounted vertically on central stem
Base Plate	270mm wide × 240mm deep, wheels extend beyond edges
Total Height	80-120cm (ground to top of stem)
RC	BetaFPV ELRS 2.4GHz TX + RX
AI Brain	NVIDIA Jetson Orin Nano Super (67 TOPS, 8GB, JetPack 6, NVMe)
Depth Camera	Intel RealSense D435i (stereo depth 0.1-10m, 848×480@30fps, BMI055 IMU)
Surround Vision	4× IMX219 160° CSI cameras (90° intervals, 640×480@30fps each)
LIDAR	RPLIDAR A1M8 (360°, 12m range, 8000 samples/s, ~5.5Hz)
UWB	3× MaUWB ESP32-S3 DW3000 (500m range, ±10cm, 100Hz) — 2 anchors + 1 tag
Cellular	Waveshare SIM7600X 4G HAT (LTE Cat-4, GPS/GLONASS/BeiDou/Galileo)
Spare IMUs	BNO055, MPU6050
ESC (new)	Flipsky Dual FSESC 4.20 Plus (VESC, 50A/side, 60V, built-in balance app) — ordered Mar 3
ESC (old)	Hoverboard ESC (EFeru FOC firmware) — may retire if VESC balance works
Pan/Tilt Servos	2× Waveshare ST3215 (30kg.cm, 12-bit encoder, SCS serial bus 1Mbps) — ordered Mar 3
Servo Driver	Waveshare ESP32 Servo Driver Board (bench testing) — ordered Mar 3
Candidate Motors	Ninebot XW60-350 (350W, 10.5" pneumatic, 60V) — evaluating as wheel upgrade

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Agent Team

Agent	Role	Specialty
sl-firmware	Embedded lead	STM32 HAL, USB, peripheral drivers, I2C sensors, rosbridge
sl-controls	Control systems	PID, sensor fusion, motor control, safety, cmd_vel bridge
sl-perception	SLAM/perception	ROS2, RTAB-Map, Nav2, surround vision, outdoor nav
sl-mechanical	3D design	OpenSCAD, chassis, sensor mounts, bumpers, enclosures
sl-jetson	Jetson/AI platform	Docker, ROS2, serial bridge, CUDA/TensorRT inference, UWB
sl-webui	Web UI	Dashboard, telemetry display, Three.js, Tailwind, roslibjs
max	PM (Opus)	Orchestrates via iTerm + MQTT, doesn't write code

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Resolved Issues

#	Title	Fixed By	PR
#5	Need 2 more team members	max	Recruited sl-mechanical + sl-jetson
#9	USB CDC TX breaks with IMU init	sl-firmware	#10
#12	Roll displays as pitch in web UI	sl-firmware	#14
#13	No yaw in telemetry	sl-firmware	#14
#15	3D model axes wrong (CW270)	sl-firmware	#20
#18	Base plate dimensions wrong	sl-mechanical	#11
#21	Yaw drifts when stationary	sl-controls	#25
#22	Status LEDs blink too much	sl-firmware	#26
#23	Gyro bias calibration needed	sl-controls	#25
#24	Magnetometer + barometer support	sl-firmware	#27
#28	Multi-variant branch strategy	sl-firmware	#29
#32	Gyro recalibration button	sl-firmware	#39
#37	3D robot model	sl-firmware	#41
#38	Yaw inversion in web UI	sl-firmware	#40
#42	Gyro cal USB disconnect (IWDG)	sl-firmware	#39
#43	Web UI overhaul	sl-webui	#47
#44	sl-webui agent credentials	max	Created agent

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All Merged PRs

PR	Title	Agent
#1	SLAM setup technical plan	sl-perception
#2	MPU6000 sensor fusion	sl-controls
#3	Runtime PID tuning via USB	sl-controls
#4	Safety systems (watchdog, interlock, tilt)	sl-controls
#6	USB CDC TX fix (first pass)	sl-firmware
#7	Parametric chassis frame	sl-mechanical
#8	Jetson Nano platform setup	sl-jetson
#10	USB CDC DCache fix (MPU non-cacheable)	sl-firmware
#11	Base plate + stem + battery carousel	sl-mechanical
#14	Roll axis + yaw telemetry	sl-firmware
#16	STM32 serial bridge	sl-jetson
#17	RealSense + RPLIDAR drivers	sl-perception
#19	Motor driver (differential drive)	sl-controls
#20	CW270 axis mapping	sl-firmware
#25	Gyro boot calibration	sl-controls
#26	Status LEDs	sl-firmware
#27	Magnetometer + barometer auto-detect	sl-firmware
#29	Multi-variant branch strategy	sl-firmware
#31	BME280 full readout	sl-firmware
#33	Autonomous/RC mode switch	sl-controls
#34	Jetson → STM32 command protocol	sl-jetson
#35	CRSF/ELRS RC integration	sl-firmware
#36	SLAM Orin Nano Super update	sl-perception
#39	Gyro recal button + IWDG fix	sl-firmware
#40	Yaw inversion fix	sl-firmware
#41	SaltyBot 3D model	sl-firmware
#45	Web UI HUD dashboard	sl-firmware
#46	Nav2 cmd_vel → STM32 bridge	sl-controls
#47	Modern web UI dashboard	sl-webui
#48	Sensor head mounts	sl-mechanical
#49	Nav2 path planning + obstacle avoidance	sl-perception
#50	URDF robot description + static TF	sl-firmware
#51	Orin Nano platform + 4× IMX219 cameras	sl-jetson
#52	4× IMX219 surround vision + Nav2 costmap	sl-perception
#53	Rosbridge WebSocket	sl-firmware
#54	Person detection (YOLOv8n TensorRT)	sl-jetson
#55	Person-following control loop	sl-controls
#56	Bumper + frame protection	sl-mechanical