robin
99ae42f5b9
- Port serial_bridge_node's low-level Modbus RTU transport to C++ (fori_serial_bridge_cpp) to remove Python control-loop delay, keeping the existing control algorithm/parameters unchanged - Switch Nav2 and mock/patrol map to the Gunsan 2.5D site (pcd_gunsan_output), with terrain_speed_node scaling drive speed up on uphill grades and down on downhill grades for both Nav2 and patrol - Unify Nav2 cruise speed and motor safety-clamp speed at 0.3 m/s - Add nav2_collision_monitor as a final safety gate against sudden dynamic obstacles, routed so it can't be bypassed by velocity_smoother's internal remap - Fix web dashboard map rendering (stray map_server process, oversized GetMap payload, rosbridge fragment size vs. roslib.js incompatibility) and PWA reachability via mDNS - Fix TF tree: wheel-odometry broadcasts odom->base_link, and camera_init is statically bridged to both odom and map so AMCL's own map->odom broadcast no longer conflicts with the SLAM anchor frame