The plan assumed no code existed yet, but the 2.5D-map autonomy stack
(URDF, terrain-aware speed control, Nav2 global/local costmaps +
collision monitor) is already built and running in the separate
fori_ws workspace. Reframes the doc around what's actually there and
the concrete gaps found (AMCL correction not wired into the nav TF
tree, skid-steer calibration not ported from xbox_motor_control.cpp).
Migrates the 4WD control input from SDL2/Xbox gamepad to a serial RC
receiver per doc/joystick.md's functional spec: CH1 steering, CH2
throttle, CH5 emergency brake (highest priority), CH7 speed mode
(0.3/0.6 m/s), with a 200ms fail-safe that forces an immediate stop
on signal loss. Channel mapping, deadzones, port, and baudrate are
all configurable via --rc_* CLI flags. LiDAR avoidance, jerk-limited
motion profile, and wheel-fault detection are unchanged.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Documents the ZLAC8015D V4 dual-channel driver (hardware spec, RS485
Modbus register map, 4WD skid-steer system architecture, the
xbox_motor_control.cpp control loop, and error/troubleshooting) under
doc/, plus a phased plan for adding IMU-based heading/slip feedback
(doc/06) informed by Clearpath Husky's sensor fusion stack and
skid-steer ICR literature. QnA/ records the Q&A that refined that plan.
Also adds the underlying manual PDFs and reference links under
resource/ that the docs cite.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
robin
Dongubak