feat: web app — planning viz, operate UI, looper support, nav improvements #94
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feat: web app — planning viz, operate UI, looper support, nav improvements #94
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xiaolefang-dm
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Apr 21, 2026
* Update README.md. bump v0.1 * reformat
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xiaolefang-dm
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dvorak0
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Apr 24, 2026
dvorak0
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Apr 24, 2026
- Auto-launch perception_node alongside realsense driver at backend startup - Replace /camera/camera/depth/image_rect_raw with /slam/depth - Terminate perception proc on NodeRunner.stop() Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…at keyframe time Global path was rotating with the robot because T_odom_map was recomputed from live odomPose every frame. Now the backend snapshots odomPose at each mapPose update (odom_pose_at_kf) and the painter uses that frozen transform, so the path stays anchored in world frame between keyframes. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…xact T_odom_map Replace approximate yaw-diff conversion in Dart with full 3D rotation (R_kf @ R_mp.T) computed from quaternions in node_manager.py, so the frontend can draw global_path directly in odom frame without any coordinate conversion logic. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
When navigation is active (global path non-empty), the operate tab now auto-switches to a full SLAM-map view that uses MapOverlayPainter to draw the path in the correct map frame — eliminating the rotation artifact caused by mixing map-frame paths with the odom-frame local canvas. The local planning view still shows obstacles/ESDF/trajectory but no longer draws the global path. ESDF colormap is inverted (BGR channel reversal) so near-obstacle regions appear red and safe regions appear blue, matching intuitive danger semantics. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…cal plan right When the robot is localized and a global path is active, the map section switches to a side-by-side layout: the SLAM map with global path on the left (MapOverlayPainter in map frame) and the local obstacle/ESDF/trajectory view on the right. The Global Path layer toggle controls whether the split view is shown. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
Replace the previous approximated pose-based transform with a tf2_ros Buffer/TransformListener that looks up the live 'world'→'map' transform broadcast by map_node. The backend transforms each path point at snapshot time so the frontend receives odom-frame coordinates directly. Front-end reverts to single local planning canvas (no split screen); global path is drawn by LocalPlanningPainter in odom frame without rotation. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
Red circular STOP button between Sit/Stand controls. On press: sends zero velocity via teleop WS and calls /nav/cancel to halt navigation immediately. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
call_soon_threadsafe(queue.put_nowait, item) causes unhandled QueueFull exceptions in the event loop because the raise happens outside the try/except in the ROS spin thread. Wrap put in a closure that evicts the oldest item when full, keeping only the latest pose/frame. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…in_id
- Revert tinynav/core/{build_map_node,map_node,math_utils,planning_node}.py to main
- Remove self.ros_domain_id = '0' from Ros2NodeManager; _spawn now inherits
ROS_DOMAIN_ID from the environment (defaults to 0 in ROS 2)
Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
- Add _launch_proc() to unify subprocess.Popen + _make_log + lf.close() (8 call sites) - Add _launch_sensor_procs() to merge duplicated sensor proc startup in _detect_and_init_sensor and _restart_sensor_procs - Add _safe_put() in ws.py to deduplicate queue drop-oldest logic (2 call sites) - Inline _finalize_bag_and_restart into a lambda (single-use wrapper) - Merge two lock acquisitions in get_planning_snapshot into one - Extract wait_and_convert() into named _on_build_map_done() method
After the revert that dropped hardcoded ros_domain_id, BackendNode no longer has that attribute. os.environ.copy() already inherits ROS_DOMAIN_ID from the environment, so the explicit assignments were redundant and caused AttributeError on /nav/nodes/enable. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
STOP button now calls POST /nav/restart which kills and relaunches map_node, planning_node, and cmd_vel_control, then resets state to idle. Previously called /nav/cancel which only worked during navigation state. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…iltering - Updated stale path thresholds to be dynamically scaled based on observed planner period. - Introduced factors for slow and stop thresholds to improve responsiveness. - Added exponential moving average for path period to smooth out updates. - Implemented lookahead steps for better trajectory planning. - Enhanced velocity command filtering to reduce jitter from frequent planner updates.
…r improved trajectory handling - Reduced command publish rate from 20 Hz to 12 Hz to minimize jitter from planner updates. - Updated lookahead steps from 3 to 1 for more responsive trajectory planning. - Adjusted time delta calculation to align with actual path pose spacing.
…mum speed thresholds - Increased path stale slow factor from 2.5 to 3.5 for better responsiveness. - Raised maximum linear acceleration from 0.4 to 0.6 m/s² to allow for quicker movements. - Added minimum effective linear speed and linear engage threshold to ensure robot movement at low speeds. - Implemented logic to maintain a minimum forward speed when the planner requests motion and the path is fresh.
Subscribe to /control/target_pose (odom frame) from map_node and expose it in the planning snapshot. Render as an orange crosshair marker on the local planning view. Also default ESDF layer to visible. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
…ocity handling - Added a fixed reverse speed parameter to ensure consistent backward movement. - Updated velocity control logic to apply the fixed reverse speed when the requested forward speed is negative.
…speed 0.2 - Add 120×120 map picture-in-picture overlay (top-left of camera) showing occupancy map + robot arrow + global path, visible when localized - Default trajectory layer to enabled - Raise min_effective_linear_speed from 0.08 → 0.2 m/s Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
- Expose map_global_path (raw map frame) alongside global_path (odom frame) in planning snapshot; map PiP now uses mapGlobalPath for correct coords - STOP button now calls /nav/nodes/disable instead of /nav/restart, stopping nav nodes entirely rather than restarting them Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
- build_map_node: remove edges (already dropped from main) - build_map_node: restore queue size 200 to match main - unitree_control: revert to main (hardcoded enP8p1s0) - run_web_app: strip Flutter build logic, keep serve-only - run_web_app: remove UNITREE_NETWORK_INTERFACE hardcode - ros2_node_manager: reuse run_rosbag_record.sh for topic list - run_rosbag_record: add --output flag for programmatic use - app/README: fix ASCII art alignment, update Quick start
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Description:
Complete Flutter web app with planning visualization, operate tab, camera preview, looper sensor support, and nav/cmd_vel improvements.
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