| feat(navi): add robot_navigation package
- Add robot_navigation package with Nav2 integration, EKF localization
(robot_localization + RTAB-Map), and cmd_vel bridge for omni-base control
- Add voice navigation via FunASR: keyword matching, destination resolution,
and nav_stop topic for voice-driven navigation cancellation
- Add launch builders for localization, nav2, static TF, cmd_vel, and voice_nav
- Add nav2_params (omniMotionModel, DWB controller), EKF config, RViz config,
and FunASR install/start scripts
- Wire nav2_goal_client to /voice_asr/nav_stop for voice-cancel support
- Fix min_y_velocity_threshold (0.001) for omni-base lateral velocity
Signed-off-by: yanhan <yanhan31@huawei.com>
| 28 天前 |
