cyy 6085ff7383 Step 2: FenceModel calibration replaces hardcoded ±2.5m ...

- fence_model.hpp: Line2D + FenceModel with wall positions
- session_mapper: RANSAC yaw fit + percentile boundary + cone clustering
- localizer: setFenceModel(), use calibrated walls in correctWithScanCV
- main.cpp: CALIBRATING→READY state machine (30 scan frames)
- /nav_metrics publisher (5Hz JSON metrics)
- mppi_alive/min_cost exposed via LocalPlanner public members
- endpoint-only path_align (EXACT-MPPI PathFollowCritic style)
- adaptive exploration ratio based on survival rate

2026-07-03 06:56:28 +00:00

..

bt_executor.cpp

update

2026-07-03 06:14:36 +00:00

calib_check.cpp

MPPI planner + fence-line localization + scan obstacles

2026-07-02 21:29:41 +00:00

global_planner.cpp

MPPI planner + fence-line localization + scan obstacles

2026-07-02 21:29:41 +00:00

grid_map.cpp

update

2026-07-03 06:14:36 +00:00

local_planner.cpp

Step 2: FenceModel calibration replaces hardcoded ±2.5m

2026-07-03 06:56:28 +00:00

localizer.cpp

Step 2: FenceModel calibration replaces hardcoded ±2.5m

2026-07-03 06:56:28 +00:00

main.cpp

Step 2: FenceModel calibration replaces hardcoded ±2.5m

2026-07-03 06:56:28 +00:00

session_mapper.cpp

Step 2: FenceModel calibration replaces hardcoded ±2.5m

2026-07-03 06:56:28 +00:00