Yahboom ROSMASTER X3

Robonix robot manifest for guarded, short-distance ROS 1 navigation on the Yahboom ROSMASTER X3.

The robot manifest includes the published robonix.primitive.yahboom.rosmaster_x3.safe_move package. The package repository contains the runtime implementation, capability definitions, offline tests, and validation records. Yahboom ROS packages, maps, and device calibration files are not redistributed here.

Recorded platform

Command flow

On a prepared Jetson, start the existing ROS navigation stack and enter move_base in the Robonix environment. The command:

1. lists up to five candidates that pass the current AMCL, costmap, and make_plan checks;
2. accepts a candidate number and displays the target coordinates, distance, and validation result;
3. requires the exact confirmation phrase 确认执行;
4. repeats the safety checks and sends no more than one goal to ROS move_base;
5. reports arrival or a specific failure.

Generated candidate targets are limited to 0.08 m. AMCL and odometry movement watchdog limits cannot exceed 0.10 m. The safe-move package does not publish /cmd_vel directly.

Host requirements

The Jetson must already provide:

• the Yahboom ROS 1 workspace and driver_node;
• RPLidar, TF, AMCL, map server, global and local costmaps, and move_base;
• rosbridge on 127.0.0.1:9090;
• the Robonix Python 3.10 environment and generated package bindings;
• the ROS 1 adapter listed in the package deployment map.

This repository does not install those host components. Running rbnx boot -f robonix_manifest.yaml on a clean system is therefore not a supported installation path for this candidate.

Validation status

The 0.2.0-candidate.1 safe-move package passed Python 3.10 syntax checks, four offline test suites, and isolated rbnx validate/build/validate checks on the Jetson. During the recorded real-ROS dry run, candidate generation stopped at amcl_unavailable; no goal message or nonzero velocity was observed.

The production provider remained at 0.07 m during that staging run. Deployment and hardware acceptance of the exact public 0.08 m revision have not been completed. Details are recorded in deployment status and the package's validation evidence.

Demonstration

The project demonstration is available as audio-test01.mp4. Its SHA256 is c2a8dc1c3b187205f5efb5392562f0e1d41d5c58575656ca2cd10c18d8494e88. The video shows an earlier project run and is not acceptance evidence for the exact public 0.08 m revision.

Safety

Keep the physical emergency stop available and clear the area before sending a real goal. Do not retry a token when goal publication outcome is unknown.

License

Original material in this repository is licensed under Apache-2.0. Product names and third-party software remain subject to their respective licenses and trademarks.