feat: Add documentation for wiring and assembly/printing#7
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Promotes the overnight verification scripts from .claude/tmp into the repo. run_sim_smoke.sh brings up sim_launch.py + slam_launch.py (use_sim_time), runs verify_sim.py, and tears everything down via a process-group trap. verify_sim.py drives the robot and asserts odom integration, scan rate/content, and that slam_toolbox publishes a map with plausible dimensions (the /map check is now a Python assertion with transient-local QoS rather than a shell echo). Runs in ~20 s on a workstation with a GPU. Location-independent and runs directly in the sim env (no nested pixi). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The drive phase gated on wall-clock time but asserted a sim-time distance. The sim does not run at realtime (scans arrive well above the configured rate), so on a loaded machine a wall-clock duration yields a variable distance and could fail the assertion spuriously. Gate the drive on sim time (with a wall-clock safety cap so a stalled /clock can't hang), and compute scan rate from message header stamps. Forward distance now lands at 0.600 m exactly. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Record why the sensor+SLAM smoke test can't run on GPU-less hosted runners: software rendering starves the gz loop and the in-process controller_manager can't spawn controllers in time. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The sim and sim-test tasks are defined only in the sim feature, so 'pixi run sim' / 'pixi run sim-test' auto-select that environment (same as 'pixi run rviz' for the dev env). Only ad-hoc 'pixi run -- <cmd>' invocations still need -e sim, since those default to the robot env. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
A quick pre-commit setup (~1 s cached): whitespace/EOF/line-ending fixers, YAML/TOML validation, merge-conflict and large-file guards, shellcheck for the shell scripts, and ruff (pyflakes only, no style reformatting) for the Python launch files. Slow build-dependent checks stay in CI / 'pixi run test' / 'pixi run sim-test'. Runs in its own minimal 'lint' pixi environment (no ROS) so it solves and installs fast. Tasks: 'pixi run lint' and 'pixi run lint-install'. design/ and docs/images/ are excluded so text hooks never rewrite the ASCII STEP CAD files or binary assets. verify_sim.py marked executable to satisfy the shebang check. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Track A of the dev-story plan. watchexec (dev feature) continuously rsyncs to the Pi on save via 'pixi run sync-watch'. README now spells out the colcon --symlink-install fast path: edits to launch/config/ Python go live with no rebuild, so the loop is sync-watch + re-launch, not sync + rebuild. Replaces the stale 'pixi pack TBD' note with the pixi-build-ros channel direction. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
design/WIRING.md: connection tables (power + data), a GitHub-rendered Mermaid topology diagram, the 5V power analysis (servos run below their 7.4V rating; USB-C PD delivers far less than its rated wattage at 5V, which is why the servo board needs the high-current Out1 port), a rough 5V budget, and the BNO085 I2C pinout. design/ASSEMBLY.md: per-part print settings and step-by-step assembly grounded in the 235mm chassis / 50mm standoff / power-bank-sandwich / ORP-grid design. Both linked from design/README.md. Hardware-specific unknowns (connector genders, servo stall current at 5V, exact screw lengths, tyre material) are flagged as Verify rather than guessed. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Reframe the servo-voltage note: 5V operation is confirmed working, not a performance worry. Keep only the factual caveat that datasheet torque figures are quoted at the higher rated voltage. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Tyre is TPU (confirmed). Screws: most joints M3x12 (~6mm plate + ~6mm captive-nut pocket), M3x10 for thinner stacks. All data links are plain USB, so the connector-gender Verify flags are resolved. Remaining Verify items are electrical only (barrel-cable 5V profile, servo stall current, BNO085 VIN voltage). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Adds a rough outline for wiring and assembly docs. We will still need to mostly replace this with images before its ready to go.
Redo of #6