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Pyroscope Session Context — Feb 24, 2026

Active Repos

  • Main repo (USE THIS): /Users/matthewtaruno/Dev/pyroscope/
  • Ignore: /Users/matthewtaruno/Dev/pyroscope_backend/ (old, unused)
  • Frontend: pyroscope/application/src/
  • Backend: pyroscope/application/backend/
  • ROS packages: pyroscope/catkin_ws/src/pyroscope_navigation/

Current Active Problem: Heatmap Invisible After Robot Scan

Root Cause

  • ScanWaypointSample model has NO lat/lng columns (only air_temp, humidity, thermal_mean)
  • Backend heatmap endpoint (scans.py:248-282) spreads waypoints over the physical scan area (3m)
  • 3m in GPS degrees = ~0.000027 degrees = ~20px at zoom 20
  • But BoundaryLayer fits map to 200m view = ~1300px wide
  • Result: 3m heatmap overlay is an invisible speck in the center

Planned Fix (in plan file, pending approval)

  • One-line change in application/backend/app/routers/scans.py line ~256
  • Change area_m from parsed scan area (3m) to 50.0 (matching the 50m inner boundary displayed on the map)
  • Plan file: ~/.claude/plans/fluttering-waddling-snowflake.md

Completed Work This Session

1. move_base Obstacle Avoidance

  • Replaced waypoint_controller.py + safety_stop.py with ROS move_base navigation stack
  • Created costmap configs (costmap_common.yaml, global_costmap.yaml, local_costmap.yaml, dwa_planner.yaml)
  • Created coverage_mission_nav.launch launch file
  • Modified coverage_planner.py to use actionlib.SimpleActionClient with MoveBaseAction

2. Robot Driving Into Walls (Multiple Iterations)

  • inflation_radius: 0.15 -> 0.25 -> 0.18 -> 0.15 (final)
  • cost_scaling_factor: 3.0 -> 5.0 -> 10.0 -> 3.0 (final)
  • Added WALL_MARGIN = 0.20m in coverage_planner.py
  • Key fix: Centered waypoint grid on origin instead of offsetting from (0,0) 
    min_x = self.origin_x - self.area_width / 2.0 + WALL_MARGIN
max_x = self.origin_x + self.area_width / 2.0 - WALL_MARGIN

3. Stop Scan Killing Backend

  • os.killpg() was killing the backend's own process group
  • Fixed: added pgid != os.getpgrp() safety check before killing

4. Progress Tracking Mismatch

  • Frontend, backend, and planner all calculated total waypoints differently
  • Aligned all three to use same formula: _calc_total_waypoints(area_width, area_height, row_spacing, waypoint_spacing, wall_margin=0.20)

5. Scan Config Modal

  • Changed area options from [3, 25, 50] to [1, 2, 3] m
  • Changed precision options from [1, 5] to [0.25, 0.5, 1] m
  • Added origin X/Y, row spacing, dwell time, waypoint timeout config fields

6. Removed Fuel Upload Popup

  • Removed Wildlands AI fuel estimation popup after scan completion
  • Goes straight to scan results now

7. Waypoint Retry Loop Fix

  • Removed continue that caused infinite retry of same failed waypoint
  • Now skips to next waypoint after 3 consecutive failures + costmap clear

8. Database Issues (Remote PC)

  • Created scan_waypoint_samples table on remote PC
  • Fixed missing captured_at column

Key Files Modified

File Changes
application/backend/app/routers/robot.py _calc_total_waypoints(), process group safety, launch coverage_mission_nav.launch
application/backend/app/routers/scans.py Heatmap endpoint queries waypoint samples, spreads in grid (needs 50m fix)
application/src/components/ScanConfigModal.jsx 1/2/3m areas, advanced config fields, aligned waypoint calc
application/src/components/ScanConfigModal.css Styles for new input fields
application/src/App.jsx Removed fuel upload popup, pass advanced config to mission API
catkin_ws/src/pyroscope_navigation/scripts/coverage_planner.py move_base integration, wall margin, centered grid, costmap clearing
catkin_ws/src/pyroscope_navigation/config/costmap_common.yaml inflation_radius=0.15, cost_scaling_factor=3.0
catkin_ws/src/pyroscope_navigation/config/dwa_planner.yaml occdist_scale=0.5, goal_distance_bias=24.0

Known Remaining Issues

  1. Heatmap invisible — fix planned (see above)
  2. Robot occasionally drives into walls — wall margin + centering helped but not fully resolved
  3. Files need SCP to remote PC after changes (costmap configs, coverage_planner.py, backend files)
  4. Remote PC MySQL may need schema updates as code evolves

Architecture Notes

  • Multi-machine: Jetson (hardware) → Ubuntu PC (ROS nav + backend) → Mac (frontend dev)
  • ROS sensor bridge: background thread subscribing to /voltage, /sensors/*, /camera/*
  • Battery: voltage_to_percent 9.6V=0%, 12.6V=100% (3S LiPo)
  • Backend: FastAPI + SQLAlchemy + MySQL
  • Frontend: React + Leaflet + Vite