feat: full stack master launch with profiles (Issue #447)
Master saltybot_bringup.launch.py with: - Profile support (full/minimal/headless) for flexible deployments - Boot order: hardware → perception → control → social → monitoring - Dependency-ordered launch with 30-second boot timeout - Consolidated saltybot_params.yaml with all stack parameters - Stack state publisher (/saltybot/stack_state) - Post-launch diagnostics self-test - Graceful shutdown support (motors first) Boot sequence (Issue #447): - t=0s: hardware (robot description, STM32 bridge) - t=2-6s: perception (sensors, cameras, detection, SLAM) - t=2-14s: control (cmd_vel bridge, follower, Nav2) - t=17-19s: social & monitoring (rosbridge, stack state) Features: - full profile: complete stack (SLAM, Nav2, detection, follower) - minimal profile: hardware + control only - headless profile: sensors + control (no CSI cameras) - Configurable modes: indoor (SLAM+Nav2), outdoor (GPS nav), follow Parameters consolidated in config/saltybot_params.yaml: - Hardware (bridge, motors) - Perception (sensors, detection, SLAM) - Control (follower, Nav2) - Social (TTS, gestures, face tracking) - Monitoring (rosbridge, health checks) New: stack_state_monitor_node.py (publishes stack boot state) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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#!/usr/bin/env python3
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"""Geofence boundary enforcer for SaltyBot.
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"""Geofence safety system for SaltyBot.
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Loads polygon geofence from params, monitors robot position via odometry.
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Publishes Bool on /saltybot/geofence_breach when exiting boundary.
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Optionally zeros cmd_vel to enforce boundary.
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Subscribed topics:
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/odom (nav_msgs/Odometry) - Robot position and orientation
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Published topics:
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/saltybot/geofence_breach (std_msgs/Bool) - Outside boundary flag
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Subscribes to /phone/gps and /odom. Enforces circle/polygon geofence.
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Three zones: SAFE, WARNING (2m buffer), VIOLATION.
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WARNING: slow + concern face + TTS + amber LED.
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VIOLATION: stop + auto-return + red LED.
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"""
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import math
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import NavSatFix
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from nav_msgs.msg import Odometry
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from std_msgs.msg import Bool
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from typing import List, Tuple
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from geometry_msgs.msg import Twist
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from std_msgs.msg import String, UInt8
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class GeofenceState:
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SAFE = 0
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WARNING = 1
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VIOLATION = 2
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class GeofenceNode(Node):
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"""ROS2 node for geofence boundary enforcement."""
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def __init__(self):
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super().__init__("geofence")
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self.declare_parameter("type", "circle")
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self.declare_parameter("circle.center_lat", 0.0)
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self.declare_parameter("circle.center_lon", 0.0)
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self.declare_parameter("circle.radius", 50.0)
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self.declare_parameter("polygon", [])
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self.declare_parameter("warning_distance", 2.0)
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self.declare_parameter("auto_return.enabled", True)
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self.declare_parameter("auto_return.speed", 0.5)
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self.declare_parameter("tts.enabled", True)
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self.declare_parameter("tts.warning_message", "Approaching boundary")
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self.declare_parameter("tts.violation_message", "Boundary violation, returning home")
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# Parameters
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self.declare_parameter("geofence_vertices", [])
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self.declare_parameter("enforce_boundary", False)
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self.declare_parameter("margin", 0.0)
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self.geofence_type = self.get_parameter("type").value
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self.warning_distance = self.get_parameter("warning_distance").value
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self.auto_return_enabled = self.get_parameter("auto_return.enabled").value
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self.auto_return_speed = self.get_parameter("auto_return.speed").value
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self.tts_enabled = self.get_parameter("tts.enabled").value
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vertices = self.get_parameter("geofence_vertices").value
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self.enforce_boundary = self.get_parameter("enforce_boundary").value
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self.margin = self.get_parameter("margin").value
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if self.geofence_type == "circle":
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self.circle_center_lat = self.get_parameter("circle.center_lat").value
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self.circle_center_lon = self.get_parameter("circle.center_lon").value
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self.circle_radius = self.get_parameter("circle.radius").value
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# Parse vertices from flat list [x1,y1,x2,y2,...]
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self.geofence_vertices = self._parse_vertices(vertices)
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self.geofence_state_pub = self.create_publisher(UInt8, "/saltybot/geofence_state", 1)
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self.led_pub = self.create_publisher(String, "/saltybot/led_command", 1)
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self.tts_pub = self.create_publisher(String, "/saltybot/tts_command", 1)
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self.emotion_pub = self.create_publisher(String, "/saltybot/emotion_command", 1)
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self.cmd_vel_pub = self.create_publisher(Twist, "/cmd_vel", 1)
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# State tracking
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self.robot_x = 0.0
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self.robot_y = 0.0
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self.inside_geofence = True
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self.breach_published = False
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self.create_subscription(NavSatFix, "/phone/gps", self._gps_callback, 1)
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self.create_subscription(Odometry, "/odom", self._odom_callback, 1)
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# Subscription to odometry
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self.sub_odom = self.create_subscription(
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Odometry, "/odom", self._on_odometry, 10
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)
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self.current_state = GeofenceState.SAFE
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self.last_state = GeofenceState.SAFE
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self.current_lat = 0.0
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self.current_lon = 0.0
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self.returning_home = False
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self.home_lat = None
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self.home_lon = None
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self.get_logger().info(f"Geofence initialized: type={self.geofence_type}")
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# Publisher for breach status
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self.pub_breach = self.create_publisher(Bool, "/saltybot/geofence_breach", 10)
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self.get_logger().info(
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f"Geofence enforcer initialized with {len(self.geofence_vertices)} vertices. "
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f"Enforce: {self.enforce_boundary}, Margin: {self.margin}m"
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)
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if len(self.geofence_vertices) > 0:
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self.get_logger().info(f"Geofence vertices: {self.geofence_vertices}")
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def _parse_vertices(self, flat_list: List[float]) -> List[Tuple[float, float]]:
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"""Parse flat list [x1,y1,x2,y2,...] into vertex tuples."""
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if len(flat_list) < 6: # Need at least 3 vertices (6 values)
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self.get_logger().warn("Geofence needs at least 3 vertices (6 values)")
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return []
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vertices = []
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for i in range(0, len(flat_list) - 1, 2):
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vertices.append((flat_list[i], flat_list[i + 1]))
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return vertices
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def _on_odometry(self, msg: Odometry) -> None:
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"""Process odometry and check geofence boundary."""
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if len(self.geofence_vertices) == 0:
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# No geofence defined
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self.inside_geofence = True
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def _gps_callback(self, msg: NavSatFix):
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if msg.latitude == 0 and msg.longitude == 0:
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return
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self.current_lat = msg.latitude
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self.current_lon = msg.longitude
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if self.home_lat is None:
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self.home_lat = msg.latitude
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self.home_lon = msg.longitude
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self.get_logger().info(f"Home: ({self.home_lat:.6f}, {self.home_lon:.6f})")
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self._update_geofence_state()
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# Extract robot position
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self.robot_x = msg.pose.pose.position.x
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self.robot_y = msg.pose.pose.position.y
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def _odom_callback(self, msg: Odometry):
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pass
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# Check if inside geofence
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self.inside_geofence = self._point_in_polygon(
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(self.robot_x, self.robot_y), self.geofence_vertices
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def _update_geofence_state(self):
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if self.geofence_type == "circle":
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distance = self._haversine_distance(
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self.current_lat, self.current_lon,
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self.circle_center_lat, self.circle_center_lon
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)
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if distance <= self.circle_radius - self.warning_distance:
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new_state = GeofenceState.SAFE
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elif distance <= self.circle_radius:
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new_state = GeofenceState.WARNING
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else:
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new_state = GeofenceState.VIOLATION
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else:
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inside = self._point_in_polygon(self.current_lat, self.current_lon, self.polygon)
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distance = self._min_distance_to_polygon(self.current_lat, self.current_lon, self.polygon)
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if inside and distance > self.warning_distance:
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new_state = GeofenceState.SAFE
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elif inside or distance <= self.warning_distance:
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new_state = GeofenceState.WARNING
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else:
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new_state = GeofenceState.VIOLATION
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# Publish breach status
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breach = not self.inside_geofence
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if breach and not self.breach_published:
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self.get_logger().warn(
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f"GEOFENCE BREACH! Robot at ({self.robot_x:.2f}, {self.robot_y:.2f})"
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)
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self.breach_published = True
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elif not breach and self.breach_published:
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self.get_logger().info(
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f"Robot re-entered geofence at ({self.robot_x:.2f}, {self.robot_y:.2f})"
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)
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self.breach_published = False
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if new_state != self.current_state:
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self.current_state = new_state
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self._on_state_change()
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msg_breach = Bool(data=breach)
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self.pub_breach.publish(msg_breach)
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def _on_state_change(self):
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self.geofence_state_pub.publish(UInt8(data=self.current_state))
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if self.current_state == GeofenceState.SAFE:
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self.led_pub.publish(String(data="off"))
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self.returning_home = False
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elif self.current_state == GeofenceState.WARNING:
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self.led_pub.publish(String(data="amber"))
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self.emotion_pub.publish(String(data="concerned"))
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if self.tts_enabled:
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self.tts_pub.publish(String(data=self.get_parameter("tts.warning_message").value))
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elif self.current_state == GeofenceState.VIOLATION:
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self.led_pub.publish(String(data="red"))
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self.emotion_pub.publish(String(data="concerned"))
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if self.tts_enabled:
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self.tts_pub.publish(String(data=self.get_parameter("tts.violation_message").value))
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twist = Twist()
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self.cmd_vel_pub.publish(twist)
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if self.auto_return_enabled and not self.returning_home and self.home_lat:
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self.returning_home = True
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self._initiate_auto_return()
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self.last_state = self.current_state
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def _point_in_polygon(self, point: Tuple[float, float], vertices: List[Tuple[float, float]]) -> bool:
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"""Ray casting algorithm for point-in-polygon test."""
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x, y = point
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n = len(vertices)
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def _initiate_auto_return(self):
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self.get_logger().warn("Auto-return initiated")
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twist = Twist()
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twist.linear.x = self.auto_return_speed
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self.cmd_vel_pub.publish(twist)
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@staticmethod
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def _haversine_distance(lat1, lon1, lat2, lon2):
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R = 6371000
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phi1 = math.radians(lat1)
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phi2 = math.radians(lat2)
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delta_phi = math.radians(lat2 - lat1)
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delta_lambda = math.radians(lon2 - lon1)
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a = math.sin(delta_phi / 2) ** 2 + math.cos(phi1) * math.cos(phi2) * math.sin(delta_lambda / 2) ** 2
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c = 2 * math.asin(math.sqrt(a))
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return R * c
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@staticmethod
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def _point_in_polygon(lat, lon, polygon):
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if not polygon or len(polygon) < 3:
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return False
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n = len(polygon)
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inside = False
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p1x, p1y = vertices[0]
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p1_lat, p1_lon = polygon[0]
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for i in range(1, n + 1):
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p2x, p2y = vertices[i % n]
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# Check if ray crosses edge
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if y > min(p1y, p2y):
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if y <= max(p1y, p2y):
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if x <= max(p1x, p2x):
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if p1y != p2y:
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xinters = (y - p1y) * (p2x - p1x) / (p2y - p1y) + p1x
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if p1x == p2x or x <= xinters:
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p2_lat, p2_lon = polygon[i % n]
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if lat > min(p1_lat, p2_lat):
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if lat <= max(p1_lat, p2_lat):
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if lon <= max(p1_lon, p2_lon):
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if p1_lat != p2_lat:
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xinters = (lat - p1_lat) * (p2_lon - p1_lon) / (p2_lat - p1_lat) + p1_lon
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if p1_lat == p2_lat or lon <= xinters:
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inside = not inside
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p1x, p1y = p2x, p2y
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p1_lat, p1_lon = p2_lat, p2_lon
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return inside
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@staticmethod
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def _min_distance_to_polygon(lat, lon, polygon):
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if not polygon or len(polygon) < 2:
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return float("inf")
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min_dist = float("inf")
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for i in range(len(polygon)):
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p1 = polygon[i]
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p2 = polygon[(i + 1) % len(polygon)]
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d = abs((p2[0] - p1[0]) * (p1[1] - lon) - (p1[0] - lat) * (p2[1] - p1[1]))
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d /= max(math.sqrt((p2[0] - p1[0]) ** 2 + (p2[1] - p1[1]) ** 2), 1e-6)
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min_dist = min(min_dist, d)
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return min_dist
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def main(args=None):
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rclpy.init(args=args)
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@ -138,6 +186,5 @@ def main(args=None):
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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