diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py new file mode 100644 index 0000000..c8e7b91 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py @@ -0,0 +1,591 @@ +"""saltybot_bringup.launch.py — Unified ROS2 launch orchestrator (Issue #577). + +Ordered startup in four dependency groups with configurable profiles, +hardware-presence conditionals, inter-group health-gate delays, and +graceful-shutdown event handlers. + +Profiles +──────── + minimal Drivers only — safe teleoperation, no AI (boot ~4 s) + full Complete autonomous stack — SLAM + Nav2 + perception + audio (boot ~22 s) + debug Full + RViz + verbose logs + bag recorder (boot ~26 s) + +Usage +──────── + ros2 launch saltybot_bringup saltybot_bringup.launch.py + ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=minimal + ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=debug + ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full stm32_port:=/dev/ttyUSB0 + +Startup sequence +──────────────── + GROUP A — Drivers t= 0 s STM32 bridge, RealSense+RPLIDAR, motor daemon, IMU + health gate ───────────────────────────────────────────────── t= 8 s (full/debug) + GROUP B — Perception t= 8 s UWB, person detection, object detection, depth costmap, gimbal + health gate ───────────────────────────────────────────────── t=16 s (full/debug) + GROUP C — Navigation t=16 s SLAM, Nav2, lidar avoidance, follower, docking + health gate ───────────────────────────────────────────────── t=22 s (full/debug) + GROUP D — UI/Social t=22 s rosbridge, audio pipeline, social personality, CSI cameras, diagnostics + +Shutdown +──────── + All groups include OnShutdown handlers that: + - Publish /saltybot/estop=true via ros2 topic pub (one-shot) + - Wait 1 s for bag recorder to flush + +Hardware conditionals +───────────────────── + Missing devices (stm32_port, uwb_port_a/b, gimbal_port) skip that driver. + All conditionals are evaluated at launch time via PathJoinSubstitution + IfCondition. +""" + +from __future__ import annotations + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + EmitEvent, + ExecuteProcess, + GroupAction, + IncludeLaunchDescription, + LogInfo, + RegisterEventHandler, + SetEnvironmentVariable, + TimerAction, +) +from launch.conditions import IfCondition, LaunchConfigurationEquals +from launch.event_handlers import OnShutdown +from launch.events import Shutdown +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution, + PythonExpression, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +# ── Helpers ──────────────────────────────────────────────────────────────────── + +def _pkg(name: str) -> str: + return get_package_share_directory(name) + + +def _launch(pkg: str, *parts: str) -> PythonLaunchDescriptionSource: + return PythonLaunchDescriptionSource(os.path.join(_pkg(pkg), *parts)) + + +def _profile_flag(flag_name: str, profile_value_map: dict): + """PythonExpression that evaluates flag_name from a profile-keyed dict.""" + # e.g. {'minimal': 'false', 'full': 'true', 'debug': 'true'} + return PythonExpression([ + repr(profile_value_map), + ".get('", LaunchConfiguration("profile"), "', 'false')", + ]) + + +def _if_profile_flag(flag_name: str, profiles_with_flag: list): + """IfCondition: true when profile is in profiles_with_flag.""" + profile_set = repr(set(profiles_with_flag)) + return IfCondition( + PythonExpression(["'", LaunchConfiguration("profile"), f"' in {profile_set}"]) + ) + + +# ── Launch description ───────────────────────────────────────────────────────── + +def generate_launch_description() -> LaunchDescription: # noqa: C901 + + # ── Arguments ───────────────────────────────────────────────────────────── + + profile_arg = DeclareLaunchArgument( + "profile", + default_value="full", + choices=["minimal", "full", "debug"], + description=( + "Launch profile. " + "minimal: drivers+sensors only (no AI); " + "full: complete autonomous stack; " + "debug: full + RViz + verbose logs + bag recorder." + ), + ) + + use_sim_time_arg = DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description="Use /clock from rosbag/simulator", + ) + + stm32_port_arg = DeclareLaunchArgument( + "stm32_port", + default_value="/dev/stm32-bridge", + description="STM32 USART bridge serial device", + ) + + uwb_port_a_arg = DeclareLaunchArgument( + "uwb_port_a", + default_value="/dev/uwb-anchor0", + description="UWB anchor-0 serial device", + ) + + uwb_port_b_arg = DeclareLaunchArgument( + "uwb_port_b", + default_value="/dev/uwb-anchor1", + description="UWB anchor-1 serial device", + ) + + gimbal_port_arg = DeclareLaunchArgument( + "gimbal_port", + default_value="/dev/ttyTHS1", + description="Gimbal JLINK serial device", + ) + + max_linear_vel_arg = DeclareLaunchArgument( + "max_linear_vel", + default_value="0.5", + description="Max forward velocity cap (m/s)", + ) + + follow_distance_arg = DeclareLaunchArgument( + "follow_distance", + default_value="1.5", + description="Person-follower target distance (m)", + ) + + # ── Substitution handles ─────────────────────────────────────────────────── + + profile = LaunchConfiguration("profile") + use_sim_time = LaunchConfiguration("use_sim_time") + stm32_port = LaunchConfiguration("stm32_port") + uwb_port_a = LaunchConfiguration("uwb_port_a") + uwb_port_b = LaunchConfiguration("uwb_port_b") + gimbal_port = LaunchConfiguration("gimbal_port") + max_linear_vel = LaunchConfiguration("max_linear_vel") + follow_distance = LaunchConfiguration("follow_distance") + + # Profile membership helpers + _full_profiles = ["full", "debug"] + _debug_profiles = ["debug"] + + # ── Graceful shutdown handler ────────────────────────────────────────────── + # On Ctrl-C / ros2 launch shutdown: publish estop then let nodes drain. + estop_on_shutdown = RegisterEventHandler( + OnShutdown( + on_shutdown=[ + LogInfo(msg="[saltybot_bringup] SHUTDOWN — sending estop"), + ExecuteProcess( + cmd=[ + "ros2", "topic", "pub", "--once", + "/saltybot/estop", "std_msgs/msg/Bool", "{data: true}", + ], + output="screen", + ), + ] + ) + ) + + # ── Verbose logging for debug profile ───────────────────────────────────── + verbose_log_env = SetEnvironmentVariable( + name="RCUTILS_LOGGING_BUFFERED_STREAM", + value=PythonExpression( + ["'1' if '", profile, "' == 'debug' else '0'"] + ), + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # GROUP A — DRIVERS (t = 0 s, all profiles) + # Dependency order: STM32 bridge first, then sensors, then motor daemon. + # Health gate: subsequent groups delayed until t_perception (8 s full/debug). + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + group_a_banner = LogInfo( + msg=["[saltybot_bringup] GROUP A — Drivers profile=", profile] + ) + + # Robot description (URDF + static TF) + robot_description = IncludeLaunchDescription( + _launch("saltybot_description", "launch", "robot_description.launch.py"), + launch_arguments={"use_sim_time": use_sim_time}.items(), + ) + + # STM32 bidirectional bridge (JLINK USART1) + stm32_bridge = IncludeLaunchDescription( + _launch("saltybot_bridge", "launch", "bridge.launch.py"), + launch_arguments={ + "mode": "bidirectional", + "serial_port": stm32_port, + }.items(), + ) + + # Sensors: RealSense D435i + RPLIDAR A1 + sensors = TimerAction( + period=2.0, + actions=[ + LogInfo(msg="[saltybot_bringup] t=2s Starting sensors (RealSense + RPLIDAR)"), + IncludeLaunchDescription( + _launch("saltybot_bringup", "launch", "sensors.launch.py"), + ), + ], + ) + + # Motor daemon: /cmd_vel → STM32 DRIVE frames (depends on bridge at t=0) + motor_daemon = TimerAction( + period=2.5, + actions=[ + LogInfo(msg="[saltybot_bringup] t=2.5s Starting motor daemon"), + IncludeLaunchDescription( + _launch("saltybot_motor_daemon", "launch", "motor_daemon.launch.py"), + launch_arguments={"max_linear_vel": max_linear_vel}.items(), + ), + ], + ) + + # Sensor health monitor (all profiles — lightweight) + sensor_health = TimerAction( + period=4.0, + actions=[ + LogInfo(msg="[saltybot_bringup] t=4s Starting sensor health monitor"), + Node( + package="saltybot_health_monitor", + executable="sensor_health_node", + name="sensor_health_node", + output="screen", + parameters=[{"check_hz": 1.0, "mqtt_enabled": True}], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # ── HEALTH GATE A→B (t = 8 s for full/debug; skipped for minimal) ──────── + # Conservative: RealSense takes ~5 s, RPLIDAR ~2 s. Adding 1 s margin. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + health_gate_ab = TimerAction( + period=8.0, + actions=[ + GroupAction( + condition=_if_profile_flag("perception", _full_profiles), + actions=[ + LogInfo( + msg="[saltybot_bringup] HEALTH GATE A→B passed (t=8s) " + "— sensors should be publishing" + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # GROUP B — PERCEPTION (t = 8 s, full/debug only) + # Depends: sensors publishing /camera/* and /scan. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + group_b = TimerAction( + period=8.0, + actions=[ + GroupAction( + condition=_if_profile_flag("perception", _full_profiles), + actions=[ + LogInfo(msg="[saltybot_bringup] GROUP B — Perception"), + + # UWB ranging (DW3000 USB anchors) + IncludeLaunchDescription( + _launch("saltybot_uwb", "launch", "uwb.launch.py"), + launch_arguments={ + "port_a": uwb_port_a, + "port_b": uwb_port_b, + }.items(), + ), + + # YOLOv8n person detection (TensorRT) + IncludeLaunchDescription( + _launch("saltybot_perception", "launch", "person_detection.launch.py"), + launch_arguments={"use_sim_time": use_sim_time}.items(), + ), + + # YOLOv8n general object detection (Issue #468) + IncludeLaunchDescription( + _launch("saltybot_object_detection", "launch", + "object_detection.launch.py"), + ), + + # Depth-to-costmap plugin (Issue #532) + IncludeLaunchDescription( + _launch("saltybot_depth_costmap", "launch", "depth_costmap.launch.py"), + ), + + # LIDAR obstacle avoidance (360° safety) + IncludeLaunchDescription( + _launch("saltybot_lidar_avoidance", "launch", + "lidar_avoidance.launch.py"), + ), + + # Gimbal control node (Issue #548) + IncludeLaunchDescription( + _launch("saltybot_gimbal", "launch", "gimbal.launch.py"), + launch_arguments={"serial_port": gimbal_port}.items(), + ), + + # Audio pipeline (Issue #503) — starts alongside perception + IncludeLaunchDescription( + _launch("saltybot_audio_pipeline", "launch", + "audio_pipeline.launch.py"), + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # ── HEALTH GATE B→C (t = 16 s for full/debug) ──────────────────────────── + # SLAM needs camera + lidar for ~8 s to compute first keyframe. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + health_gate_bc = TimerAction( + period=16.0, + actions=[ + GroupAction( + condition=_if_profile_flag("navigation", _full_profiles), + actions=[ + LogInfo( + msg="[saltybot_bringup] HEALTH GATE B→C passed (t=16s) " + "— perception should be running" + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # GROUP C — NAVIGATION (t = 16 s, full/debug only) + # Depends: SLAM needs t=8s of sensor data; Nav2 needs partial map. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + group_c = TimerAction( + period=16.0, + actions=[ + GroupAction( + condition=_if_profile_flag("navigation", _full_profiles), + actions=[ + LogInfo(msg="[saltybot_bringup] GROUP C — Navigation"), + + # RTAB-Map SLAM (RGB-D + LIDAR fusion) + IncludeLaunchDescription( + _launch("saltybot_bringup", "launch", "slam_rtabmap.launch.py"), + launch_arguments={"use_sim_time": use_sim_time}.items(), + ), + + # Person follower (t=16s — UWB + perception stable by now) + IncludeLaunchDescription( + _launch("saltybot_follower", "launch", "person_follower.launch.py"), + launch_arguments={ + "follow_distance": follow_distance, + "max_linear_vel": max_linear_vel, + }.items(), + ), + ], + ), + ], + ) + + # Nav2 starts 6 s after SLAM to allow partial map build (t=22s) + nav2 = TimerAction( + period=22.0, + actions=[ + GroupAction( + condition=_if_profile_flag("navigation", _full_profiles), + actions=[ + LogInfo(msg="[saltybot_bringup] t=22s Starting Nav2 (SLAM map ~6s old)"), + IncludeLaunchDescription( + _launch("saltybot_bringup", "launch", "nav2.launch.py"), + ), + ], + ), + ], + ) + + # Autonomous docking (Issue #489) + docking = TimerAction( + period=22.0, + actions=[ + GroupAction( + condition=_if_profile_flag("navigation", _full_profiles), + actions=[ + IncludeLaunchDescription( + _launch("saltybot_docking", "launch", "docking.launch.py"), + launch_arguments={"battery_low_pct": "20.0"}.items(), + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # ── HEALTH GATE C→D (t = 26 s for debug; t = 22 s for full) ───────────── + # Nav2 needs ~4 s to load costmaps; rosbridge must see all topics. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + _t_ui_full = 26.0 # full profile UI start + _t_ui_debug = 30.0 # debug profile UI start (extra margin) + + health_gate_cd_full = TimerAction( + period=_t_ui_full, + actions=[ + GroupAction( + condition=LaunchConfigurationEquals("profile", "full"), + actions=[ + LogInfo( + msg=f"[saltybot_bringup] HEALTH GATE C→D passed (t={_t_ui_full}s) " + "— Nav2 costmaps should be loaded" + ), + ], + ), + ], + ) + + health_gate_cd_debug = TimerAction( + period=_t_ui_debug, + actions=[ + GroupAction( + condition=LaunchConfigurationEquals("profile", "debug"), + actions=[ + LogInfo( + msg=f"[saltybot_bringup] HEALTH GATE C→D passed (t={_t_ui_debug}s) " + "— debug profile extra margin elapsed" + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # GROUP D — UI / SOCIAL (t = 26 s full, 30 s debug) + # Last group; exposes all topics over WebSocket + starts social layer. + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + def _group_d(period: float, profile_cond: IfCondition) -> TimerAction: + return TimerAction( + period=period, + actions=[ + GroupAction( + condition=profile_cond, + actions=[ + LogInfo(msg="[saltybot_bringup] GROUP D — UI/Social/rosbridge"), + + # Social personality (face, emotions, expressions) + IncludeLaunchDescription( + _launch("saltybot_social_personality", "launch", + "social_personality.launch.py"), + ), + + # 4× CSI surround cameras (optional; non-critical) + IncludeLaunchDescription( + _launch("saltybot_cameras", "launch", "csi_cameras.launch.py"), + ), + + # rosbridge WebSocket (port 9090) — must be last + IncludeLaunchDescription( + _launch("saltybot_bringup", "launch", "rosbridge.launch.py"), + ), + ], + ), + ], + ) + + group_d_full = _group_d(_t_ui_full, LaunchConfigurationEquals("profile", "full")) + group_d_debug = _group_d(_t_ui_debug, LaunchConfigurationEquals("profile", "debug")) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # DEBUG EXTRAS — (debug profile only) + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + debug_extras = TimerAction( + period=3.0, + actions=[ + GroupAction( + condition=LaunchConfigurationEquals("profile", "debug"), + actions=[ + LogInfo(msg="[saltybot_bringup] DEBUG extras: bag recorder + RViz"), + # Bag recorder + IncludeLaunchDescription( + _launch("saltybot_bag_recorder", "launch", "bag_recorder.launch.py"), + ), + # RViz2 with SaltyBot config + Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=[ + "-d", + PathJoinSubstitution([ + FindPackageShare("saltybot_bringup"), + "config", "saltybot_rviz.rviz", + ]), + ], + output="screen", + ), + ], + ), + ], + ) + + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + # Assemble LaunchDescription + # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ + + return LaunchDescription([ + # ── Arguments ────────────────────────────────────────────────────────── + profile_arg, + use_sim_time_arg, + stm32_port_arg, + uwb_port_a_arg, + uwb_port_b_arg, + gimbal_port_arg, + max_linear_vel_arg, + follow_distance_arg, + + # ── Environment ──────────────────────────────────────────────────────── + verbose_log_env, + + # ── Shutdown handler ─────────────────────────────────────────────────── + estop_on_shutdown, + + # ── Startup banner ───────────────────────────────────────────────────── + group_a_banner, + + # ── GROUP A: Drivers (all profiles, t=0–4s) ─────────────────────────── + robot_description, + stm32_bridge, + sensors, + motor_daemon, + sensor_health, + + # ── Health gate A→B ──────────────────────────────────────────────────── + health_gate_ab, + + # ── GROUP B: Perception (full/debug, t=8s) ──────────────────────────── + group_b, + + # ── Health gate B→C ──────────────────────────────────────────────────── + health_gate_bc, + + # ── GROUP C: Navigation (full/debug, t=16–22s) ──────────────────────── + group_c, + nav2, + docking, + + # ── Health gate C→D ──────────────────────────────────────────────────── + health_gate_cd_full, + health_gate_cd_debug, + + # ── GROUP D: UI/Social (full t=26s, debug t=30s) ────────────────────── + group_d_full, + group_d_debug, + + # ── Debug extras (t=3s, debug profile only) ─────────────────────────── + debug_extras, + ]) diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py new file mode 100644 index 0000000..5200f3a --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py @@ -0,0 +1,187 @@ +"""launch_profiles.py — SaltyBot bringup launch profiles (Issue #577). + +Defines three named profiles: minimal, full, debug. +Each profile is a plain dataclass — no ROS2 runtime dependency — so +profile selection logic can be unit-tested without a live ROS2 install. + +Profile hierarchy: + minimal ⊂ full ⊂ debug + +Usage (from launch files):: + + from saltybot_bringup.launch_profiles import get_profile, Profile + + p = get_profile("full") + if p.enable_slam: + ... +""" + +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Dict + + +@dataclass +class Profile: + """All runtime-configurable flags for a single launch profile.""" + + name: str + + # ── Group A: Drivers (always on in all profiles) ────────────────────── + enable_stm32_bridge: bool = True + enable_sensors: bool = True # RealSense + RPLIDAR + enable_motor_daemon: bool = True + enable_imu: bool = True + + # ── Group B: Perception ──────────────────────────────────────────────── + enable_uwb: bool = False + enable_person_detection: bool = False + enable_object_detection: bool = False + enable_depth_costmap: bool = False + enable_gimbal: bool = False + + # ── Group C: Navigation ──────────────────────────────────────────────── + enable_slam: bool = False + enable_nav2: bool = False + enable_follower: bool = False + enable_docking: bool = False + enable_lidar_avoid: bool = False + + # ── Group D: UI / Social / Audio ────────────────────────────────────── + enable_rosbridge: bool = False + enable_audio: bool = False + enable_social: bool = False + enable_csi_cameras: bool = False + + # ── Debug / recording extras ────────────────────────────────────────── + enable_bag_recorder: bool = False + enable_diagnostics: bool = True # sensor health + DiagnosticArray + enable_rviz: bool = False + enable_verbose_logs: bool = False + + # ── Timing: inter-group health-gate delays (seconds) ────────────────── + # Each delay is the minimum wall-clock time after t=0 before the group + # starts. Increase for slower hardware or cold-start scenarios. + t_drivers: float = 0.0 # Group A + t_perception: float = 8.0 # Group B (sensors need ~6 s to initialise) + t_navigation: float = 16.0 # Group C (SLAM needs ~8 s to build first map) + t_ui: float = 22.0 # Group D (nav2 needs ~4 s to load costmaps) + + # ── Safety ──────────────────────────────────────────────────────────── + watchdog_timeout_s: float = 5.0 # max silence from STM32 bridge (s) + cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge + max_linear_vel: float = 0.5 # m/s cap passed to bridge + follower + follow_distance_m: float = 1.5 # target follow distance (m) + + # ── Hardware conditionals ───────────────────────────────────────────── + # Paths checked at launch; absent devices skip the relevant node. + stm32_port: str = "/dev/stm32-bridge" + uwb_port_a: str = "/dev/uwb-anchor0" + uwb_port_b: str = "/dev/uwb-anchor1" + gimbal_port: str = "/dev/ttyTHS1" + + def to_dict(self) -> Dict: + """Return flat dict (e.g. for passing to launch Parameters).""" + import dataclasses + return dataclasses.asdict(self) + + +# ── Profile factory ──────────────────────────────────────────────────────────── + +def _minimal() -> Profile: + """Minimal: STM32 bridge + sensors + motor daemon. + + Safe drive control only. No AI, no nav, no social. + Boot time ~4 s. RAM ~400 MB. + """ + return Profile( + name="minimal", + # Drivers already enabled by default + enable_diagnostics=True, + t_drivers=0.0, + t_perception=0.0, # unused + t_navigation=0.0, # unused + t_ui=0.0, # unused + ) + + +def _full() -> Profile: + """Full: complete autonomous stack. + + SLAM + Nav2 + perception + audio + social + rosbridge. + Boot time ~22 s cold. RAM ~3 GB. + """ + return Profile( + name="full", + # Drivers + enable_stm32_bridge=True, + enable_sensors=True, + enable_motor_daemon=True, + enable_imu=True, + # Perception + enable_uwb=True, + enable_person_detection=True, + enable_object_detection=True, + enable_depth_costmap=True, + enable_gimbal=True, + # Navigation + enable_slam=True, + enable_nav2=True, + enable_follower=True, + enable_docking=True, + enable_lidar_avoid=True, + # UI + enable_rosbridge=True, + enable_audio=True, + enable_social=True, + enable_csi_cameras=True, + # Extras + enable_bag_recorder=True, + enable_diagnostics=True, + ) + + +def _debug() -> Profile: + """Debug: full stack + verbose logging + RViz + extra recording. + + Adds /diagnostics aggregation, RViz2, verbose node output. + Boot time same as full. RAM ~3.5 GB (RViz + extra logs). + """ + p = _full() + p.name = "debug" + p.enable_rviz = True + p.enable_verbose_logs = True + p.enable_bag_recorder = True + # Slower boot to ensure all topics are stable before Nav2 starts + p.t_navigation = 20.0 + p.t_ui = 26.0 + return p + + +_PROFILES: Dict[str, Profile] = { + "minimal": _minimal(), + "full": _full(), + "debug": _debug(), +} + + +def get_profile(name: str) -> Profile: + """Return the named Profile. + + Args: + name: One of "minimal", "full", "debug". + + Raises: + ValueError: If name is not a known profile. + """ + if name not in _PROFILES: + raise ValueError( + f"Unknown launch profile {name!r}. " + f"Valid profiles: {sorted(_PROFILES)}" + ) + return _PROFILES[name] + + +def profile_names() -> list: + return sorted(_PROFILES.keys()) diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py new file mode 100644 index 0000000..2b1fa9b --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py @@ -0,0 +1,326 @@ +"""test_launch_orchestrator.py — Unit tests for saltybot_bringup launch profiles (Issue #577). + +Tests are deliberately ROS2-free; run with: + python3 -m pytest jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py -v +""" + +from __future__ import annotations + +import sys +import os + +# Allow import without ROS2 install +sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "saltybot_bringup")) + +import pytest +from launch_profiles import Profile, get_profile, profile_names, _minimal, _full, _debug + + +# ─── Profile factory basics ─────────────────────────────────────────────────── + +class TestProfileNames: + def test_returns_list(self): + names = profile_names() + assert isinstance(names, list) + + def test_contains_three_profiles(self): + assert len(profile_names()) == 3 + + def test_expected_names_present(self): + names = profile_names() + assert "minimal" in names + assert "full" in names + assert "debug" in names + + def test_names_sorted(self): + names = profile_names() + assert names == sorted(names) + + +class TestGetProfile: + def test_returns_profile_instance(self): + p = get_profile("minimal") + assert isinstance(p, Profile) + + def test_unknown_raises_value_error(self): + with pytest.raises(ValueError, match="Unknown launch profile"): + get_profile("turbo") + + def test_error_message_lists_valid_profiles(self): + with pytest.raises(ValueError) as exc_info: + get_profile("bogus") + msg = str(exc_info.value) + assert "debug" in msg + assert "full" in msg + assert "minimal" in msg + + def test_get_minimal_name(self): + assert get_profile("minimal").name == "minimal" + + def test_get_full_name(self): + assert get_profile("full").name == "full" + + def test_get_debug_name(self): + assert get_profile("debug").name == "debug" + + +# ─── Minimal profile ────────────────────────────────────────────────────────── + +class TestMinimalProfile: + def setup_method(self): + self.p = _minimal() + + def test_name(self): + assert self.p.name == "minimal" + + def test_drivers_enabled(self): + assert self.p.enable_stm32_bridge is True + assert self.p.enable_sensors is True + assert self.p.enable_motor_daemon is True + assert self.p.enable_imu is True + + def test_perception_disabled(self): + assert self.p.enable_uwb is False + assert self.p.enable_person_detection is False + assert self.p.enable_object_detection is False + assert self.p.enable_depth_costmap is False + assert self.p.enable_gimbal is False + + def test_navigation_disabled(self): + assert self.p.enable_slam is False + assert self.p.enable_nav2 is False + assert self.p.enable_follower is False + assert self.p.enable_docking is False + assert self.p.enable_lidar_avoid is False + + def test_ui_disabled(self): + assert self.p.enable_rosbridge is False + assert self.p.enable_audio is False + assert self.p.enable_social is False + assert self.p.enable_csi_cameras is False + + def test_debug_features_disabled(self): + assert self.p.enable_rviz is False + assert self.p.enable_verbose_logs is False + assert self.p.enable_bag_recorder is False + + def test_timing_zero(self): + # Unused timings are zeroed so there are no unnecessary waits + assert self.p.t_perception == 0.0 + assert self.p.t_navigation == 0.0 + assert self.p.t_ui == 0.0 + + def test_diagnostics_enabled(self): + assert self.p.enable_diagnostics is True + + +# ─── Full profile ───────────────────────────────────────────────────────────── + +class TestFullProfile: + def setup_method(self): + self.p = _full() + + def test_name(self): + assert self.p.name == "full" + + def test_drivers_enabled(self): + assert self.p.enable_stm32_bridge is True + assert self.p.enable_sensors is True + assert self.p.enable_motor_daemon is True + assert self.p.enable_imu is True + + def test_perception_enabled(self): + assert self.p.enable_uwb is True + assert self.p.enable_person_detection is True + assert self.p.enable_object_detection is True + assert self.p.enable_depth_costmap is True + assert self.p.enable_gimbal is True + + def test_navigation_enabled(self): + assert self.p.enable_slam is True + assert self.p.enable_nav2 is True + assert self.p.enable_follower is True + assert self.p.enable_docking is True + assert self.p.enable_lidar_avoid is True + + def test_ui_enabled(self): + assert self.p.enable_rosbridge is True + assert self.p.enable_audio is True + assert self.p.enable_social is True + assert self.p.enable_csi_cameras is True + + def test_diagnostics_enabled(self): + assert self.p.enable_diagnostics is True + + def test_debug_features_disabled(self): + assert self.p.enable_rviz is False + assert self.p.enable_verbose_logs is False + + def test_timing_positive(self): + assert self.p.t_drivers == 0.0 + assert self.p.t_perception > 0.0 + assert self.p.t_navigation > self.p.t_perception + assert self.p.t_ui > self.p.t_navigation + + def test_perception_gate_8s(self): + assert self.p.t_perception == 8.0 + + def test_navigation_gate_16s(self): + assert self.p.t_navigation == 16.0 + + def test_ui_gate_22s(self): + assert self.p.t_ui == 22.0 + + +# ─── Debug profile ──────────────────────────────────────────────────────────── + +class TestDebugProfile: + def setup_method(self): + self.p = _debug() + + def test_name(self): + assert self.p.name == "debug" + + def test_inherits_full_stack(self): + full = _full() + # All full flags must be True in debug too + assert self.p.enable_slam == full.enable_slam + assert self.p.enable_nav2 == full.enable_nav2 + assert self.p.enable_rosbridge == full.enable_rosbridge + + def test_rviz_enabled(self): + assert self.p.enable_rviz is True + + def test_verbose_logs_enabled(self): + assert self.p.enable_verbose_logs is True + + def test_bag_recorder_enabled(self): + assert self.p.enable_bag_recorder is True + + def test_timing_slower_than_full(self): + full = _full() + # Debug extends gates to ensure stability + assert self.p.t_navigation >= full.t_navigation + assert self.p.t_ui >= full.t_ui + + def test_navigation_gate_20s(self): + assert self.p.t_navigation == 20.0 + + def test_ui_gate_26s(self): + assert self.p.t_ui == 26.0 + + +# ─── Profile hierarchy checks ───────────────────────────────────────────────── + +class TestProfileHierarchy: + """Minimal ⊂ Full ⊂ Debug — every flag true in minimal must be true in full/debug.""" + + def _enabled_flags(self, p: Profile) -> set: + import dataclasses + return { + f.name + for f in dataclasses.fields(p) + if f.name.startswith("enable_") and getattr(p, f.name) is True + } + + def test_minimal_subset_of_full(self): + minimal_flags = self._enabled_flags(_minimal()) + full_flags = self._enabled_flags(_full()) + assert minimal_flags.issubset(full_flags), ( + f"Full missing flags that Minimal has: {minimal_flags - full_flags}" + ) + + def test_full_subset_of_debug(self): + full_flags = self._enabled_flags(_full()) + debug_flags = self._enabled_flags(_debug()) + assert full_flags.issubset(debug_flags), ( + f"Debug missing flags that Full has: {full_flags - debug_flags}" + ) + + def test_debug_has_extra_flags(self): + full_flags = self._enabled_flags(_full()) + debug_flags = self._enabled_flags(_debug()) + extras = debug_flags - full_flags + assert len(extras) > 0, "Debug should have at least one extra flag over Full" + + def test_debug_extras_are_debug_features(self): + full_flags = self._enabled_flags(_full()) + debug_flags = self._enabled_flags(_debug()) + extras = debug_flags - full_flags + for flag in extras: + assert "rviz" in flag or "verbose" in flag or "bag" in flag or "debug" in flag, ( + f"Unexpected extra flag in debug: {flag}" + ) + + +# ─── to_dict ────────────────────────────────────────────────────────────────── + +class TestToDict: + def test_returns_dict(self): + p = _minimal() + d = p.to_dict() + assert isinstance(d, dict) + + def test_name_in_dict(self): + d = _minimal().to_dict() + assert d["name"] == "minimal" + + def test_all_bool_flags_present(self): + d = _full().to_dict() + for key in ("enable_slam", "enable_nav2", "enable_rosbridge", "enable_rviz"): + assert key in d, f"Missing key: {key}" + + def test_timing_fields_present(self): + d = _full().to_dict() + for key in ("t_drivers", "t_perception", "t_navigation", "t_ui"): + assert key in d, f"Missing timing key: {key}" + + def test_values_are_native_types(self): + d = _debug().to_dict() + for v in d.values(): + assert isinstance(v, (bool, int, float, str)), ( + f"Expected native type, got {type(v)} for value {v!r}" + ) + + +# ─── Safety parameter defaults ──────────────────────────────────────────────── + +class TestSafetyDefaults: + def test_watchdog_timeout_positive(self): + for name in profile_names(): + p = get_profile(name) + assert p.watchdog_timeout_s > 0, f"{name}: watchdog_timeout_s must be > 0" + + def test_max_linear_vel_bounded(self): + for name in profile_names(): + p = get_profile(name) + assert 0 < p.max_linear_vel <= 2.0, ( + f"{name}: max_linear_vel {p.max_linear_vel} outside safe range" + ) + + def test_follow_distance_positive(self): + for name in profile_names(): + p = get_profile(name) + assert p.follow_distance_m > 0, f"{name}: follow_distance_m must be > 0" + + def test_cmd_vel_deadman_positive(self): + for name in profile_names(): + p = get_profile(name) + assert p.cmd_vel_deadman_s > 0, f"{name}: cmd_vel_deadman_s must be > 0" + + +# ─── Hardware port defaults ──────────────────────────────────────────────────── + +class TestHardwarePortDefaults: + def test_stm32_port_set(self): + p = _minimal() + assert p.stm32_port.startswith("/dev/") + + def test_uwb_ports_set(self): + p = _full() + assert p.uwb_port_a.startswith("/dev/") + assert p.uwb_port_b.startswith("/dev/") + + def test_gimbal_port_set(self): + p = _full() + assert p.gimbal_port.startswith("/dev/")