Sebastien Vayrette
868b453777
fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)
2026-03-05 19:25:23 -05:00
83e3033abe
Merge pull request 'feat: OTA firmware update (Issue #492 )' ( #500 ) from sl-jetson/issue-492-ota-update into main
2026-03-05 17:24:58 -05:00
5f6a13ccca
Merge pull request 'feat: Multi-sensor fusion (Issue #490 )' ( #498 ) from sl-perception/issue-490-sensor-fusion into main
2026-03-05 17:24:03 -05:00
4dc18201aa
Merge pull request 'feat: Docking station behavior (Issue #489 )' ( #497 ) from sl-controls/issue-489-docking into main
2026-03-05 17:16:37 -05:00
2dd03a245d
Merge pull request 'feat: ROS2 bag recording for mission logging (Issue #488 )' ( #496 ) from sl-firmware/issue-488-bag-recording into main
2026-03-05 17:16:22 -05:00
340248a0d2
feat: Add docking state publisher and update configuration (Issue #489 )
...
- Add /saltybot/docking_state publisher (std_msgs/String) for monitoring
- Update docking_params.yaml battery_low_pct: 15% → 20%
- Add Issue #475 references for conservative servo speeds
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:08:48 -05:00
7a4930e8d2
feat: ROS2 bag recording for mission logging (Issue #488 )
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Implement automatic mission logging with bag recorder:
- Auto-records to ~/.saltybot-data/bags/ with 30min rotation
- Records mission-critical topics: /scan, /cmd_vel, /odom, /tf, /camera/color/image_raw/compressed, /saltybot/diagnostics
- MCAP format (preferred) with fallback to sqlite3 with zstd compression
- Services: /saltybot/save_bag, /saltybot/start_recording, /saltybot/stop_recording
- FIFO 20GB disk limit with automatic cleanup of oldest bags
- Auto-starts on launch, auto-saves on graceful shutdown
Changes:
- Updated bag_recorder_node.py with new parameters and services
- Changed default bag_dir to ~/.saltybot-data/bags/
- Set max_storage_gb to 20 (FIFO limit)
- Changed storage_format to MCAP by default
- Added start/stop recording service callbacks
- Updated package.xml description for mission logging
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:08:21 -05:00
b986702aed
feat: Docking station behavior for auto-charging (Issue #489 )
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- Integrate saltybot_docking package into full_stack.launch.py
- Auto-trigger docking when battery drops to 20% (configurable via battery_low_pct)
- Launch docking at t=7s (after sensors, before Nav2)
- Add /saltybot/docking_state publisher (std_msgs/String) for state monitoring
- Update docking_params.yaml:
- battery_low_pct: 15% → 20% per Issue #489
- Add references to Issue #475 for conservative FC+hoverboard speeds
- Docking behavior includes:
- ArUco marker or IR beacon detection for dock location
- Nav2-based approach to pre-dock pose (~1m away)
- Visual servoing final alignment with contact detection
- Auto-undocking on full charge (80%) or command
- Integration with power management for mission interruption/resumption
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:08:21 -05:00
a4285b5ecd
feat: Docking station behavior for auto-charging (Issue #489 )
...
- Integrate saltybot_docking package into full_stack.launch.py
- Auto-trigger docking when battery drops to 20% (configurable via battery_low_pct)
- Launch docking at t=7s (after sensors, before Nav2)
- Add /saltybot/docking_state publisher (std_msgs/String) for state monitoring
- Update docking_params.yaml:
- battery_low_pct: 15% → 20% per Issue #489
- Add references to Issue #475 for conservative FC+hoverboard speeds
- Docking behavior includes:
- ArUco marker or IR beacon detection for dock location
- Nav2-based approach to pre-dock pose (~1m away)
- Visual servoing final alignment with contact detection
- Auto-undocking on full charge (80%) or command
- Integration with power management for mission interruption/resumption
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:08:15 -05:00
d770cb99a3
feat: Multi-sensor fusion for obstacle avoidance (Issue #490 )
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- saltybot_sensor_fusion: ROS2 node for LIDAR + depth sensor fusion
- Fuses RPLIDAR A1M8 (360° 2D) + RealSense D435i (front 87° 3D)
- Message filters for time-synchronized sensor inputs
- Smart blind spot handling: rear/sides LIDAR-only, front uses both
- Publishes /scan_fused (unified LaserScan) + PointCloud2 for voxel layer
- Configurable front sector angle (±45°), range multiplier, max range limit
- Parameters: depth_range_multiplier=0.9 (safety margin), max_range=5m
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:05:25 -05:00
fabfd5e974
feat: TTS personality engine (Issue #494 )
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Implement context-aware text-to-speech with emotion-driven expression for SaltyBot.
Features:
✓ Context-aware greetings (time of day, person names, emotion)
✓ Priority queue management (safety > social > idle)
✓ Emotion-based rate/pitch modulation (happy: faster+higher, sad: slower+lower)
✓ Integration with emotion engine (Issue #429 ) and TTS service (Issue #421 )
✓ Configurable personality parameters
✓ Person recognition for personalized responses
✓ Queue management with 16-item buffer
Architecture:
Node: tts_personality_node
- Subscribes: /saltybot/tts_request, /saltybot/emotion_state, /saltybot/person_detected
- Publishes: /saltybot/tts_command (formatted for TTS service), /saltybot/personality_state
- Runs worker thread for asynchronous queue processing
Personality Parameters:
- Name: "Luna" (default, configurable)
- Speed modulation: happy=1.1x, sad=0.9x, neutral=1.0x
- Pitch modulation: happy=1.15x, sad=0.85x, neutral=1.0x
- Time-based greetings for 4 periods (morning, afternoon, evening, night)
- Known people mapping for personalization
Queue Priority Levels:
- SAFETY (3): Emergency/safety messages
- SOCIAL (2): Greetings and interactions
- IDLE (1): Commentary and chatter
- NORMAL (0): Default messages
Files Created:
- saltybot_tts_personality package with main personality node
- config/tts_personality_params.yaml with configurable parameters
- launch/tts_personality.launch.py for easy startup
- Unit tests for personality context and emotion handling
- Comprehensive README with usage examples
Integration Points:
- Emotion engine (Issue #429 ): Listens to emotion updates
- TTS service (Issue #421 ): Publishes formatted commands
- Jabra SPEAK 810: Output audio device
- Person tracking: Uses detected person names
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:05:11 -05:00
6d6909d9d9
feat: Voice command router (Issue #491 )
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Natural language voice command routing with fuzzy matching for speech variations.
Supported Commands:
- Follow me / Come with me
- Stop / Halt / Freeze
- Go home / Return to dock / Charge
- Patrol / Autonomous mode
- Come here / Approach
- Sit / Sit down
- Spin / Rotate / Turn around
- Dance / Groove
- Take photo / Picture / Smile
- What's that / Identify / Recognize
- Battery status / Battery level
Features:
- Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold
- Multiple pattern support per command for natural variations
- Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services
- Command monitoring via /saltybot/voice_command
- Graceful handling of unrecognized speech
Architecture:
- Input: /saltybot/speech/transcribed_text (lowercase text)
- Fuzzy match against 11 command groups with 40+ patterns
- Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services
Files:
- saltybot_voice_router_node.py: Main router with fuzzy matching
- launch/voice_router.launch.py: Launch configuration
- VOICE_ROUTER_README.md: Usage documentation
Dependencies:
- rapidfuzz: Fuzzy string matching for natural speech handling
- rclpy, std_msgs, geometry_msgs: ROS2 core
Performance: <100ms per command (fuzzy matching + routing)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 17:05:02 -05:00
d79e38eb5b
feat: OTA firmware update (Issue #492 )
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Complete over-the-air (OTA) firmware update system with:
Features:
- Downloads releases from Gitea (seb/saltylab-firmware)
- Automatic colcon build in staging directory
- Symlink-based atomic deployment
- ROS2 service restart via systemd
- Automatic rollback on build failure
- Version tracking in ~/.saltybot-data/versions.json
- Update history with timestamps
Safety:
- Blocks updates if robot velocity > 0.05 m/s
- Velocity monitoring via odometry subscription
- Backup before update for recovery
Triggers:
- MQTT /saltybot/ota_command: 'check', 'update:<version>', 'rollback'
- /saltybot/ota_status: JSON status updates
- Dashboard integration ready
Configuration:
- Gitea API base, repo info, directories
- Build timeout: 3600s (1 hour)
- Service restart automation
- Backup retention policy
ROS2 package structure complete with launch files and config.
2026-03-05 17:04:35 -05:00
7b22141142
feat: OTA firmware update (Issue #492 )
...
Complete over-the-air (OTA) firmware update system with:
Features:
- Downloads releases from Gitea (seb/saltylab-firmware)
- Automatic colcon build in staging directory
- Symlink-based atomic deployment
- ROS2 service restart via systemd
- Automatic rollback on build failure
- Version tracking in ~/.saltybot-data/versions.json
- Update history with timestamps
Safety:
- Blocks updates if robot velocity > 0.05 m/s
- Velocity monitoring via odometry subscription
- Backup before update for recovery
Triggers:
- MQTT /saltybot/ota_command: 'check', 'update:<version>', 'rollback'
- /saltybot/ota_status: JSON status updates
- Dashboard integration ready
Configuration:
- Gitea API base, repo info, directories
- Build timeout: 3600s (1 hour)
- Service restart automation
- Backup retention policy
ROS2 package structure complete with launch files and config.
2026-03-05 17:04:27 -05:00
285178b2f9
feat: Configure Nav2 navigation stack conservative speeds (Issue #475 )
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- Update max_vel_x to 0.3 m/s (conservative for FC + hoverboard ESC)
- Update max_vel_theta to 0.5 rad/s (conservative for FC + hoverboard ESC)
- Set robot_radius to 0.22 m for 0.4m x 0.4m footprint
- Configure velocity smoother with conservative limits
- Both DWB local planner and velocity smoother updated for consistency
- RPLIDAR (/scan) + depth_to_laserscan (/depth_scan) costmap layers enabled
- NavFn global planner, DWB local planner configured
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:50:41 -05:00
56a48b4e25
Merge PR #486 : Issue #480 - Map save/load
2026-03-05 14:48:59 -05:00
8f0215d461
Merge PR #485 : Issue #483 - Monitoring dashboard
2026-03-05 14:48:46 -05:00
f5877756d5
feat: Map save/load service for SLAM Toolbox persistence (Issue #480 )
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Implement automatic map serialization and persistence for slam_toolbox:
- New SlamToolboxPersistenceNode with auto-save every 5 minutes
- Auto-load most recent map on startup
- Services: /saltybot/save_map, /saltybot/load_map, /saltybot/list_maps
- Export to Nav2-compatible YAML + PGM format
- Stores maps in ~/.saltybot-data/maps/ with .posegraph format
- Integrates with slam_toolbox serialize/deserialize services
Changes:
- Created saltybot_mapping/slam_toolbox_persistence.py
- Added slam_toolbox_persistence.launch.py
- Updated slam.launch.py to include persistence service
- Updated CMakeLists.txt to install new executable
- Added slam_toolbox dependency to package.xml
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:46:33 -05:00
7379aa459c
feat: Configure Nav2 recovery behaviors (Issue #479 )
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Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.
Recovery Sequence (round-robin, 6 retries):
1. Clear costmaps (local + global)
2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
3. Wait 5 seconds (allow dynamic obstacles to move)
4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)
Configuration Details:
- backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout
- spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel
- wait: 5-second pause for obstacle clearing
- progress_checker: 20cm minimum movement threshold in 10s window
Safety:
- E-stop (Issue #459 ) takes priority over recovery behaviors
- Emergency stop system runs independently on STM32 firmware
- Conservative speeds for FC + Hoverboard ESC stability
Files Modified:
- jetson/config/nav2_params.yaml: behavior_server parameters
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
- jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:41:19 -05:00
fd742f6890
feat: Configure Nav2 recovery behaviors (Issue #479 )
...
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.
Recovery Sequence (round-robin, 6 retries):
1. Clear costmaps (local + global)
2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
3. Wait 5 seconds (allow dynamic obstacles to move)
4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)
Configuration:
- backup: 0.3m reverse, 0.1 m/s speed, 5s timeout
- spin: 90° rotation, 0.5 rad/s max angular velocity
- wait: 5-second pause for obstacle clearing
- progress_checker: 20cm minimum movement threshold in 10s window
Safety:
- E-stop (Issue #459 ) takes priority over recovery behaviors
- Emergency stop system runs independently on STM32 firmware
- Conservative speeds for FC + Hoverboard ESC stability
Files Modified:
- jetson/config/nav2_params.yaml: behavior_server parameters
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
- jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:40:45 -05:00
d7051fe854
feat: Add Issue #467 - Power management supervisor with battery protection
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social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 11s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (push) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (push) Has been cancelled
- New ROS2 node: power_supervisor_node for battery state monitoring
- Battery thresholds: 30% warning, 20% dock search, 10% graceful shutdown, 5% force kill
- Charge cycle tracking and battery health estimation
- CSV logging to battery_log.csv for external analysis
- Publishes /saltybot/power_state for MQTT relay
- Graceful shutdown cascade: save state, stop motors, disarm on critical low battery
- Replaces/extends Issue #125 battery_node with supervisor-level power management
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:34:37 -05:00
6293d2ec60
Merge Issue #473 : event logger - structured JSON activity logging
2026-03-05 14:22:45 -05:00
b178614e6e
Merge Issue #468 : object detection - perception system enhancements
2026-03-05 14:22:32 -05:00
e26301c7ca
Merge Issue #472 : dance choreography - behavioral sequences
2026-03-05 14:22:06 -05:00
c96c68a7c4
feat: YOLOv8n object detection with RealSense depth integration (Issue #468 )
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- saltybot_object_detection_msgs: DetectedObject, DetectedObjectArray, QueryObjects.srv
- saltybot_object_detection: YOLOv8n TensorRT FP16 node with depth projection
- Message filters for RGB-depth sync, TF2 transform to base_link
- Configurable confidence and class filtering (COCO 80 classes)
- Query service for voice integration ("whats in front of you")
- TensorRT build script with ONNX fallback
- Launch file with parameter configuration
- Full stack integration at t=6s (30 FPS target alongside person tracker)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 12:14:50 -05:00
sl-android
2e9fd6fa4c
feat: curiosity behavior — autonomous exploration when idle (Issue #470 )
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- Frontier exploration toward unexplored areas
- Activates when idle >60s + no people detected
- Turns toward detected sounds via audio_direction node
- Approaches colorful/moving objects
- Self-narrates findings via TTS
- Respects geofence and obstacle boundaries
- 10-minute max duration with auto-return
- Configurable curiosity level (0-1.0)
- Publishes /saltybot/curiosity_state
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 12:10:33 -05:00
0c03060016
feat: centralized parameter server + dynamic reconfiguration (Issue #471 )
...
ROS2 node and WebUI component for centralized dynamic parameter configuration.
- Parameter server node with validation, range checks, and persistence
- Organized into groups: hardware/perception/controls/social/safety/debug
- Service-based API for dynamic reconfiguration (/saltybot/set_param)
- Named presets: indoor/outdoor/demo/debug
- WebUI component with parameter browsing, editing, and preset loading
- Safety parameter confirmation dialogs
- Real-time parameter metadata display (type, range, description)
Files:
- jetson/ros2_ws/src/saltybot_param_server/ - ROS2 parameter server node
- ui/social-bot/src/components/ParameterServer.jsx - WebUI component
- App.jsx - Integrated into CONFIG tab group as 'Parameters'
Build status: ✅ PASSING (127 modules)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 12:10:04 -05:00
00e632ecbf
feat: centralized parameter server + dynamic reconfiguration (Issue #471 )
...
ROS2 node and WebUI component for centralized dynamic parameter configuration.
- Parameter server node with validation, range checks, and persistence
- Organized into groups: hardware/perception/controls/social/safety/debug
- Service-based API for dynamic reconfiguration (/saltybot/set_param)
- Named presets: indoor/outdoor/demo/debug
- WebUI component with parameter browsing, editing, and preset loading
- Safety parameter confirmation dialogs
- Real-time parameter metadata display (type, range, description)
Files:
- jetson/ros2_ws/src/saltybot_param_server/ - ROS2 parameter server node
- ui/social-bot/src/components/ParameterServer.jsx - WebUI component
- App.jsx - Integrated into CONFIG tab group as 'Parameters'
Build status: ✅ PASSING (127 modules)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 12:09:45 -05:00
d421d63c6f
feat: Add Issue #473 - Event Logger with structured JSON logging
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Comprehensive event logging system for SaltyBot with:
Features:
- MQTT subscription to /saltybot/* state topics (9 event types)
- Structured JSON event logging to ~/.saltybot-data/events/YYYY-MM-DD.jsonl
- Event types: encounter, voice_command, trick, e-stop, geofence, dock, error, boot, shutdown
- Query service (time range + type filter)
- Stats publisher (/saltybot/event_stats) with daily summaries
- Dashboard live feed (/saltybot/event_feed)
- Automatic log rotation: compress >7 days, delete >90 days
- CSV export functionality
- Thread-safe event processing
Components:
- EventLogger ROS2 node with background timers
- Event dataclass with timestamp/type/source/data
- File-based storage (JSONL + compressed archives)
- Query API for time/type filtering
- CSV export utility
- Comprehensive unit tests (15 test cases)
Configuration:
- Data directory: ~/.saltybot-data/events
- Rotation: 7 days compress, 90 days delete
- Stats interval: 60 seconds
- Rotation check: hourly
Launch:
- event_logger.launch.py - Standalone launch
- Config: event_logger.yaml with topic mappings
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 12:09:07 -05:00
02e9b15e6f
Merge remote-tracking branch 'origin/sl-webui/issue-453-obstacle-map'
2026-03-05 11:09:46 -05:00
c25d63772a
Merge remote-tracking branch 'origin/sl-jetson/issue-456-photo-capture'
...
# Conflicts:
# jetson/ros2_ws/src/saltybot_obstacle_memory/package.xml
# jetson/ros2_ws/src/saltybot_photo_capture/package.xml
# jetson/ros2_ws/src/saltybot_photo_capture/setup.py
2026-03-05 11:09:41 -05:00
b38f948844
Merge remote-tracking branch 'origin/sl-controls/issue-455-smooth-velocity'
...
# Conflicts:
# jetson/ros2_ws/src/saltybot_smooth_velocity/config/smooth_velocity_config.yaml
# jetson/ros2_ws/src/saltybot_smooth_velocity/launch/smooth_velocity.launch.py
# jetson/ros2_ws/src/saltybot_smooth_velocity/package.xml
# jetson/ros2_ws/src/saltybot_smooth_velocity/saltybot_smooth_velocity/smooth_velocity_node.py
# jetson/ros2_ws/src/saltybot_smooth_velocity/setup.cfg
# jetson/ros2_ws/src/saltybot_smooth_velocity/setup.py
2026-03-05 11:09:32 -05:00
3ecf334642
Merge pull request 'feat: emergency stop cascade (Issue #459 )' ( #466 ) from sl-firmware/issue-459-estop into main
2026-03-05 11:08:01 -05:00
5a4150a2d0
Merge pull request 'feat: WiFi mesh handoff (Issue #458 )' ( #462 ) from sl-android/issue-458-wifi-handoff into main
2026-03-05 11:07:26 -05:00
270507ad49
Merge pull request 'feat: Add gesture recognition system (Issue #454 )' ( #461 ) from sl-webui/sl-perception/issue-454-gestures into main
2026-03-05 11:07:13 -05:00
f47b01eff6
Merge pull request 'feat: sound effects (Issue #457 )' ( #460 ) from sl-mechanical/issue-457-sound-effects into main
2026-03-05 11:07:11 -05:00
2ba8df17fd
feat: Add Issue #453 - Obstacle memory map with persistent hazard zones
...
- 2D occupancy grid (100x100 cells @ 10cm resolution, configurable)
- LIDAR integration: subscribes to /scan and /odom for real-time obstacle detection
- Ray-casting: marks hit points as obstacles, intermediate points as free space
- Cell states: unknown/free/obstacle/hazard with confidence tracking (0.0–1.0)
- Hazard classification: 3+ detections = permanent hazard (stays in memory)
- Temporal decay: 95%/day for hazards (30-day half-life), 85%/day for obstacles (~21-day)
- Decay interval: applied hourly, cells revert to free when confidence < 20%
- Persistence: auto-saves to /home/seb/saltybot-data/obstacle_map.yaml every 5 minutes
- YAML format: grid metadata + cell array with state/confidence/detection_count/timestamp
- OccupancyGrid publisher: /saltybot/obstacle_map for Nav2 integration at 5 Hz
- Thread-safe: all grid operations protected with locks for concurrent callbacks
- Statistics: hazard/obstacle/free cell counts and coverage percentage
- Dashboard overlay ready: color-coded cells (red=hazard, orange=obstacle, gray=free)
- Configurable via obstacle_memory.yaml: grid size/resolution, range limits, decay rates
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:21:34 -05:00
fb93acee0a
feat: Add Issue #453 - Obstacle memory map with persistent hazard zones
...
- 2D occupancy grid (100x100 cells @ 10cm resolution, configurable)
- LIDAR integration: subscribes to /scan and /odom for real-time obstacle detection
- Ray-casting: marks hit points as obstacles, intermediate points as free space
- Cell states: unknown/free/obstacle/hazard with confidence tracking (0.0–1.0)
- Hazard classification: 3+ detections = permanent hazard (stays in memory)
- Temporal decay: 95%/day for hazards (30-day half-life), 85%/day for obstacles (~21-day)
- Decay interval: applied hourly, cells revert to free when confidence < 20%
- Persistence: auto-saves to /home/seb/saltybot-data/obstacle_map.yaml every 5 minutes
- YAML format: grid metadata + cell array with state/confidence/detection_count/timestamp
- OccupancyGrid publisher: /saltybot/obstacle_map for Nav2 integration at 5 Hz
- Thread-safe: all grid operations protected with locks for concurrent callbacks
- Statistics: hazard/obstacle/free cell counts and coverage percentage
- Dashboard overlay ready: color-coded cells (red=hazard, orange=obstacle, gray=free)
- Configurable via obstacle_memory.yaml: grid size/resolution, range limits, decay rates
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:21:30 -05:00
9027fa9e12
feat: add photo capture package files (Issue #456 )
2026-03-05 09:21:26 -05:00
5e62e81a97
feat: photo capture service (Issue #456 )
2026-03-05 09:20:57 -05:00
sl-android
f4e4f184ef
feat: WiFi mesh handoff - seamless AP roaming (Issue #458 )
...
Add WiFi mesh handoff infrastructure:
WiFiState.msg interface:
- SSID, signal strength (dBm), connection status
- AP address, frequency, link quality
- TX/RX rates, roaming flag
- Available APs for handoff decision
WiFi Monitor Node:
- Signal monitoring via iwconfig/nmcli
- Auto-roam at -70dBm threshold
- Seamless wpa_supplicant roaming
- Gateway ping (8.8.8.8) every 5s
- USB tethering fallback if offline >30s
- TTS warnings for connectivity issues
- Coverage logging with AP transitions
Features:
- Configurable roaming threshold (-70dBm default)
- Gateway connectivity verification
- Offline detection with configurable timeout
- USB tethering auto-activation/deactivation
- Signal strength change logging (>5dBm)
- AP transition logging
- Manual rescan/tether control commands
Topics:
- /saltybot/wifi_state (String)
- /saltybot/speech_text (String warnings)
- /saltybot/wifi_cmd (String commands)
Configuration:
- interface: wlan0
- roam_threshold_dbm: -70
- offline_warning_timeout: 30.0
- target_ssid: SaltyLab
- fallback_tether: true
- coverage_log_file: /tmp/wifi_coverage.log
Roaming Behavior:
- Monitors signal continuously
- When signal < -70dBm, scans for stronger AP
- wpa_supplicant performs seamless handoff
- Logs all AP transitions to coverage file
Fallback Behavior:
- Pings gateway every 5 seconds
- If unreachable for >30s, activates USB tether
- TTS alert: 'Warning: Lost WiFi connectivity...'
- Auto-deactivates when WiFi restored
Coverage Mapping:
- Logs timestamp, SSID, signal, connected status
- Tracks roaming events
- Useful for mesh network optimization
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:20:42 -05:00
dc525d652c
feat: Add gesture recognition system (Issue #454 )
...
Implements hand and body gesture recognition via MediaPipe on Jetson Orin GPU.
- MediaPipe Hands (21-point hand landmarks) + Pose (33-point body landmarks)
- Recognizes: wave, point, stop_palm, thumbs_up, come_here, arms_up, arms_spread
- GestureArray publishing at 10–15 fps on Jetson Orin
- Confidence threshold: 0.7 (configurable)
- Range: 2–5 meters optimal
- GPU acceleration via Jetson Tensor RT
- Integrates with voice command router for multimodal interaction
- Temporal smoothing: history-based motion detection (wave, beckon)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:43 -05:00
569ac3fb35
feat: Add gesture recognition system (Issue #454 )
...
Implements hand and body gesture recognition via MediaPipe on Jetson Orin GPU.
- MediaPipe Hands (21-point hand landmarks) + Pose (33-point body landmarks)
- Recognizes: wave, point, stop_palm, thumbs_up, come_here, arms_up, arms_spread
- GestureArray publishing at 10–15 fps on Jetson Orin
- Confidence threshold: 0.7 (configurable)
- Range: 2–5 meters optimal
- GPU acceleration via Jetson Tensor RT
- Integrates with voice command router for multimodal interaction
- Temporal smoothing: history-based motion detection (wave, beckon)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:40 -05:00
8538fa2f9d
feat: Add Issue #455 - Smooth velocity controller with S-curve jerk reduction
...
Implement acceleration-limited velocity controller:
- Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel
- Max linear acceleration: 0.5 m/s², angular: 1.0 rad/s²
- Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular)
- S-curve jerk limiting with 0.2s ramp time
- E-stop immediate stop capability
- Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol)
- Publish /saltybot/velocity_profile for monitoring
- 50Hz update rate (configurable)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:33 -05:00
381549b33f
feat: Emergency stop cascade system (Issue #459 )
...
Critical safety system with <50ms latency emergency response.
ROS2 action server /saltybot/estop with unified trigger sources:
- Voice commands: 'stop', 'emergency', 'e-stop'
- Gamepad emergency button
- IMU tilt detection (>45 degrees)
- LiDAR obstacle detection (<0.3m)
- Geofence boundary violation
- Watchdog timeout trigger
- MQTT remote kill signal
Cascade response (within 500ms):
1. Zero cmd_vel in <50ms (priority critical)
2. Disable autonomous mode
3. Face alert animation (emergency_stop)
4. LED red indicator
5. TTS alert announcement
6. Event logging + sensor snapshot
Safety properties:
- Cannot be overridden once triggered
- Manual resume only (gamepad Start or voice 'resume')
- Non-blockable execution (separate thread)
- Redundant trigger sources for reliability
Published topics:
- /saltybot/estop_active (Bool) - System state
- /saltybot/estop_event (String) - Event log (JSON)
Subscribed triggers:
- /camera/imu - Tilt detection
- /scan - Obstacle detection <0.3m
- /voice/command - Voice e-stop/resume
- /gamepad/emergency, /gamepad/start - Gamepad controls
- /saltybot/geofence_violation - Geofence boundary
- /saltybot/watchdog_timeout - Watchdog signal
- /saltybot/mqtt_kill - Remote kill signal
Package structure:
- estop_server: Main emergency stop node
- estop_config.yaml: Timing, triggers, cascade config
- estop.launch.py: Launch with safety parameters
- Unit tests for trigger detection and cascade timing
Logging: /home/seb/saltybot-data/estop/ (JSON format)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:31 -05:00
5c05874ed3
feat: sound effects library (Issue #457 )
...
Event-driven audio feedback system with 9 sound events:
- boot_complete: Startup chime (ascending notes)
- person_detected: Subtle detection sound (800Hz sine)
- wake_word: Activation beep (1000Hz)
- low_battery: Warning tone (880Hz double beep)
- obstacle_close: Proximity beeps (rapid 1200Hz pulses)
- trick_complete: Success jingle (ascending arpeggio)
- error: Descending warning tone (800→400Hz)
- charging_start: Power-up tone (rising 400→1200Hz)
- geofence_warning: Boundary alert (950Hz)
Features:
- Priority queue for event handling
- Dynamic sound synthesis if WAV/OGG files missing
- Volume control with quiet/night mode support
- Fade in/out for smooth playback
- Configurable per-event duration and priority
- Caching of loaded audio files
- Background playback thread
- Real-time state publishing
Configuration:
- WAV/OGG file loading from /home/seb/saltybot-data/sounds/
- Programmatic sound generation (sine, chime, descending, power-up, beep, jingle, proximity, alert)
- Numpy/scipy-based synthesis
- YAML configuration for all events
- Volume and fade timing controls
- Sample rate: 16kHz, 16-bit audio
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:21 -05:00
35e35a2997
feat: sound effects library (Issue #457 )
...
Event-driven audio feedback system with 9 sound events:
- boot_complete: Startup chime (ascending notes)
- person_detected: Subtle detection sound (800Hz sine)
- wake_word: Activation beep (1000Hz)
- low_battery: Warning tone (880Hz double beep)
- obstacle_close: Proximity beeps (rapid 1200Hz pulses)
- trick_complete: Success jingle (ascending arpeggio)
- error: Descending warning tone (800→400Hz)
- charging_start: Power-up tone (rising 400→1200Hz)
- geofence_warning: Boundary alert (950Hz)
Features:
- Priority queue for event handling
- Dynamic sound synthesis if WAV/OGG files missing
- Volume control with quiet/night mode support
- Fade in/out for smooth playback
- Configurable per-event duration and priority
- Caching of loaded audio files
- Background playback thread
- Real-time state publishing
Configuration:
- WAV/OGG file loading from /home/seb/saltybot-data/sounds/
- Programmatic sound generation (sine, chime, descending, power-up, beep, jingle, proximity, alert)
- Numpy/scipy-based synthesis
- YAML configuration for all events
- Volume and fade timing controls
- Sample rate: 16kHz, 16-bit audio
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:19:19 -05:00
9d36e1007d
feat: Add Issue #455 - Smooth velocity controller with jerk reduction
...
Implement acceleration-limited velocity controller with S-curve jerk limiting:
- Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel
- Max linear acceleration: 0.5 m/s²
- Max angular acceleration: 1.0 rad/s²
- Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular)
- S-curve jerk limiting for smooth acceleration profiles (0.2s ramp)
- E-stop immediate stop capability
- Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol)
- Publish /saltybot/velocity_profile for monitoring
- Configurable via smooth_velocity_config.yaml
- 50Hz update rate (configurable)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 09:18:58 -05:00
3ea19fbb99
Merge remote-tracking branch 'origin/sl-jetson/issue-447-full-launch'
...
# Conflicts:
# jetson/ros2_ws/src/saltybot_geofence/saltybot_geofence/geofence_node.py
2026-03-05 09:10:33 -05:00
b9a6eaa3fa
Merge remote-tracking branch 'origin/sl-firmware/issue-445-diagnostics'
...
# Conflicts:
# jetson/ros2_ws/src/saltybot_diagnostics/README.md
# jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml
# jetson/ros2_ws/src/saltybot_diagnostics/launch/diagnostics.launch.py
# jetson/ros2_ws/src/saltybot_diagnostics/package.xml
# jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
# jetson/ros2_ws/src/saltybot_diagnostics/setup.py
# jetson/ros2_ws/src/saltybot_diagnostics/test/test_diagnostics.py
2026-03-05 09:10:24 -05:00
