7cc4b6742e
Merge pull request 'feat(firmware): pan-tilt servo driver (Issue #206 )' ( #210 ) from sl-firmware/issue-206-servo into main
2026-03-02 11:45:22 -05:00
532edb835b
feat(firmware): Pan-tilt servo driver for camera head (Issue #206 )
...
Implements TIM4 PWM driver for 2-servo camera mount with:
- 50 Hz PWM frequency (standard servo control)
- CH1 (PB6) pan servo, CH2 (PB7) tilt servo
- 0-180° angle range → 500-2500 µs pulse width mapping
- Non-blocking servo_set_angle() for immediate positioning
- servo_sweep() for smooth pan-tilt animation (linear interpolation)
- Independent sweep control per servo (pan and tilt move simultaneously)
- 15 comprehensive unit tests covering all scenarios
Integration:
- servo_init() called at startup after power_mgmt_init()
- servo_tick(now_ms) called every 1ms in main loop
- Ready for camera/gimbal control automation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:44:56 -05:00
d1a4008451
Merge pull request 'feat(perception): person re-identification node (Issue #201 )' ( #208 ) from sl-perception/issue-201-person-reid into main
2026-03-02 11:44:31 -05:00
d143a6d156
chore: remove accidentally committed __pycache__ dirs
...
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:39:21 -05:00
0d07b09949
feat(perception): add person re-ID node (Issue #201 )
...
Two new packages:
- saltybot_person_reid_msgs: PersonAppearance + PersonAppearanceArray msgs
- saltybot_person_reid: MobileNetV2 torso-crop embedder (128-dim L2-norm)
with 128-bin HSV histogram fallback, cosine-similarity gallery with EMA
identity updates and configurable age-based pruning, ROS2 node publishing
PersonAppearanceArray on /saltybot/person_reid at 5 Hz.
Pure-Python helpers (_embedding_model, _reid_gallery) importable without
rclpy — 18/18 unit tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:39:21 -05:00
03e7995e66
Merge pull request 'feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205 )' ( #209 ) from sl-jetson/issue-205-thermal into main
2026-03-02 11:39:03 -05:00
1600691ec5
Merge pull request 'feat(controls): node watchdog monitor (Issue #203 )' ( #207 ) from sl-controls/issue-203-watchdog into main
2026-03-02 11:38:55 -05:00
58bb5ef18e
feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205 )
...
New saltybot_thermal package with thermal_node: reads all
/sys/class/thermal/thermal_zone* sysfs entries (millidegrees→°C),
publishes /saltybot/thermal JSON at 1 Hz with zones[], max_temp_c,
warn, and throttled flags. Logs ROS2 WARN at ≥75°C, ERROR at ≥85°C.
thermal_root param allows sysfs override for offline testing.
50/50 tests passing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:21:18 -05:00
e247389b07
feat: Add Issue #203 - Node watchdog monitor (20Hz heartbeat detection)
...
Implements node watchdog ROS2 node that monitors heartbeats from critical
systems and triggers safety fallback when motor driver is lost >2s.
Features:
- Monitor heartbeats from: balance, motor_driver, emergency, docking
- Alert on /saltybot/node_watchdog (JSON) if heartbeat lost >1s
- Safety fallback: zero cmd_vel if motor driver lost >2s
- Republish cmd_vel on /saltybot/cmd_vel_safe with safety checks
- 20Hz monitoring and publishing frequency
- Configurable heartbeat timeout thresholds
Heartbeat Topics:
- /saltybot/balance_heartbeat (std_msgs/UInt32)
- /saltybot/motor_driver_heartbeat (std_msgs/UInt32)
- /saltybot/emergency_heartbeat (std_msgs/UInt32)
- /saltybot/docking_heartbeat (std_msgs/UInt32)
- /cmd_vel (geometry_msgs/Twist)
Published Topics:
- /saltybot/node_watchdog (std_msgs/String) - JSON status
- /saltybot/cmd_vel_safe (geometry_msgs/Twist) - Safety-checked velocity
Package: saltybot_node_watchdog
Entry point: node_watchdog_node
Launch file: node_watchdog.launch.py
Tests: 20+ unit tests covering:
- Heartbeat reception and timeout detection
- Motor driver critical timeout (>2s)
- Safety fallback logic
- cmd_vel zeroing on motor driver loss
- Health status JSON serialization
- Multi-node failure scenarios
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:17:19 -05:00
8ff85601c3
Merge pull request 'feat(firmware): WS2812B LED status indicator (Issue #193 )' ( #204 ) from sl-firmware/issue-193-led-driver into main
2026-03-02 11:17:09 -05:00
bfd58fc98c
Merge pull request 'feat(social): robot mesh comms — peer announce + person handoff (Issue #171 )' ( #202 ) from sl-jetson/issue-171-mesh-comms into main
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 2s
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
2026-03-02 11:17:03 -05:00
bb645c5e72
Merge pull request 'feat(controls): speed limiter node (Issue #194 )' ( #200 ) from sl-controls/issue-194-speed-limiter into main
2026-03-02 11:15:14 -05:00
bc45208768
feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)
...
Implements speed limiter ROS2 node that enforces safety constraints from:
- Terrain type (via /saltybot/terrain_speed_scale)
- Battery level (via /saltybot/speed_limit)
- Emergency system state (via /saltybot/emergency)
Node computes minimum scale factor and applies to /cmd_vel, forwarding
limited commands to /saltybot/cmd_vel_limited. Publishes JSON telemetry
on /saltybot/speed_limit_info at 50Hz (20ms cycle).
Features:
- Subscription to terrain, battery, and emergency constraints
- Twist velocity scaling with min-of-three constraint logic
- JSON telemetry with timestamp and all scale factors
- 50Hz timer-based publishing for real-time control
- Emergency state mapping (NOMINAL/RECOVERING/STOPPING/ESCALATED)
- Comprehensive unit tests (18 test cases)
Package: saltybot_speed_limiter
Entry point: speed_limiter_node
Launch file: speed_limiter.launch.py
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:14:10 -05:00
e5236f781b
feat(social): robot mesh comms — peer announce + person handoff (Issue #171 )
...
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 9s
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 9s
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New MeshPeer.msg (1 Hz DDS heartbeat: robot_id, social_state, active persons,
greeted names) and MeshHandoff.msg (person context transfer on STATE_LEAVING).
mesh_comms_node subscribes to person_states and orchestrator/state, publishes
announce heartbeat, triggers handoff on LEAVING, tracks peers with timeout
cleanup, and propagates mesh-wide greeting deduplication via /social/mesh/greeted.
73/73 tests passing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:14:00 -05:00
b345128427
Merge pull request 'feat(jetson): camera health watchdog — 6 streams, WARNING/ERROR, v4l2 reset (issue #198 )' ( #199 ) from sl-perception/issue-198-camera-health into main
2026-03-02 11:12:32 -05:00
e6065e1531
feat(jetson): camera health watchdog node (issue #198 )
...
Adds camera_health_node.py + _camera_state.py to saltybot_bringup:
• _camera_state.py — pure-Python CameraState dataclass (no ROS2):
on_frame(), age_s, fps(window_s), status(),
should_reset() + mark_reset() with 30s cooldown
• camera_health_node.py — subscribes 6 image topics (D435i color/depth
+ 4× IMX219 CSI front/right/rear/left);
1 Hz tick: WARNING at >2s silence, ERROR at
>10s + v4l2 stream-off/on reset for CSI cams;
publishes /saltybot/camera_health JSON with
per-camera status, age_s, fps, total_frames
• test/test_camera_health.py — 15 unit tests (15/15 pass, no ROS2 needed)
• setup.py — adds camera_health_monitor console_scripts entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:11:48 -05:00
7678ddebe2
Merge pull request 'feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 10Hz 6-DOF (issue #191 )' ( #197 ) from sl-perception/issue-191-apriltag into main
2026-03-02 11:08:44 -05:00
d6d7e7b75a
feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191 )
...
saltybot_apriltag_msgs (ament_cmake):
• DetectedTag.msg — tag_id, family, decision_margin, corners[8],
center, 6-DOF pose + pose_valid flag
• DetectedTagArray.msg — DetectedTag[], count
saltybot_apriltag (ament_python, single node):
• _aruco_utils.py — ROS2-free: ArucoBackend (cv2 4.6/4.7+ API shim),
rvec_tvec_to_pose (Rodrigues → Shepperd quaternion)
• apriltag_node.py — 10 Hz timer; subscribes image + latched camera_info;
cv2.solvePnP IPPE_SQUARE for 6-DOF pose when K
available; publishes /saltybot/apriltags
• test/test_apriltag.py — 11 unit tests (11/11 pass, no ROS2 needed):
pose math + rendered tag detection + multi-tag
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:07:35 -05:00
fbca191bae
feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193 )
...
Implements TIM3_CH1 PWM driver for 8-LED NeoPixel ring with:
- 6 state-based animations: boot (blue chase), armed (solid green),
error (red blink), low battery (yellow pulse), charging (green breathe),
e_stop (red strobe)
- Non-blocking via 1 ms tick callback
- GRB byte order encoding (WS2812B standard)
- PWM duty values for "0" (~40%) and "1" (~56%) bit encoding
- 10 unit tests covering state transitions, animations, color encoding
Driver integrated into main.c initialization and main loop tick.
Includes buzzer driver (Issue #189 ) integration.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:06:13 -05:00
aedb8771ad
feat(webui): robot event log viewer — emergency/docking/diagnostics (Issue #192 )
...
- Add EventLog component with real-time event streaming
- Color-coded events: red=emergency, blue=docking, cyan=diagnostics
- Filter by event type with toggle buttons
- Auto-scroll to latest event
- Timestamped event cards with details display
- Max 200 event history (FIFO)
- Add MONITORING tab group with Events tab to App.jsx
- Supports /saltybot/emergency, /saltybot/docking_status, /diagnostics topics
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:04:53 -05:00
6dbbbb9adc
Merge pull request 'feat(jetson): depth confidence filter node (issue #190 )' ( #196 ) from sl-perception/issue-190-depth-filter into main
2026-03-02 11:02:53 -05:00
c26293d000
feat(jetson): depth confidence filter node (issue #190 )
...
Adds depth_confidence_filter_node.py to saltybot_bringup:
- Synchronises /camera/depth/image_rect_raw + /camera/depth/confidence
via ApproximateTimeSynchronizer (10ms slop)
- Zeros pixels where confidence uint8 < threshold * 255 (default 0.5)
- Republishes filtered float32 depth on /camera/depth/filtered
- Registered as depth_confidence_filter console_scripts entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:02:15 -05:00
e3e4bd70a4
Merge pull request 'feat(social): multi-language support - Whisper LID + per-lang Piper TTS (Issue #167 )' ( #187 ) from sl-jetson/issue-167-multilang into main
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
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2026-03-02 10:58:16 -05:00
90c8b427fc
feat(social): multi-language support — Whisper LID + per-lang Piper TTS (Issue #167 )
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social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 2s
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- Add SpeechTranscript.language (BCP-47), ConversationResponse.language fields
- speech_pipeline_node: whisper_language param (""=auto-detect via Whisper LID);
detected language published in every transcript
- conversation_node: track per-speaker language; inject "[Please respond in X.]"
hint for non-English speakers; propagate language to ConversationResponse.
_LANG_NAMES: 24 BCP-47 codes -> English names. Also adds Issue #161 emotion
context plumbing (co-located in same branch for clean merge)
- tts_node: voice_map_json param (JSON BCP-47->ONNX path); lazy voice loading
per language; playback queue now carries (text, lang) tuples for voice routing
- speech_params.yaml, tts_params.yaml: new language params with docs
- 47/47 tests pass (test_multilang.py)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:57:34 -05:00
077f26d9d6
Merge pull request 'feat(power): STOP-mode sleep/wake power manager — Issue #178 ' ( #186 ) from sl-firmware/issue-178-power-mgmt into main
2026-03-02 10:56:52 -05:00
f446e5766e
feat(power): STOP-mode sleep/wake power manager — Issue #178
...
Adds STM32F7 STOP-mode power management with <10ms wake latency:
- power_mgmt.c: state machine (ACTIVE→SLEEP_PENDING→SLEEPING→WAKING),
30s idle timeout (PM_IDLE_TIMEOUT_MS), 3s LED fade before STOP,
gate SPI3/I2S3+SPI2+USART6+UART5 on sleep (clock-only, state preserved),
EXTI1(PA1/CRSF)+EXTI7(PB7/JLink)+EXTI4(PC4/IMU) wake sources,
PLL restore after STOP (PLLM=8/N=216/P=2 → 216MHz), uwTick save/restore
- Peripheral gating: I2S3, SPI2(OSD), USART6, UART5 disabled during STOP;
SPI1(IMU), UART4(CRSF), USART1(JLink), I2C1 remain active as wake sources
- Sleep LED: triangle-wave pulse (2s period) on LED1 during SLEEP_PENDING,
software PWM in main loop (1-bit, pm_pwm_phase vs brightness)
- IWDG: fed just before WFI; <10ms wake << 50ms WATCHDOG_TIMEOUT_MS
- JLink: JLINK_CMD_SLEEP=0x09, JLINK_TLM_POWER=0x81 (11-byte power frame
at 1Hz: power_state, est_total_ma, est_audio_ma, est_osd_ma, idle_ms)
- main.c: power_mgmt_init(), activity() on CRSF/JLink/armed, tick() when
disarmed, sleep_req handler, LED PWM, JLINK_TLM_POWER telemetry
- config.h: PM_* constants, PM_CURRENT_*_MA estimates, PM_TLM_HZ
- test_power_mgmt.py: 72 tests passing (state machine, LED, gating,
current estimates, JLink protocol, wake latency, hardware constants)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:53:02 -05:00
728d1b0c0e
Merge pull request 'feat(webui): live camera viewer — multi-stream + detection overlays (Issue #177 )' ( #182 ) from sl-webui/issue-177-camera-viewer into main
2026-03-02 10:48:50 -05:00
57420807ca
feat(webui): live camera viewer — multi-stream + detection overlays (Issue #177 )
...
UI (src/hooks/useCamera.js, src/components/CameraViewer.jsx):
- 7 camera sources: front/left/rear/right CSI, D435i RGB/depth, panoramic
- Compressed image subscription via rosbridge (sensor_msgs/CompressedImage)
- Client-side 15fps gate (drops excess frames, reduces JS pressure)
- Per-camera FPS indicator with quality badge (FULL/GOOD/LOW/NO SIGNAL)
- Detection overlays: face boxes + names (/social/faces/detections),
gesture icons (/social/gestures), scene object labels + hazard colours
(/social/scene/objects); overlay mode selector (off/faces/gestures/objects/all)
- 360° panoramic equirect viewer with mouse/touch drag azimuth pan
- Picture-in-picture: up to 3 pinned cameras via ⊕ button
- One-click recording (MediaRecorder → MP4/WebM download)
- Snapshot to PNG with detection overlay composite + timestamp watermark
- Cameras tab added to TELEMETRY group in App.jsx
Jetson (rosbridge bringup):
- rosbridge_params.yaml: whitelist + /camera/depth/image_rect_raw/compressed,
/camera/panoramic/compressed, /social/faces/detections,
/social/gestures, /social/scene/objects
- rosbridge.launch.py: D435i colour republisher (JPEG 75%) +
depth republisher (compressedDepth/PNG16 preserving uint16 values)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:47:01 -05:00
9ca0e0844c
Merge pull request 'feat(social): facial expression recognition — TRT FP16 emotion CNN (Issue #161 )' ( #180 ) from sl-jetson/issue-161-emotion into main
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 10s
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
2026-03-02 10:46:21 -05:00
54668536c1
Merge pull request 'feat(jetson): dynamic obstacle tracking — LIDAR motion detection, Kalman tracking, trajectory prediction, Nav2 costmap ( #176 )' ( #181 ) from sl-perception/issue-176-dynamic-obstacles into main
2026-03-02 10:45:22 -05:00
c4bf8c371f
Merge pull request 'feat( #169 ): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM' ( #179 ) from sl-controls/issue-169-emergency into main
2026-03-02 10:44:49 -05:00
2f4540f1d3
feat(jetson): add dynamic obstacle tracking package (issue #176 )
...
Implements real-time moving obstacle detection, Kalman tracking, trajectory
prediction, and Nav2 costmap integration at 10 Hz / <50ms latency:
saltybot_dynamic_obs_msgs (ament_cmake):
• TrackedObject.msg — id, PoseWithCovariance, velocity, predicted_path,
predicted_times, speed, confidence, age, hits
• MovingObjectArray.msg — TrackedObject[], active_count, tentative_count,
detector_latency_ms
saltybot_dynamic_obstacles (ament_python):
• object_detector.py — LIDAR background subtraction (EMA occupancy grid),
foreground dilation + scipy connected-component
clustering → Detection list
• kalman_tracker.py — CV Kalman filter, state [px,py,vx,vy], Joseph-form
covariance update, predict_horizon() (non-mutating)
• tracker_manager.py — up to 20 tracks, Hungarian assignment
(scipy.optimize.linear_sum_assignment), TENTATIVE→
CONFIRMED lifecycle, miss-prune
• dynamic_obs_node.py — 10 Hz timer: detect→track→publish
/saltybot/moving_objects + MarkerArray viz
• costmap_layer_node.py — predicted paths → PointCloud2 inflation smear
→ /saltybot/dynamic_obs_cloud for Nav2 ObstacleLayer
• launch/dynamic_obstacles.launch.py + config/dynamic_obstacles_params.yaml
• test/test_dynamic_obstacles.py — 27 unit tests (27/27 pass, no ROS2 needed)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:44:32 -05:00
50971c0946
feat(social): facial expression recognition — TRT FP16 emotion CNN (Issue #161 )
...
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 2s
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- Add Expression.msg / ExpressionArray.msg ROS2 message definitions
- Add emotion_classifier.py: 7-class CNN (happy/sad/angry/surprised/fearful/disgusted/neutral)
via TensorRT FP16 with landmark-geometry fallback; EMA per-person smoothing; opt-out registry
- Add emotion_node.py: subscribes /social/faces/detections, runs TRT crop inference (<5ms),
publishes /social/faces/expressions and /social/emotion/context JSON for LLM
- Wire emotion context into conversation_node.py: emotion hint injected into LLM prompt
when speaker shows non-neutral affect; subscribes /social/emotion/context
- Add emotion_params.yaml config and emotion.launch.py launch file
- Add 67-test suite (test_emotion_classifier.py): classifier, tracker, opt-out, heuristic
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:40:54 -05:00
3b2f219d66
feat( #169 ): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM
...
Two new packages:
- saltybot_emergency_msgs: EmergencyEvent.msg, RecoveryAction.msg
- saltybot_emergency: threat_detector, alert_manager, recovery_sequencer, emergency_fsm, emergency_node
Implements:
- ObstacleDetector: MAJOR <30cm, CRITICAL <10cm; suppressed when not moving
- FallDetector: MINOR/MAJOR/CRITICAL tilt thresholds; floor-drop edge detection
- StuckDetector: MAJOR after 3s wheel stall (cmd>threshold, actual~0)
- BumpDetector: jerk = |Δ|a||/dt with gravity removal; MAJOR/CRITICAL thresholds
- AlertManager: per-(type,level) suppression; MAJOR×N within window → CRITICAL escalation
- RecoverySequencer: REVERSING→TURNING→RETRYING FSM; max_retries before GAVE_UP
- EmergencyFSM: NOMINAL→STOPPING→RECOVERING→ESCALATED; acknowledge to clear
- EmergencyNode: 20Hz ROS2 node; /saltybot/emergency, /saltybot/e_stop, cmd_vel mux
59/59 tests passing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:39:37 -05:00
7c62f9bf88
Merge pull request 'feat(mechanical): modular payload bay system (Issue #170 )' ( #174 ) from sl-mechanical/issue-170-payload-bay into main
2026-03-02 10:39:35 -05:00
796e343b78
feat(mechanical): modular payload bay system (Issue #170 )
...
Dovetail rail + tool-free swappable payload modules for all variants:
- payload_bay_rail.scad: 50×12 mm 60° dovetail rail (DXF for CNC Al bar),
spring ball detent (Ø6 mm, 50 mm pitch), continuous safety-lock groove
(M4 thumbscrew), 4-pin pogo connector housing (GND/5V/12V/UART),
lab/rover/tank deck adapter plates
- payload_bay_modules.scad: universal _module_base() (male tongue, detent
bore, 4× Ø4 mm target pads, lock bore) + 3 example modules: cargo tray
(200×100 mm, Velcro slots, bungee cord slots), camera boom (120 mm mast +
80 mm arm, 2020-rail-compatible head, 3-position tilt), cup holder
(Ø80 mm tapered, 8-slot flex grip). Includes copy-paste module template.
- payload_bay_BOM.md: hardware list, CNC spec (dovetail dimensions, surface
finish, connector pocket), load analysis (2 kg rated with Al rail + lock),
module developer guide with constraints table
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:38:07 -05:00
d2cada00a0
Merge pull request 'feat(jetson): night vision mode — IR emitter, headlight, ambient-light FSM, IR SLAM bridge ( #168 )' ( #175 ) from sl-perception/issue-168-night-vision into main
2026-03-02 10:36:55 -05:00
f2b24e29d8
Merge pull request 'feat(audio): I2S3 audio amplifier driver — Issue #143 ' ( #173 ) from sl-firmware/issue-143-audio-amp into main
2026-03-02 10:36:36 -05:00
7dcdd2088a
feat(jetson): add saltybot_night_vision package (issue #168 )
...
Implements ambient-light-aware night vision mode for the D435i + IMX219
stack on the Jetson Orin Nano Super:
• light_analyser.py — histogram-based intensity FSM with hysteresis:
day → twilight → night → ir_only
• camera_controller.py — D435i IR emitter via realsense2_camera param
service + IMX219 gain/exposure via v4l2-ctl
• gpio_headlight.py — physical pin 33 headlight; Jetson.GPIO PWM
primary, sysfs on/off fallback, sim mode
• light_monitor_node.py — subscribes IMX219/IR1, publishes
/saltybot/ambient_light + /saltybot/vision_mode
• night_vision_controller_node.py — reacts to mode changes; drives
D435i emitter, IMX219 gain, headlight
• ir_slam_bridge_node.py — mono8 IR1 → rgb8 republish so RTAB-Map
keeps loop-closing in darkness
• launch/night_vision.launch.py + config/night_vision_params.yaml
• test/test_night_vision.py — 18 unit tests (18/18 pass, no ROS2 needed)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:36:21 -05:00
c3ada4a156
feat(audio): I2S3 audio amplifier driver — Issue #143
...
Add I2S3/DMA audio output driver for MAX98357A/PCM5102A class-D amps:
- audio_init(): PLLI2S N=192/R=2 → 96 MHz → FS≈22058 Hz (<0.04% error),
GPIO PC10/PA15/PB5 (AF6), PC5 mute, DMA1_Stream7_Ch0 circular,
HAL_I2S_Transmit_DMA ping-pong, 441-sample half-buffers (20 ms each)
- Square-wave tone generator (ISR-safe, integer volume scaling 0-100)
- Tone sequencer: STARTUP/ARM/DISARM/FAULT/BEEP sequences via audio_tick()
- PCM FIFO (4096 samples, SPSC ring): receives Jetson audio via JLink
- JLink protocol: JLINK_CMD_AUDIO = 0x08, JLINK_MAX_PAYLOAD 64→252 bytes
(supports 126 int16 samples/frame = 5.7 ms @22050 Hz)
- main.c: audio_init(), STARTUP tone on boot, ARM/FAULT tones, audio_tick()
- config.h: AUDIO_BCLK/LRCK/DOUT/MUTE pin defines + PLLI2S constants
- test_audio.py: 45 tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:34:35 -05:00
566cfc8811
Merge pull request 'fix: IWDG reset during gyro recal — refresh at i=0 not i=39 (P0 #42 )' ( #172 ) from sl-firmware/gyro-recal-button into main
2026-03-02 10:34:20 -05:00
e43c82d132
Merge pull request 'feat(webui): settings & configuration panel (Issue #160 )' ( #166 ) from sl-webui/issue-160-settings into main
2026-03-02 10:27:24 -05:00
da3ee19688
feat(webui): settings & configuration panel (Issue #160 )
...
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
- useSettings.js: PID parameter catalogue, step-response simulation,
ROS2 parameter apply via rcl_interfaces/srv/SetParameters, sensor
param management, firmware info extraction from /diagnostics,
diagnostics bundle export, JSON backup/restore, localStorage persist
- SettingsPanel.jsx: 6-view panel (PID, Sensors, Network, Firmware,
Diagnostics, Backup); StepResponseCanvas with stable/oscillating/
unstable colour-coding; GainSlider with range+number input; weight-
class tabs (empty/light/heavy); parameter validation badges
- App.jsx: CONFIG tab group (purple), settings tab render, FLEET_TABS
set to gate ConnectionBar and footer for fleet/missions/settings
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:26:42 -05:00
77b3d614dc
Merge pull request 'feat( #158 ): docking station auto-return — ArUco/IR detection, visual servo, charge monitoring' ( #165 ) from sl-controls/issue-158-docking into main
2026-03-02 10:26:17 -05:00
06f72521c9
Merge pull request 'feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157 )' ( #164 ) from sl-perception/issue-157-visual-odom into main
2026-03-02 10:26:09 -05:00
cc67e33003
Merge pull request 'feat(mechanical): universal charging dock station (Issue #159 )' ( #163 ) from sl-mechanical/issue-159-charging-dock into main
2026-03-02 10:26:05 -05:00
ecb95c738b
Merge pull request 'feat(social): multi-camera gesture recognition — MediaPipe Hands + Pose (Issue #140 )' ( #162 ) from sl-jetson/issue-140-gestures into main
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 13s
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
2026-03-02 10:26:03 -05:00
783dedf4d4
feat( #158 ): docking station auto-return with ArUco/IR detection and visual servo
...
Two new ROS2 packages implementing Issue #158 :
saltybot_docking_msgs (ament_cmake)
- DockingStatus.msg: stamp, state, dock_detected, distance_m, lateral_error_m,
battery_pct, charging, aligned
- Dock.srv / Undock.srv: force + resume_mission flags
saltybot_docking (ament_python, 20 Hz)
- dock_detector.py: ArucoDetector (cv2.aruco PnP → DockPose) + IRBeaconDetector
(EMA envelope with amplitude threshold); both gracefully degrade if unavailable
- visual_servo.py: IBVS proportional controller — v = k_lin×(d−target),
ω = −k_ang×yaw; aligned when |lateral| < 5mm AND d < contact_distance
- charge_monitor.py: edge-triggered events (CHARGING_STARTED/STOPPED,
THRESHOLD_LOW at 15%, THRESHOLD_HIGH at 80%)
- docking_state_machine.py: 7-state FSM (IDLE→DETECTING→NAV2_APPROACH→
VISUAL_SERVO→CONTACT→CHARGING→UNDOCKING); mission_resume signal on
auto-dock cycle; contact retry on timeout; lost-detection timeout
- docking_node.py: 20Hz ROS2 node; Nav2 NavigateToPose action client (optional);
/saltybot/dock + /saltybot/undock services; /saltybot/docking_cmd_vel;
/saltybot/resume_mission; /saltybot/docking_status
- config/docking_params.yaml, launch/docking.launch.py
Tests: 64/64 passing (IRBeaconDetector, VisualServo, ChargeMonitor,
DockingStateMachine — all state transitions and guard conditions covered)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:19:22 -05:00
572e578069
feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157 )
...
New package: saltybot_visual_odom (13 files, ~900 lines)
Nodes:
visual_odom_node — D435i IR1 stereo VO at 30 Hz
CUDA: SparsePyrLKOpticalFlow + FastFeatureDetector (GPU)
CPU fallback: calcOpticalFlowPyrLK + goodFeaturesToTrack
Essential matrix (5-pt RANSAC) + depth-aided metric scale
forward-backward consistency check on tracked points
Publishes /saltybot/visual_odom (Odometry)
odom_fusion_node — 5-state EKF [px, py, θ, v, ω] (unicycle model)
Fuses: wheel odom (/saltybot/rover_odom or tank_odom)
+ visual odom (/saltybot/visual_odom)
Slip failover: /saltybot/terrain JSON → 10× wheel noise on slip
Loop closure: /rtabmap/odom jump > 0.3m → EKF soft-correct
TF: publishes odom → base_link at 30 Hz
Publishes /saltybot/odom_fused + /saltybot/visual_odom_status
Modules:
optical_flow_tracker.py — CUDA/CPU sparse LK tracker with re-detection,
forward-backward consistency, ROI masking
stereo_vo.py — Essential matrix decomposition, camera→base_link
frame rotation, depth median scale recovery,
loop closure soft-correct, accumulated SE(3) pose
kalman_odom_filter.py — 5-state EKF: predict (unicycle), update_wheel,
update_visual, update_rtabmap (absolute pose);
Joseph-form covariance for numerical stability
Tests:
test/test_kalman_odom.py — 8 unit tests for EKF + StereoVO (no ROS deps)
Topic/TF map:
/camera/infra1/image_rect_raw → visual_odom_node
/camera/depth/image_rect_raw → visual_odom_node
/saltybot/visual_odom ← visual_odom_node (30 Hz)
/saltybot/rover_odom → odom_fusion_node
/saltybot/terrain → odom_fusion_node (slip signal)
/rtabmap/odom → odom_fusion_node (loop closure)
/saltybot/odom_fused ← odom_fusion_node (30 Hz)
odom → base_link TF ← odom_fusion_node (30 Hz)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:15:32 -05:00
8222a0c42e
feat(mechanical): charging dock station (Issue #159 )
...
Universal 5 V/5 A charging dock for SaltyLab/Rover/Tank robots:
- charging_dock.scad: weighted base (ballast pockets, floor anchors),
back wall with 2× 5 A pogo pin housing + wiring channel, V-guide
funnel rails (±20 mm alignment tolerance), ArUco marker mast (100×100 mm,
15° tilt), PSU bracket (IRM-30-5), 4-LED status bezel
(Searching/Aligned/Charging/Full)
- charging_dock_receiver.scad: 3-variant robot-side contact plate with
Ø12 mm brass pad press-fit, V-nose self-alignment; SaltyLab stem
collar, SaltyRover deck flange, SaltyTank skid-plate mount
- charging_dock_BOM.md: hardware list, ASCII wiring diagram, INA219
current-sense LED state logic, pogo height cross-variant shim table,
assembly sequence, export commands
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:15:14 -05:00
