1ec4d3fc58
feat: WebSocket bridge for CAN monitor dashboard (Issue #697 )
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rosbridge config:
- rosbridge_params.yaml: add /saltybot/barometer, /vesc/left/state,
/vesc/right/state to topics_glob whitelist (were missing, blocked
the CAN monitor panel from receiving data)
- can_monitor.launch.py: new lightweight launch — rosbridge only,
whitelist scoped to the 5 CAN monitor topics, port overridable via
launch arg (ros2 launch saltybot_bringup can_monitor.launch.py port:=9091)
can_monitor_panel.js auto-reconnect:
- Exponential backoff: 2s → 3s → 4.5s → ... → 30s cap (×1.5 factor)
- Countdown displayed in conn-label ("Retry in Xs…") during wait
- Backoff resets to 2s on successful connection
- Manual CONNECT / Enter resets backoff and cancels pending timer
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-20 16:23:27 -04:00
f71fdae747
feat: Depth-to-costmap plugin for RealSense D435i (Issue #532 )
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Add saltybot_depth_costmap — a Nav2 costmap2d plugin that converts
D435i depth images directly into obstacle markings on both local and
global costmaps.
Pipeline:
1. Subscribe to /camera/depth/image_rect_raw (16UC1 mm) + camera_info
2. Back-project depth pixels to 3D using pinhole camera intrinsics
3. Transform points to costmap global_frame via TF2
4. Apply configurable height filter (min_height..max_height above ground)
5. Mark obstacle cells as LETHAL_OBSTACLE
6. Inflate neighbours within inflation_radius as INSCRIBED_INFLATED_OBSTACLE
Parameters:
min_height: 0.05 m — floor clearance (ignores ground returns)
max_height: 0.80 m — ceiling cutoff (ignores lights/ceiling)
obstacle_range: 3.5 m — max marking distance from camera
clearing_range: 4.0 m — max distance processed at all
inflation_radius: 0.10 m — in-layer inflation (works before inflation_layer)
downsample_factor: 4 — process 1 of N rows+cols (~19k pts @ 640×480)
Integration (#478 ):
- Added depth_costmap_layer to local_costmap plugins list
- Added depth_costmap_layer to global_costmap plugins list
- Plugin registered via pluginlib (plugin.xml)
Files:
jetson/ros2_ws/src/saltybot_depth_costmap/
CMakeLists.txt, package.xml, plugin.xml
include/saltybot_depth_costmap/depth_costmap_layer.hpp
src/depth_costmap_layer.cpp
jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml (updated)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:52:18 -05:00
e5329391bc
feat: Add parameter profile YAML files for Nav2 (Issue #506 )
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- profile_indoor.yaml: Conservative settings (0.4 m/s, 0.35m inflation)
- profile_outdoor.yaml: Moderate settings (0.8 m/s, 0.3m inflation)
- profile_demo.yaml: Agile settings (0.6 m/s, 0.32m inflation)
Each profile customizes velocity limits, costmap inflation, and obstacle detection.
2026-03-06 16:42:31 -05:00
bbfcd2a9d1
feat: Issue #506 — Launch parameter profiles (indoor/outdoor/demo)
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Implement profile-based parameter overrides for Nav2, costmap, and behavior
server configurations. Profiles predefine parameter sets for different
deployment scenarios.
New files:
- config/profiles/indoor.yaml: Conservative (0.2 m/s, tight geofence, no GPS)
- config/profiles/outdoor.yaml: Moderate (0.5 m/s, wide geofence, GPS-enabled)
- config/profiles/demo.yaml: Agile (0.3 m/s, tricks/social features enabled)
- saltybot_bringup/profile_loader.py: YAML loader and parameter merger utility
Supports: ros2 launch saltybot_bringup full_stack.launch.py profile:=<profile>
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 16:42:31 -05:00
e66bcc2ab0
feat: Configure Nav2 costmaps (Issue #478 )
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- Create nav2_params.yaml in saltybot_bringup/config/
- Global costmap: static layer + obstacle layer with /scan + /depth_scan
- Local costmap: rolling window 3m×3m, voxel layer + obstacle layer
- Inflation radius: 0.3m (robot_radius 0.15m + 0.15m padding)
- Robot footprint: 0.4m × 0.4m square [-0.2, +0.2] in x, y
- RPLIDAR A1M8 at /scan (360° LaserScan)
- RealSense D435i via depth_to_laserscan at /depth_scan
- Surround vision support for dynamic obstacles
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 14:41:41 -05:00
ab5dd97fcb
feat: add consolidated params and stack state monitor (Issue #447 )
2026-03-05 09:07:17 -05:00
cfa8ee111d
Merge pull request 'feat: Replace GNOME with Cage+Chromium kiosk (Issue #374 )' ( #377 ) from sl-webui/issue-374-cage-kiosk into main
2026-03-03 17:46:14 -05:00
82b8f40b39
feat: Replace GNOME with Cage + Chromium kiosk (Issue #374 )
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Lightweight fullscreen kiosk for MageDok 7" display:
**Architecture:**
- Cage: Minimal Wayland compositor (replaces GNOME)
- Chromium: Fullscreen kiosk browser for SaltyFace web UI
- PulseAudio: HDMI audio routing (from Issue #369 )
- Touch: HID input from MageDok USB device
**Memory Savings:**
- GNOME desktop: ~650MB RAM
- Cage + Chromium: ~200MB RAM
- Net gain: ~450MB for ROS2 workloads
**Files:**
- config/cage-magedok.ini — Cage display settings (1024×600@60Hz)
- config/wayland-magedok.conf — Wayland output configuration
- scripts/chromium_kiosk.sh — Cage + Chromium launcher
- systemd/chromium-kiosk.service — Auto-start systemd service
- launch/cage_display.launch.py — ROS2 launch configuration
- docs/CAGE_CHROMIUM_KIOSK.md — Complete setup & troubleshooting guide
**Next:** Issue #370 (Salty Face as web app in Chromium kiosk)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-03 16:41:00 -05:00
45d456049a
feat: MageDok 7in display setup for Jetson Orin (Issue #369 )
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Add complete display integration for MageDok 7" IPS touchscreen:
Configuration Files:
- X11 display config (xorg-magedok.conf) — 1024×600 @ 60Hz
- PulseAudio routing (pulseaudio-magedok.conf) — HDMI audio to speakers
- Udev rules (90-magedok-touch.rules) — USB touch device permissions
- Systemd service (magedok-display.service) — auto-start on boot
ROS2 Launch:
- magedok_display.launch.py — coordinate display/touch/audio setup
Helper Scripts:
- verify_display.py — validate 1024×600 resolution via xrandr
- touch_monitor.py — detect MageDok USB touch, publish status
- audio_router.py — configure PulseAudio HDMI sink routing
Documentation:
- MAGEDOK_DISPLAY_SETUP.md — complete installation and troubleshooting guide
Features:
✓ DisplayPort → HDMI video from Orin DP connector
✓ USB touch input as HID device (driver-free)
✓ HDMI audio routing to built-in speakers
✓ 1024×600 native resolution verification
✓ Systemd auto-launch on boot (no login prompt)
✓ Headless fallback when display disconnected
✓ ROS2 status monitoring (touch/audio/resolution)
Supports Salty Face UI (Issue #370 ) and accessibility features (Issue #371 )
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-03 15:44:03 -05:00
57420807ca
feat(webui): live camera viewer — multi-stream + detection overlays (Issue #177 )
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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
6420e07487
feat: rosbridge WebSocket server for web UI (port 9090)
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Adds rosbridge_suite to the Jetson stack so the browser dashboard can
subscribe to ROS2 topics via roslibjs over ws://jetson:9090.
docker-compose.yml
New service: saltybot-rosbridge
- Runs saltybot_bringup/launch/rosbridge.launch.py
- network_mode: host → port 9090 directly reachable on Jetson LAN
- Depends on saltybot-ros2, stm32-bridge, csi-cameras
saltybot_bringup/launch/rosbridge.launch.py
- rosbridge_websocket node (port 9090, params from rosbridge_params.yaml)
- 4× image_transport/republish nodes: compress CSI camera streams
/camera/<name>/image_raw → /camera/<name>/image_raw/compressed (JPEG 75%)
saltybot_bringup/config/rosbridge_params.yaml
Whitelisted topics:
/map /scan /tf /tf_static
/saltybot/imu /saltybot/balance_state
/cmd_vel
/person/*
/camera/*/image_raw/compressed
max_message_size: 10 MB (OccupancyGrid headroom)
saltybot_bringup/SENSORS.md
Added rosbridge connection section with roslibjs snippet,
topic reference table, bandwidth estimates, and throttle_rate tips.
saltybot_bringup/package.xml
Added exec_depend: rosbridge_server, image_transport,
image_transport_plugins (all already installed in Docker image).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:22:02 -05:00
