a506989af6
feat: CANable 2.0 bringup with udev rule and systemd service (Issue #643 )
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- udev: 70-canable.rules — gs_usb VID/PID 1d50:606f, names iface can0 and brings it up at 500 kbps on plug-in
- systemd: can-bringup.service — oneshot service bound to sys-subsystem-net-devices-can0.device
- scripts: can_setup.sh — manual up/down/verify helper; candump verify for VESC IDs 61 (0x3D) and 79 (0x4F)
- install_systemd.sh updated to install can-bringup.service and all udev rules
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:49:21 -04:00
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
e2587b60fb
feat: SaltyFace web app UI for Chromium kiosk (Issue #370 )
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Animated robot expression interface as lightweight web application:
**Architecture:**
- HTML5 Canvas rendering engine
- Node.js HTTP server (localhost:3000)
- ROSLIB WebSocket bridge for ROS2 topics
- Fullscreen responsive design (1024×600)
**Features:**
- 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking)
- Real-time ROS2 subscriptions:
- /saltybot/state (emotion triggers)
- /saltybot/battery (status display)
- /saltybot/target_track (EXCITED emotion)
- /saltybot/obstacles (ALERT emotion)
- /social/speech/is_speaking (TALKING emotion)
- /social/speech/is_listening (LISTENING emotion)
- Tap-to-toggle status overlay
- 60fps Canvas animation on Wayland
- ~80MB total memory (Node.js + browser)
**Files:**
- public/index.html — Main page (1024×600 fullscreen)
- public/salty-face.js — Canvas rendering + ROS2 integration
- server.js — Node.js HTTP server with CORS support
- systemd/salty-face-server.service — Auto-start systemd service
- docs/SALTY_FACE_WEB_APP.md — Complete setup & API documentation
**Integration:**
- Runs in Chromium kiosk (Issue #374 )
- Depends on rosbridge_server for WebSocket bridge
- Serves on localhost:3000 (configurable)
**Next:** Issue #371 (Accessibility enhancements)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-03 16:42:41 -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
