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4 Commits

Author SHA1 Message Date
sl-controls
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
sl-perception
c96c68a7c4 feat: YOLOv8n object detection with RealSense depth integration (Issue #468) 
- 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-firmware
e35bd949c0 feat: Integrate 360° LIDAR obstacle avoidance into full_stack (Issue #364) 
Adds saltybot_lidar_avoidance node to the launch sequence at t=3s.
The RPLIDAR A1M8 node was already fully implemented with:
- Emergency stop if obstacle detected within 0.5m
- Speed-dependent safety zones (0.6m @ 0 m/s → 3.0m @ 5.56 m/s)
- Forward scanning window (±30° cone)
- Debounced obstacle detection (2-frame debounce)
- Publishes /cmd_vel_safe with filtered velocity commands

Integrates seamlessly with Nav2 stack and cmd_vel_mux multiplexer.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-04 12:23:43 -05:00
sl-jetson
039355d5bb feat: full_stack.launch.py — one-command autonomous stack bringup 
Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file
that brings up the entire SaltyBot software stack in dependency order,
with mode selection (indoor / outdoor / follow).

Launch sequence (wall-clock delays):
  t= 0s  robot_description (URDF + TF)
  t= 0s  STM32 bidirectional serial bridge
  t= 2s  sensors (RPLIDAR A1M8 + RealSense D435i)
  t= 2s  cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate)
  t= 4s  UWB driver (MaUWB DW3000 anchors on USB)
  t= 4s  CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true)
  t= 6s  SLAM — RTAB-Map RGB-D+LIDAR (indoor only)
  t= 6s  Outdoor GPS nav (outdoor only)
  t= 6s  YOLOv8n person detection (TensorRT)
  t= 9s  Person follower (UWB primary + camera fusion)
  t=14s  Nav2 navigation stack (indoor only)
  t=17s  rosbridge WebSocket server (port 9090)

Modes:
  indoor  — SLAM + Nav2 + full sensor suite + follow + UWB (default)
  outdoor — GPS nav + sensors + follow + UWB (no SLAM)
  follow  — sensors + UWB + perception + follower only

Launch arguments:
  mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception,
  enable_follower, enable_bridge, enable_rosbridge, follow_distance,
  max_linear_vel, uwb_port_a, uwb_port_b, stm32_port

Also updates saltybot_bringup/package.xml:
  - Adds exec_depend for all saltybot_* packages included by full_stack
  - Updates maintainer to sl-jetson

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-01 00:56:39 -05:00