Adds saltybot_bringup.launch.py with ordered startup groups (drivers→
perception→navigation→UI), timer-based health gates, configurable
profiles (minimal/full/debug), and estop on Ctrl-C shutdown.
Also adds launch_profiles.py dataclass module and 53-test coverage for
profile hierarchy, timing gates, safety bounds, and to_dict serialization.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_safety_zone — ROS2 Python node that processes the RPLIDAR
A1M8 /scan into three concentric 360° safety zones, latches an e-stop
when DANGER is detected in the forward arc, and overrides /cmd_vel to
zero while the latch is active.
Zone thresholds (default):
DANGER < 0.30 m — latching e-stop in forward arc
WARN < 1.00 m — advisory (published in sector data)
CLEAR otherwise
Sector grid:
36 sectors of 10° each (sector 0 = robot forward, CCW positive).
Per-sector: angle_deg, zone, min_range_m, in_forward_arc flag.
E-stop behaviour:
- Latches after estop_debounce_frames (2) consecutive DANGER scans
in the forward arc (configurable ±30°, or all-arcs mode).
- While latched: zero Twist published to /cmd_vel every scan + every
incoming /cmd_vel_input message is blocked.
- Clear only via service (obstacle must be gone):
/saltybot/safety_zone/clear_estop (std_srvs/Trigger)
Published topics:
/saltybot/safety_zone String/JSON every scan
— per-sector {sector, angle_deg, zone, min_range_m, forward}
— estop_active, estop_reason, danger_sectors[], warn_sectors[]
/saltybot/safety_zone/status String/JSON 10 Hz
— forward_zone, closest_obstacle_m, danger/warn counts
/cmd_vel Twist zero when e-stopped
Subscribed topics:
/scan LaserScan — RPLIDAR A1M8
/cmd_vel_input Twist — upstream velocity (pass-through / block)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_uwb_position — ROS2 Python package that reads JSON range
measurements from an ESP32 DW3000 UWB tag over USB serial, trilaterates
the robot's absolute position from 3+ fixed infrastructure anchors, and
publishes position + TF2 to the rest of the stack.
Serial protocol (one JSON line per frame):
Full frame: {"ts":…, "ranges": [{"id":0,"d_mm":1500,"rssi":-65}, …]}
Per-anchor: {"id":0, "d_mm":1500, "rssi":-65.0}
Accepts both "d_mm" and "range_mm" field names.
Trilateration (trilateration.py, numpy, no ROS deps):
Linear least-squares: linearise sphere equations around anchor 0,
solve (N-1)x2 (2D) or (N-1)x3 (3D) system via np.linalg.lstsq.
2D mode (default): robot_z fixed, needs >=3 anchors.
3D mode (solve_z=true): full 3D, needs >=4 anchors.
Outlier rejection:
After initial solve, compute per-anchor residual |r_meas - r_pred|.
Reject anchors with residual > outlier_threshold_m (0.4 m default).
Re-solve with inliers if >= min_anchors remain.
Track consecutive outlier strikes; flag in /status after N strikes.
Kalman filter (KalmanFilter3D, constant-velocity, 6-state, numpy):
Predict-only coasting when anchors drop below minimum.
Q=0.05, R=0.10 (tunable).
Topics:
/saltybot/uwb/pose PoseStamped 10 Hz Kalman-filtered position
/saltybot/uwb/range/<id> UwbRange on arrival, raw per-anchor ranges
/saltybot/uwb/status String/JSON 10 Hz state+residuals+flags
TF2: uwb_link -> map (identity rotation)
Anchor config: flat float arrays in YAML.
Default layout: 4-anchor 5x5m room at 2m height.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_head_tracking — ROS2 Python node for automatic person-
following using dual-axis PID control targeting the pan/tilt camera head.
Pipeline:
1. Subscribe to /saltybot/objects (DetectedObjectArray from YOLOv8n)
2. Filter for class_id==0 (person); select best target by score:
score = 0.6 * 1/(1+dist_m) + 0.4 * confidence
(falls back to confidence-only when distance_m==0 / unknown)
3. Compute pixel error of bbox centre from image centre
4. Apply dead-zone (10 px default) to suppress micro-jitter
5. Convert pixel error to angle error via camera FOV
6. Independent PID controllers for pan and tilt axes
7. Accumulate PID output into absolute angle setpoint
8. Publish geometry_msgs/Point to /saltybot/gimbal/cmd:
x = pan_angle_deg, y = tilt_angle_deg, z = confidence
State machine:
IDLE -> waiting for first detection
TRACKING -> active PID
LOST -> hold last angle for hold_duration_s (3 s)
CENTERING -> return to (0, 0) at 20 deg/s -> IDLE
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add VoskSTT class to audio_utils.py: offline Vosk STT backend as
low-latency CPU alternative to Whisper for Jetson deployments
- Update audio_pipeline_node.py: stt_backend param ("whisper"/"vosk"),
Vosk loading with Whisper fallback, CPU auto-detection for Whisper,
dual-backend _process_utterance dispatch, STT/<backend> log prefix
- Update audio_pipeline_params.yaml: add stt_backend and vosk_model_path
- Add test/test_audio_pipeline.py: 40 unit tests covering EnergyVAD,
PCM conversion, AudioBuffer, UtteranceSegmenter, VoskSTT, JabraAudioDevice,
AudioMetrics, AudioState
- Integrate into full_stack.launch.py: audio_pipeline at t=5s with
enable_audio_pipeline and audio_stt_backend args
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence:
Firmware (STM32F722):
- pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0),
magic-validated; load on boot to restore saved tune
- jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83)
with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState
- jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add
jlink_send_pid_result() to confirm flash write outcome over USART1
- main.c: load saved PID from flash after balance_init(); handle
pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s)
Jetson ROS2 (saltybot_pid_autotune):
- pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID:
Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that
sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes
- autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params
Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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>
Add saltybot_motor_daemon ROS2 package — Python daemon that subscribes
to /cmd_vel and drives the FC via W<speed>,<steer>\n over /dev/ttyTHS1
at 921600 baud.
- motor_daemon_node.py: 50 Hz fixed-rate TX, 200ms safety watchdog,
Twist→ESC conversion (±1000 range), FC ack parsing (W:<s>,<st>),
periodic ? status query, /diagnostics publisher, auto-reconnect
- config/motor_daemon_params.yaml: all tunable params with comments
- launch/motor_daemon.launch.py: parameterised launch file
- test/test_motor_daemon.py: 25 unit tests (all passing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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>
- 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>
- 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>
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>
