87b45e1b97
feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135 )
...
Auto-detected alongside MPU6000. Acts as balance primary when MPU6000
fails, or provides NDOF-fused yaw/pitch when both sensors are present.
- include/bno055.h: full API — bno055_init/read/is_ready/calib_status/
temperature/save_offsets/restore_offsets
- src/bno055.c: I2C1 driver; probes 0x28/0x29, resets via SYS_TRIGGER,
enters NDOF mode; 2-burst 12-byte reads (gyro+euler, LIA+gravity);
Euler/gyro/accel scaling (÷16, ÷16, ÷100); auto-saves offsets to
RTC backup regs BKP0R–BKP6R on first full cal; restores on boot
(bno055_is_ready() returns true immediately); temperature updated 1Hz
- include/config.h: BNO055_BKP_MAGIC = 0xB055CA10
- src/main.c: bno055_init() in I2C probe block (before IWDG); imu_calibrated()
macro dispatches mpu6000_is_calibrated() vs bno055_is_ready();
BNO055 read deferred inside balance gate to avoid stalling main loop;
USB JSON reports bno_cs (calib status) and bno_t (temperature)
- test/test_bno055_data.py: 43 pytest tests (43/43 pass) — calib status
bit extraction, Euler/gyro/accel scaling, burst parsing, offset
round-trip packing, temperature signed-byte encoding
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:40:18 -05:00
b09f17b787
feat(webui): fleet management dashboard — Issue #139
...
- useFleet.js: multi-robot ROSLIB.Ros multiplexer with localStorage
persistence; per-robot balance_state/control_mode/odom/diagnostics
subscriptions; sendGoal, sendPatrol, scanSubnet helpers
- FleetPanel.jsx: fleet sub-views (Robots/Map/Missions/Video/Alerts)
plus RobotDetail overlay reusing ImuPanel/BatteryPanel/MotorPanel/
ControlMode/SystemHealth via subscribeRobot adapter pattern
- App.jsx: adds FLEET tab group pointing to FleetPanel
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:37:10 -05:00
9281f3bc44
Merge pull request 'feat(bridge): battery management node — SoC, alerts, speed limits (Issue #125 )' ( #133 ) from sl-jetson/issue-125-battery-management into main
2026-03-02 09:27:53 -05:00
ea26cda76a
feat(bridge): battery management node (Issue #125 )
...
Add battery_node.py:
- Subscribes /saltybot/telemetry/battery (JSON from stm32_cmd_node)
- Publishes sensor_msgs/BatteryState on /saltybot/battery at 1 Hz
- SoC source priority: STM32 fuel gauge soc_pct field → fallback to
3S LiPo voltage curve (12-point lookup with linear interpolation)
- Charging detection: current_ma < -100 mA threshold
- Alert levels: WARNING (20%)→speed 60%, CRITICAL (10%)→speed 30%,
EMERGENCY (5%)→zero /cmd_vel + /saltybot/arm(False) disarm
- /saltybot/battery/alert JSON topic on threshold crossings
- /saltybot/speed_limit Float32 (0.0-1.0) for nav speed capping
- SQLite history logging: /var/log/saltybot/battery.db, 7-day retention
- Hourly prune timer to keep DB bounded
Add test_battery.py (70+ tests, no ROS2 runtime):
- SoC lookup: all curve points, interpolation, clamping, 3S/4S packs
- Alert level thresholds and transitions for all levels
- Speed factor assignments per alert level
- Charging detection logic
- sensor_msgs/BatteryState field population
- SQLite insert/retrieve/prune (in-memory and on-disk)
- JSON telemetry parsing: normal, charging, soc_pct=0 fallback
Add battery_params.yaml, battery.launch.py.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:27:06 -05:00
6da4ae885d
Merge pull request 'feat(firmware): Jetson binary serial protocol on USART1 (Issue #120 )' ( #132 ) from sl-firmware/issue-120-serial-protocol into main
2026-03-02 09:26:45 -05:00
0d47632c0a
Merge pull request 'feat: SaltyTank tracked chassis — drive sprockets, tensioners, skid plate ( #121 )' ( #131 ) from sl-mechanical/issue-121-tank-chassis into main
2026-03-02 09:26:40 -05:00
8f0cb8025b
Merge pull request 'feat(ui): telemetry dashboard panels (issue #126 )' ( #130 ) from sl-webui/issue-126-telemetry-dash into main
2026-03-02 09:26:34 -05:00
2e41f05c69
Merge pull request 'feat(mapping): RTAB-Map persistence + multi-session mapping (Issue #123 )' ( #129 ) from sl-perception/issue-123-map-persistence into main
2026-03-02 09:26:29 -05:00
5cfacdda3f
Merge pull request 'feat(bridge): binary STM32 command protocol (Issue #119 )' ( #128 ) from sl-jetson/issue-119-cmd-protocol into main
2026-03-02 09:26:20 -05:00
89c7c5fa3e
Merge pull request 'feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122 )' ( #127 ) from sl-controls/issue-122-tank-driver into main
2026-03-02 09:26:19 -05:00
6f0ad8e92e
feat(firmware): Jetson binary serial protocol on USART1 (Issue #120 )
...
New jlink module replaces ASCII-over-USB-CDC jetson_cmd with a dedicated
hardware UART binary protocol at 921600 baud for reliable Jetson comms.
- include/jlink.h: JLinkState struct, jlink_tlm_status_t (20-byte packed),
command/telemetry IDs (0x01-0x07 cmd, 0x80 status), API declarations
- src/jlink.c: USART1 DMA2_Stream2_Channel4 circular RX (128 bytes),
IDLE interrupt, CRC16-XModem (poly 0x1021) frame parser state machine,
command dispatch (HEARTBEAT/DRIVE/ARM/DISARM/PID_SET/ESTOP),
jlink_send_telemetry() blocking TX (≈0.28 ms per frame)
- include/config.h: JLINK_BAUD=921600, JLINK_HB_TIMEOUT_MS=1000,
JLINK_TLM_HZ=50, FW_MAJOR/MINOR/PATCH version constants
- src/main.c: jlink_init(), jlink_process() in main loop, arm/disarm/
estop/PID flag handling, 50 Hz STATUS telemetry TX, jlink takes
priority over legacy jetson_cmd for speed/steer injection
- test/test_jlink_frames.py: 39 pytest tests (39/39 pass) — CRC16,
frame building, parser state machine, drive/PID/status encoding
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:22:34 -05:00
d93919e26f
feat: SaltyTank tracked chassis — drive sprockets, tensioners, skid plate ( #121 )
...
Three new chassis design files for the SaltyTank continuous-track variant:
• saltytank_chassis.scad — Deck plate (500×360×8mm Al, DXF export), 2×
side track frames (6mm Al, CNC/laser), idler tensioner sliding block,
4× CSI corner camera mounts (45°/20°), D435i front bracket (8° tilt),
stem collar (Ø25mm shared). Drive sprocket mounts accept hoverboard hub
motors with caliper-verified D-cut bore (16.11mm/13mm flat) + 52mm BC
hub flange bolt pattern. M6 tensioner bolt adjusts idler ±15mm for
track tension. Shared FC 30.5×30.5mm + Jetson 58×49mm M3 patterns.
Electronics bay footprint matches rover_electronics_bay.scad exactly.
• saltytank_skid_plate.scad — Sacrificial underside skid panel (360×500mm).
4mm HDPE (DXF) or PETG print; countersunk M4 FHCS bolt-on. 4× drain/
inspection slots; optional printed ribs (RIB_PRINT=true). Ground
clearance of hull between tracks: 90mm (exceeds 50mm requirement).
• saltytank_BOM.md — Full BOM: deck plate, side frames, drive sprockets,
idler wheels + tensioners, road wheels (2/side), track belts (1109mm
circumference calc), skid plate, sensor brackets, electronics bay
(rover_electronics_bay.scad reused unchanged). Frame mass ≈ 2.98 kg
(just under 3 kg target). Assembly sequence and track tensioning
procedure included.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:20:41 -05:00
78374668bf
feat(ui): telemetry dashboard panels (issue #126 )
...
Adds 6 telemetry tabs to the social-bot dashboard extending PR #112 .
IMU Panel (/saltybot/imu, /saltybot/balance_state):
- Canvas artificial horizon + compass tape
- Three.js 3D robot orientation cube with quaternion SLERP
- Angular velocity readouts, balance state detail
Battery Panel (/diagnostics):
- Voltage, SoC, estimated current, runtime estimate
- 120-point voltage history sparkline (2 min)
- Reads battery_voltage_v, battery_soc_pct KeyValues from DiagnosticArray
Motor Panel (/saltybot/balance_state, /saltybot/rover_pwm):
- Auto-detects balance vs rover mode
- Bidirectional duty bars for left/right motors
- Motor temp from /diagnostics, PID detail for balance bot
Map Viewer (/map, /odom, /outdoor/route):
- OccupancyGrid canvas renderer (unknown/free/occupied colour-coded)
- Robot position + heading arrow, Nav2/OSM path overlay (dashed)
- Pan (mouse/touch) + zoom, 2 m scale bar
Control Mode (/saltybot/control_mode):
- RC / RAMP_TO_AUTO / AUTO / RAMP_TO_RC state badge
- Blend alpha progress bar
- Safety flags: SLAM ok, RC link ok, stick override active
- State machine diagram
System Health (/diagnostics):
- CPU/GPU temperature gauges with colour-coded bars
- RAM, GPU memory, disk resource bars
- ROS2 node status list sorted by severity (ERROR → WARN → OK)
Also:
- Three.js vendor chunk split (471 kB separate lazy chunk)
- Updated App.jsx with grouped SOCIAL + TELEMETRY tab nav
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:18:39 -05:00
9341e9d986
feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123 )
...
- Add saltybot_mapping package: MapDatabase, MapExporter, MapManagerNode
- 6 ROS2 services: list/save_as/load/delete maps + export occupancy/pointcloud
- Auto-save current.db every 5 min; keep last 5 autosaves; warn at 2 GB
- Update rtabmap_params.yaml: database_path, Mem/InitWMWithAllNodes=true,
Rtabmap/StartNewMapOnLoopClosure=false (multi-session persistence by default)
- Update slam_rtabmap.launch.py: remove --delete_db_on_start, add fresh_start
arg (deletes DB before launch) and database_path arg (load named map)
- CLI tools: backup_map.py, export_map.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:17:54 -05:00
972bc8cb27
chore(bridge): update setup.py for stm32_cmd_node and battery_node entries
...
Add stm32_cmd_node and battery_node console_scripts, new launch/config files
to data_files list.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:17:13 -05:00
30be0d8cd3
feat(bridge): binary STM32 command protocol (Issue #119 )
...
Add stm32_protocol.py — pure-Python binary frame codec:
- Frame: STX(0x02)+TYPE+LEN+PAYLOAD+CRC16-CCITT(BE)+ETX(0x03)
- CRC covers TYPE+LEN+PAYLOAD; polynomial 0x1021, init 0xFFFF
- Encoders: HEARTBEAT, SPEED_STEER(-1000..+1000 int16), ARM, SET_MODE, PID_UPDATE
- Telemetry decoders: ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame
- FrameParser: streaming byte-by-byte state machine, resync on corrupt data
Add stm32_cmd_node.py — ROS2 bidirectional bridge node:
- /cmd_vel → SPEED_STEER at up to 50 Hz
- HEARTBEAT timer (default 200ms); STM32 watchdog fires at 500ms
- Jetson-side watchdog: no /cmd_vel for 500ms → send SPEED_STEER(0,0)
- /saltybot/arm service (SetBool) → ARM frame
- /saltybot/pid_update topic → PID_UPDATE frame
- Telemetry RX: IMU→/saltybot/imu, BATTERY→/saltybot/telemetry/battery,
MOTOR_RPM→/saltybot/telemetry/motor_rpm, ARM_STATE→/saltybot/arm_state,
ERROR→/saltybot/error
- Auto-reconnect on USB disconnect (serial.SerialException caught)
- Zero-speed + disarm sent on node shutdown
- /diagnostics with serial health, frame counts, last cmd age
Add test_stm32_protocol.py (60+ tests):
- CRC16-CCITT correctness, known test vectors
- All encoder output structures and payload values
- FrameParser: all telemetry types, bad CRC, bad ETX, resync, streaming,
oversized payload, frame counters, reset
Add test_stm32_cmd_node.py (30+ tests):
- MockSerial: TX/RX byte-level testing without hardware
- Speed/steer clamping, scaling, frame structure
- Watchdog fires/doesn't fire relative to timeout
- CRC error counted, resync after garbage
Add stm32_cmd_params.yaml, stm32_cmd.launch.py.
Update package.xml (add std_srvs, geometry_msgs deps).
Update setup.py (add stm32_cmd_node entry point + new config/launch).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:17:04 -05:00
413810e6ba
feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122 )
...
- kinematics.py: tank_speeds with slip compensation (angular_cmd scaled
by 1/(1-slip_factor)), skid_steer_speeds (no slip), speed_to_pwm,
compute_track_speeds (2wd|4wd|tracked modes, ±max clip), expand_to_4ch,
odometry_from_track_speeds (angular scaled by (1-slip_factor) — inverse
of command path, consistent dead-reckoning across all slip values)
- tank_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n;
H\n heartbeat; dual stop paths (watchdog 0.3s + /saltybot/e_stop topic,
latching); runtime drive_mode + slip_factor param switch; dead-reckoning
odometry with slip compensation; publishes /saltybot/tank_pwm (JSON) +
/saltybot/tank_odom
- config/tank_params.yaml, launch/tank_driver.launch.py, package.xml,
setup.py, setup.cfg
- test/test_tank_kinematics.py: 71 unit tests, all passing (includes
parametric round-trip over slip ∈ {0.0, 0.1, 0.3, 0.5})
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:14:37 -05:00
7de55accc3
Merge pull request 'feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110 )' ( #117 ) from sl-controls/issue-110-rover-driver into main
2026-03-02 09:04:01 -05:00
3c438595e8
feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110 )
...
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
- kinematics.py: pure unicycle→differential/skid-steer kinematics,
speed_to_pwm (1000–2000µs), compute_wheel_speeds with ±max clip,
odometry_from_wheel_speeds inverse helper
- rover_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n
protocol; heartbeat H\n; deadman on /cmd_vel silence; runtime 2WD/4WD
variant switch via four_wheel param; dead-reckoning odometry;
publishes /saltybot/rover_pwm (JSON) + /saltybot/rover_odom
- config/rover_params.yaml, launch/rover_driver.launch.py, package.xml,
setup.py, setup.cfg
- test/test_rover_kinematics.py: 51 unit tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:03:28 -05:00
f278f0fd06
Merge pull request 'feat(tests): social-bot integration test suite (Issue #108 )' ( #118 ) from sl-jetson/issue-108-integration-tests into main
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 1m8s
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 09:03:18 -05:00
5bb1ec6d3e
Merge pull request 'feat: SaltyRover chassis Rev 2 — 4-wheel rover with spring suspension ( #109 )' ( #116 ) from sl-mechanical/issue-109-rover-chassis into main
2026-03-02 09:03:12 -05:00
ee8438fd04
feat(tests): social-bot integration test suite (Issue #108 )
...
social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 3m58s
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 3m3s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (push) Has been skipped
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (push) Has been cancelled
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Add saltybot_social_tests package with full pytest + launch_testing harness:
- test_launch.py: start social_test.launch.py, verify all nodes up within 30s
- test_topic_rates.py: measure topic Hz over 3s window vs. minimum SLAs
- test_services.py: /social/enroll, /social/nav/set_mode, person CRUD, mood query
- test_gpu_memory.py: total allocation < 6 GB, no leak over 30s
- test_latency.py: inject→transcript→LLM→TTS state-machine SLA profiling
- test_shutdown.py: no zombies, GPU memory released, audio device freed
- test_helpers.py: TopicRateChecker, NodeChecker, ServiceChecker, GpuMemoryChecker
- mock_sensors.py: camera/faces/fused/persons/uwb publishers at correct rates
- social_test.launch.py: CI-mode launch (no mic/speaker, mock sensors auto-started)
- conftest.py + pytest.ini: gpu_required / full_stack / stack_running markers
- docker/Dockerfile.ci + docker-compose.ci.yml: CPU-only CI container
- docker/entrypoint-ci.sh: launch stack + wait 10s + run pytest
- bags/record_social_test.sh + bags/README.md: rosbag recording for replay
- .gitea/workflows/social-tests-ci.yml: lint + core-tests + latency-gpu jobs
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:50:22 -05:00
2fa72e169e
feat: SaltyRover chassis Rev 2 — 4-wheel rover with spring suspension ( #109 )
...
New chassis design files for the SaltyRover rough-terrain variant:
• saltyrover_chassis_r2.scad — Deck plate (500×480×6mm Al, laser-cut DXF),
4× M3-adjustable pivot brackets, 4× CSI corner camera mounts (45° outward,
20° down), D435i front bracket (8° tilt), stem collar. All RENDER modes
for STL and DXF export included.
• rover_spring_arm.scad — Trailing-arm spring suspension (×4). Pivot on M8
bolt; captured 14mm OD compression spring (50mm free, ~5 N/mm); open-end
axle dropout slot with retainer cap. Provides 25mm bump + 15mm droop travel.
Bearing-seat recess for caliper-verified 37.8mm collar OD.
• rover_electronics_bay.scad — PETG electronics bay (240×200×80mm internal).
FC standoffs 30.5×30.5mm M3 and Jetson Orin 58×49mm M3 — shared SaltyLab
swappable pattern. Ventilation slots all 4 walls + lid. Lid integrates
100mm RPLIDAR A1M8 tower (58mm BC, matched to rplidar_mount.scad).
Split-print halves for 220mm beds included.
• rover_chassis_r2_BOM.md — Full BOM, mass estimate (frame ~2.15kg; reduce
to <2kg by setting DECK_T=5), assembly sequence, critical dimensions.
Sensor positions: RPLIDAR top-centre on bay lid, D435i front, 4× IMX219 at
deck corners. Shares 30.5mm FC + 58mm Jetson + Ø25mm stem patterns with
SaltyLab for swappable electronics.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:42:44 -05:00
6a30b20aaa
Merge pull request 'feat(panoramic): 360° equirectangular stitching + RTSP #105 ' ( #115 ) from sl-perception/issue-105-equirect into main
2026-03-02 08:42:14 -05:00
6a96c73b2d
feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105 )
...
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:41:40 -05:00
b1abdccf03
Merge pull request 'feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104 )' ( #114 ) from sl-controls/issue-104-mode-switch into main
2026-03-02 08:41:24 -05:00
25f2bab24a
Merge pull request 'feat(calibration): IMX219 intrinsic + extrinsic calibration workflow #106 ' ( #113 ) from sl-perception/issue-106-calibration into main
2026-03-02 08:41:20 -05:00
b23e8432a2
Merge pull request 'feat(ui): social-bot web dashboard (issue #107 )' ( #112 ) from sl-webui/issue-107-dashboard into main
2026-03-02 08:41:18 -05:00
23668d1d98
Merge pull request 'feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )' ( #111 ) from sl-firmware/issue-103-crsf-rc into main
2026-03-02 08:41:16 -05:00
9733f5f097
feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104 )
...
New package: saltybot_mode_switch
mode_logic.py (pure, no ROS2 dep — 72/72 tests pass):
State machine: RC → RAMP_TO_AUTO → AUTO → RAMP_TO_RC → RC
• CH6 (axes[5] > 0.5) requests AUTO; CH6 low → RAMP_TO_RC
• Stick >10% in AUTO/RAMP_TO_AUTO/RAMP_TO_RC → instant RC (no ramp)
• Sticks neutral ≥ 2 s after override → override cleared → RAMP_TO_AUTO
• RC link lost (Joy silent > 0.5 s) → instant RC from any state
• SLAM fix lost → RAMP_TO_RC (graceful exit from AUTO)
• No AUTO entry without slam_ok AND rc_link_ok
blend_alpha: 0.0 (RC) → linear ramp over 500 ms → 1.0 (AUTO)
led_pattern: solid_yellow(RC) | blink_green_slow(ramp) |
solid_green(AUTO) | blink_orange_fast(slam lost) |
blink_red_fast(RC link lost)
mode_switch_node.py (ROS2, 20 Hz):
Sub: /rc/joy (Joy), /saltybot/balance_state (String),
/slam_toolbox/pose_with_covariance_stamped (PoseWithCovarianceStamped)
Pub: /saltybot/control_mode (String JSON: mode+blend_alpha+slam_ok+rc_link_ok+override_active)
/saltybot/led_pattern (String)
cmd_vel_mux_node.py (ROS2, 20 Hz):
Sub: /cmd_vel_auto (Twist from Nav2/follower), /saltybot/control_mode
Pub: /cmd_vel (Twist to bridge, scaled by blend_alpha)
Note: remap Nav2/follower output to /cmd_vel_auto in launch.
Tests: 72/72 pass (no ROS2 runtime required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:38:49 -05:00
1f594538fd
feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )
2026-03-02 08:38:24 -05:00
1cd8ebeb32
feat(ui): add social-bot dashboard (issue #107 )
...
React + Vite + TailwindCSS dashboard served on port 8080.
Connects to ROS2 via rosbridge_server WebSocket (default ws://localhost:9090).
Panels:
- StatusPanel: pipeline state (idle/listening/thinking/speaking/throttled)
with animated pulse indicator, GPU memory bar, per-stage latency stats
- FaceGallery: enrolled persons grid with enroll/delete via
/social/enrollment/* services; live detection indicator
- ConversationLog: real-time transcript with human/bot bubbles,
streaming partial support, auto-scroll
- PersonalityTuner: sass/humor/verbosity sliders (0–10) writing to
personality_node via rcl_interfaces/srv/SetParameters; live
PersonalityState display
- NavModeSelector: shadow/lead/side/orbit/loose/tight mode buttons
publishing to /social/nav/mode; voice command reference table
Usage:
cd ui/social-bot && npm install && npm run dev # dev server port 8080
npm run build && npm run preview # production preview
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:36:51 -05:00
4a46fad002
feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )
...
## Summary
- config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms
- include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider)
battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection
- include/crsf.h + src/crsf.c: CRSF telemetry TX uplink
crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module
crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD
- src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls
crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed)
- test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame
layout/encoding, flight-mode frame, battery_estimate_pct SoC math
Existing (already complete from crsf-elrs branch):
CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt
Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition
Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS
CH5 arm switch with ARMING_HOLD_MS interlock + edge detection
RC override: mode_manager blends steer/speed per mode (CH6)
Closes #103
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:35:48 -05:00
00c97bd902
feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )
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## Summary
- config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms
- include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider)
battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection
- include/crsf.h + src/crsf.c: CRSF telemetry TX uplink
crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module
crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD
- src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls
crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed)
- test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame
layout/encoding, flight-mode frame, battery_estimate_pct SoC math
Existing (already complete from crsf-elrs branch):
CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt
Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition
Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS
CH5 arm switch with ARMING_HOLD_MS interlock + edge detection
RC override: mode_manager blends steer/speed per mode (CH6)
Closes #103
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:35:39 -05:00
0f2ea7931b
Merge pull request 'feat(social): speech + LLM + TTS + orchestrator ( #81 #83 #85 #89 )' ( #102 ) from sl-jetson/social-speech-llm-tts into main
2026-03-02 08:24:23 -05:00
5043578934
feat(social): speech pipeline + LLM conversation + TTS + orchestrator ( #81 #83 #85 #89 )
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Issue #81 — Speech pipeline:
- speech_pipeline_node.py: OpenWakeWord "hey_salty" → Silero VAD → faster-whisper
STT (Orin GPU, <500ms wake-to-transcript) → ECAPA-TDNN speaker diarization
- speech_utils.py: pcm16↔float32, EnergyVad, UtteranceSegmenter (pre-roll, max-
duration), cosine speaker identification — all pure Python, no ROS2/GPU needed
- Publishes /social/speech/transcript (SpeechTranscript) + /social/speech/vad_state
Issue #83 — Conversation engine:
- conversation_node.py: llama-cpp-python GGUF (Phi-3-mini Q4_K_M, 20 GPU layers),
streaming token output, per-person sliding-window context (4K tokens), summary
compression, SOUL.md system prompt, group mode
- llm_context.py: PersonContext, ContextStore (JSON persistence), build_llama_prompt
(ChatML format), context compression via LLM summarization
- Publishes /social/conversation/response (ConversationResponse, partial + final)
Issue #85 — Streaming TTS:
- tts_node.py: Piper ONNX streaming synthesis, sentence-by-sentence first-chunk
streaming (<200ms to first audio), sounddevice USB speaker playback, volume control
- tts_utils.py: split_sentences, pcm16_to_wav_bytes, chunk_pcm, apply_volume, strip_ssml
Issue #89 — Pipeline orchestrator:
- orchestrator_node.py: IDLE→LISTENING→THINKING→SPEAKING state machine, GPU memory
watchdog (throttle at <2GB free), rolling latency stats (p50/p95 per stage),
VAD watchdog (alert if speech pipeline hangs), /social/orchestrator/state JSON pub
- social_bot.launch.py: brings up all 4 nodes with TimerAction delays
New messages: SpeechTranscript.msg, VadState.msg, ConversationResponse.msg
Config YAMLs: speech_params, conversation_params, tts_params, orchestrator_params
Tests: 58 tests (28 speech_utils + 30 llm_context/tts_utils), all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:23:19 -05:00
efc7f0f815
Merge pull request 'feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd ( #88 )' ( #101 ) from sl-jetson/social-orin-dev into main
2026-03-02 08:23:06 -05:00
a9b2242a2c
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd ( #88 )
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- Dockerfile.social: social-bot container with faster-whisper, llama-cpp-python
(CUDA), piper-tts, insightface, pyannote.audio, OpenWakeWord, pyaudio
- scripts/convert_models.sh: TRT FP16 conversion for SCRFD-10GF, ArcFace-R100,
ECAPA-TDNN; CTranslate2 setup for Whisper; Piper voice download; benchmark suite
- config/asound.conf: ALSA USB mic (card1) + USB speaker (card2) config
- models/README.md: version-pinned model table, /models/ layout, perf targets
- systemd/: saltybot-social.service + saltybot.target + install_systemd.sh
- docker-compose.yml: saltybot-social service with GPU, audio device passthrough,
NVMe volume mounts for /models and /social_db
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:08:57 -05:00
79d9a1daa1
Merge pull request 'feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92 )' ( #100 ) from sl-controls/tracking-fusion into main
2026-03-02 07:00:54 -05:00
fa0162fadc
feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92 )
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New packages:
saltybot_social_msgs — FusedTarget.msg custom message
saltybot_social_tracking — 4-state Kalman fusion node
saltybot_social_tracking/tracking_fusion_node.py
Subscribes to /uwb/target (PoseStamped, ~10 Hz) and /person/target
(PoseStamped, ~30 Hz) and publishes /social/tracking/fused_target
(FusedTarget) at 20 Hz.
Source arbitration:
• "fused" — both UWB and camera are fresh; confidence-weighted blend
• "uwb" — UWB fresh, camera stale
• "camera" — camera fresh, UWB stale
• "predicted" — all sources stale; KF coasts for up to predict_timeout (3 s)
Kalman filter (kalman_tracker.py):
State [x, y, vx, vy] with discrete Wiener acceleration noise model
(process_noise=3.0 m/s²) sized for EUC speeds (20-30 km/h, ≈5.5-8.3 m/s).
Separate UWB (0.20 m) and camera (0.12 m) measurement noise.
Velocity estimate converges after ~3 s of 10 Hz UWB measurements.
Confidence model (source_arbiter.py):
Per-source confidence = quality × max(0, 1 - age/timeout).
Composite confidence accounts for KF positional uncertainty and
is capped at 0.4 during dead-reckoning ("predicted") mode.
Tests: 58/58 pass (no ROS2 runtime required).
Note: saltybot_social_msgs here adds FusedTarget.msg; PR #98
(Issue #84 ) adds PersonalityState.msg + QueryMood.srv to the same
package. The maintainer should squash-merge #98 first and rebase
this branch on top of it before merging to avoid the package.xml
conflict.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:59:10 -05:00
d48edf4092
Merge pull request 'feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84 )' ( #98 ) from sl-controls/social-personality into main
2026-03-01 23:58:43 -05:00
44771751e2
feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84 )
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New packages:
- saltybot_social_msgs: PersonalityState.msg + QueryMood.srv custom interfaces
- saltybot_social_personality: full personality node
Features:
- SOUL.md YAML/Markdown persona file: name, humor_level (0-10), sass_level (0-10),
base_mood, per-tier greeting templates, mood prefix strings
- Hot-reload: SoulWatcher polls SOUL.md every reload_interval seconds, applies
changes live without restarting the node
- Per-person relationship memory in SQLite: score, interaction_count,
first/last_seen, learned preferences (JSON), full interaction log
- Mood engine (pure functions): happy | curious | annoyed | playful
driven by relationship score, interaction count, recent event window (120s)
- Greeting personalisation: stranger | regular | favorite tiers
keyed on interaction count thresholds from SOUL.md
- Publishes /social/personality/state (PersonalityState) at publish_rate Hz
- /social/personality/query_mood (QueryMood) service for on-demand mood query
- Full ROS2 dynamic reconfigure: soul_file, db_path, reload_interval, publish_rate
- 52 unit tests, no ROS2 runtime required
ROS2 interfaces:
Sub: /social/person_detected (std_msgs/String JSON)
Pub: /social/personality/state (saltybot_social_msgs/PersonalityState)
Srv: /social/personality/query_mood (saltybot_social_msgs/QueryMood)
2026-03-01 23:56:05 -05:00
dc746ccedc
Merge pull request 'feat(social): face detection + recognition #80 ' ( #96 ) from sl-perception/social-face-detection into main
2026-03-01 23:55:18 -05:00
d6a6965af6
Merge pull request 'feat(social): person enrollment system #87 ' ( #95 ) from sl-perception/social-enrollment into main
2026-03-01 23:55:16 -05:00
35b940e1f5
Merge pull request 'feat(social): Issue #86 — physical expression + motor attention' ( #94 ) from sl-firmware/social-expression into main
2026-03-01 23:55:14 -05:00
5143e5bfac
feat(social): Issue #86 — physical expression + motor attention
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ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
- Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
- Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
- Idle breathing animation (sine-modulated warm white)
- Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command
ROS2 saltybot_social_msgs (new package):
- Mood.msg — {mood, intensity}
- Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
- PersonArray.msg — {persons[], active_id}
ROS2 saltybot_social (new package):
- expression_node: subscribes /social/mood → JSON serial to ESP32-C3
reconnects on port error; sends idle frame after idle_timeout_s
- attention_node: subscribes /social/persons → /cmd_vel rotation-only
proportional control with dead zone; prefers active speaker, falls
back to highest-confidence person; lost-target idle after 2 s
- launch/social.launch.py — combined launch
- config YAML for both nodes with documented parameters
- test/test_attention.py — 15 pytest-only unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:35:59 -05:00
5c4f18e46c
feat(social): person enrollment system — SQLite gallery + voice trigger (Issue #87 )
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- saltybot_social_msgs: 6 msg + 5 srv definitions for social interaction
- saltybot_social_enrollment: enrollment_node + enrollment_cli
- PersonDB: thread-safe SQLite-backed gallery (embeddings, voice samples)
- Voice-triggered enrollment via "remember me my name is X" phrase
- CLI: enroll/list/delete/rename via ros2 run
- Services: /social/enroll, /social/persons/list|delete|update
- Gallery sync from /social/faces/embeddings topic
2026-03-01 23:32:26 -05:00
f61a03b3c5
feat(social): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80 )
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Add two new ROS2 packages for the social sprint:
saltybot_social_msgs (ament_cmake):
- FaceDetection, FaceDetectionArray, FaceEmbedding, FaceEmbeddingArray
- PersonState, PersonStateArray
- EnrollPerson, ListPersons, DeletePerson, UpdatePerson services
saltybot_social_face (ament_python):
- SCRFDDetector: SCRFD face detection with TRT FP16 + ONNX fallback
- 640x640 input, 3-stride anchor decoding, NMS
- ArcFaceRecognizer: 512-dim embedding extraction with gallery matching
- 5-point landmark alignment to 112x112, cosine similarity
- FaceGallery: thread-safe persistent gallery (npz + JSON sidecar)
- FaceRecognitionNode: ROS2 node subscribing /camera/color/image_raw,
publishing /social/faces/detections, /social/faces/embeddings
- Enrollment via /social/enroll service (N-sample face averaging)
- Launch file, config YAML, TRT engine builder script
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:31:48 -05:00
d9c983f666
Merge pull request 'feat(social): navigation & path planning #91 ' ( #97 ) from sl-perception/social-nav into main
2026-03-01 23:30:40 -05:00
54e9274405
Merge pull request 'feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90 )' ( #99 ) from sl-firmware/uwb-integration into main
2026-03-01 23:30:12 -05:00
