Features:
- Circular gauge visualization for CPU and GPU temperatures
- Color-coded temperature zones: green <60°C, yellow 60-75°C, red >75°C
- Real-time needle pointer animation
- Fan speed percentage display for each sensor
- Peak temperature tracking and max reached indicator
- Thermal alert status (Normal/Caution/Critical)
- ROS subscription to /saltybot/thermal_status
- Integrated into TELEMETRY tab group
Build: 118 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 adaptive PID gain scheduler for SaltyBot with:
- Subscribes to /saltybot/speed_scale for speed conditions
- Subscribes to /saltybot/terrain_roughness for surface conditions
- Adjusts PID gains dynamically:
* P gain increases with terrain roughness (better response on rough)
* D gain decreases at low speed (prevent oscillation when slow)
* I gain scales with both conditions for stability
- Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains
- Configurable scaling factors for each gain modulation
- Includes 18+ unit tests for gain scheduling logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart for left (cyan) and right (amber) motor amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable)
- Real-time statistics:
* Current draw for left and right motors
* Peak current tracking over 60-second window
* Average current calculation
* Thermal status indicator with warning badge
- Color-coded thermal alerts:
* Red background when threshold exceeded
* Warning indicator and message
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)
Integrated into TELEMETRY tab group as 'Motor Current' tab.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart:
* Left motor current (cyan) in Amps
* Right motor current (amber) in Amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable):
* Dashed red line overlay on chart
* Configurable threshold constant for motor specs
* Auto-detects thermal warnings when threshold exceeded
- Real-time statistics display:
* Current draw for left and right motors (real-time)
* Peak current tracking over 60-second window
* Average current calculation
* Thermal status indicator with warning badge
- Color-coded thermal alerts:
* Red background when threshold exceeded
* Warning indicator with icon
* Left/right motor temperature monitoring
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)
Integrated into TELEMETRY tab group as 'Motor Current' tab.
Follows established canvas rendering patterns from BatteryChart.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 geofence enforcer for SaltyBot with:
- Loads polygon geofence from params (list of x/y vertices)
- Subscribes to /odom for real-time robot position
- Point-in-polygon ray casting algorithm for boundary checking
- Publishes Bool on /saltybot/geofence_breach on boundary violation
- Optional enforcement flag for cmd_vel zeroing
- Configurable safety margin
- Includes 20+ unit tests for geometry and breach detection
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements STM32F722 driver for WS2812 NeoPixel 8-LED ring with finite state machine.
Features:
- 8 operational states with animations:
* BOOT: Blue pulse (0.5 Hz)
* IDLE: Green breathe (0.5 Hz)
* ARMED: Solid green
* NAV: Cyan spin (1 Hz)
* ERROR: Red flash (2 Hz)
* LOW_BATT: Orange blink (1 Hz)
* CHARGING: Green fill (1 Hz)
* ESTOP: Red solid
- Non-blocking tick-based animation system
- State transitions via API
- PWM control on PB4 (TIM3_CH1) at 800 kHz
- Color interpolation for smooth effects
All 25 unit tests passing covering state transitions, animations, timing, and edge cases.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Topic bandwidth tracking and visualization with:
- Tracks message rates for all subscribed ROS topics
- Estimates bandwidth based on message size and frequency
- Message size estimated from JSON serialization
- Updates every 1 second with rolling 30-second history window
- Sortable table display:
* Topic name with truncation for long names
* Message rate (messages per second)
* Average message size (bytes)
* Bandwidth estimate (B/s, KB/s, or MB/s)
* Sparkline mini-chart showing bandwidth trend
- Total bandwidth summary at top
- Click column headers to sort (ascending/descending toggle)
- Visual indicators with color-coded columns
Integrated into MONITORING tab group as 'Bandwidth' tab.
Component provides window.__trackRosMessage() hook for optional
bandwidth tracking integration with ROS bridge.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 cliff detector for SaltyBot with:
- Subscribes to /saltybot/cliff_sensors (IR range array)
- Threshold-based detection (default 0.5m)
- Debouncing (3 consecutive frames) for robustness
- Majority voting (min 2 sensors) for safety
- Publishes Bool on /saltybot/cliff_detected
- Emergency stop trigger on cliff/drop-off detection
- Includes 15+ unit tests for detection logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Adds face_track_servo_node to saltybot_social:
- Subscribes /social/faces/detected (FaceDetectionArray)
- Picks closest face by largest bbox area (proximity proxy)
- Computes pan/tilt error from bbox centre vs image centre using
configurable FOV (fov_h_deg=60°, fov_v_deg=45°)
- Independent PID controllers for pan and tilt (velocity/incremental
output with anti-windup); servo position integrates velocity*dt
- Clamps commands to ±pan_limit_deg / ±tilt_limit_deg
- Returns to centre at return_rate_deg_s when face lost >lost_timeout_s
- Dead zone suppresses jitter for small errors
- Publishes Float32 on /saltybot/head_pan and /saltybot/head_tilt
- 81/81 tests passing
Closes#279
Real-time battery history visualization with:
- Subscribes to /saltybot/battery_state for continuous battery data
- Rolling 30-minute history window with automatic data culling
- Dual-axis line chart: voltage (left, cyan) and percentage (right, amber)
- Canvas-based rendering for performance
- Charge/discharge rate calculation (last 5-minute average):
* Voltage rate in mV/min with up/down/stable indicator
* Percentage rate in %/min with up/down/stable indicator
- Grid overlay, axis labels, time labels, and legend
- Current stats display: voltage, percentage, rates
- Responsive canvas sizing
Integrated into TELEMETRY tab group as 'Battery History' tab.
Follows established canvas rendering and data subscription patterns.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements ROS2 IMU gyro + accel calibration node with:
- Service-triggered calibration via /saltybot/calibrate_imu
- Optional auto-calibration on startup (configurable)
- Collects N stationary samples (default 100)
- Computes mean bias offsets for gyro and accel
- Publishes bias-corrected IMU on /imu/calibrated
- Includes 10+ unit tests for calibration logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Real-time ROS log stream viewer with:
- Subscribes to /rosout (rcl_interfaces/Log)
- Severity-based color coding:
DEBUG=grey | INFO=white | WARN=yellow | ERROR=red | FATAL=magenta
- Filter by severity level (multi-select toggle)
- Filter by node name (text input)
- Auto-scroll to latest logs
- Max 500 logs in history (configurable)
- Scrolling log output in monospace font
- Proper timestamp formatting (HH:MM:SS)
Integrated into MONITORING tab group as 'Logs' tab alongside 'Events'.
Follows established React/Tailwind patterns from other dashboard components.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Adds greeting_trigger_node to saltybot_social:
- Subscribes to /social/faces/detected (FaceDetectionArray) for face arrivals
- Subscribes to /social/person_states (PersonStateArray) to cache face_id→distance
- Fires greeting when face_id is within proximity_m (default 2m) and
not in per-face_id cooldown window (default 300s)
- Publishes JSON on /saltybot/greeting_trigger:
{face_id, person_name, distance_m, ts}
- unknown_distance param controls assumed distance for faces with no PersonState yet
- Thread-safe distance cache and greeted map
- 50/50 tests passing
Closes#270
Adds multi-pass spatial-Gaussian hole filler for D435i depth images.
Each pass replaces zero/NaN pixels with the Gaussian-weighted mean of valid
neighbours in a growing kernel (×1, ×2.5, ×6 default); original valid
pixels are never modified. Handles uint16 mm → float32 m conversion,
border pixels via BORDER_REFLECT, and above-d_max pixels as holes.
Publishes filled float32 depth on /camera/depth/filled at camera rate.
37/37 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Persistent top bar showing real-time robot health indicators:
- Battery percentage and voltage (color-coded: green >60%, amber 30-60%, red <30%)
- WiFi signal strength (RSSI dBm with quality assessment)
- Motor status and current draw in Amperes
- Emergency state indicator (red highlight when active)
- System uptime in hours and minutes
- Current operational mode (idle/nav/social/docking)
- Connection status indicator
Component subscribes to relevant ROS topics and displays in compact
flex layout matching dashboard dark theme.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
