13b17a11e1
Merge pull request 'feat: Steering PID controller (Issue #616 )' ( #624 ) from sl-controls/issue-616-steering-pid into main
2026-03-15 11:02:33 -04:00
96d13052b4
Merge pull request 'feat: RealSense obstacle detection (Issue #611 )' ( #623 ) from sl-perception/issue-611-obstacle-detect into main
2026-03-15 11:02:29 -04:00
a01fa091d4
Merge pull request 'feat: ESP-NOW to ROS2 serial relay node (Issue #618 )' ( #621 ) from sl-uwb/issue-618-espnow-relay into main
2026-03-15 11:02:21 -04:00
62aab7164e
Merge pull request 'feat: Jetson Orin Nano mount bracket (Issue #612 )' ( #619 ) from sl-mechanical/issue-612-jetson-mount into main
2026-03-15 11:02:14 -04:00
7e12dab4ae
feat: ROS2 bag recording manager (Issue #615 )
...
Upgrades saltybot_bag_recorder (Issue #488 ) with:
- Motion-triggered auto-record: subscribes /cmd_vel, starts on non-zero
velocity, stops after 30s idle timeout (configurable)
- Auto-split at 1 GB or 10 min via subprocess restart
- USB/NVMe storage selection: ordered priority list, picks first path
with >= 2 GB free (/media/usb0 -> /media/usb1 -> /mnt/nvme -> ~/bags)
- Disk monitoring: warns at 70%, triggers cleanup of bags >7 days at 80%
- JSON status on /saltybot/bag_recorder/status at 1 Hz
- Services: /saltybot/bag_recorder/{start,stop,split}
(legacy /saltybot/{start,stop}_recording kept for compatibility)
- bag_policy.py: pure-Python MotionState, DiskInfo, StorageSelector,
BagPolicy — ROS2-free, fully unit-testable
- 76 unit tests passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:12:40 -04:00
1e69337ffd
feat: Steering PID for differential drive (Issue #616 )
...
Closed-loop yaw-rate controller that converts Jetson Twist.angular.z
to a differential wheel speed offset using IMU gyro Z as feedback.
- include/steering_pid.h + src/steering_pid.c: PID with anti-windup
(integral clamped to ±200 counts) and rate limiter (10 counts/ms
max output change) to protect balance PID from sudden steering steps.
JLINK_TLM_STEERING (0x8A) telemetry at 10 Hz.
- include/mpu6000.h + src/mpu6000.c: expose yaw_rate (board_gz) in
IMUData so callers have direct bias-corrected gyro Z feedback.
- include/jlink.h + src/jlink.c: add JLINK_TLM_STEERING (0x8A),
jlink_tlm_steering_t (8 bytes), jlink_send_steering_tlm().
- test/test_steering_pid.c: 78 unit tests (host build with gcc),
all passing.
Usage (main loop):
steering_pid_set_target(&s, jlink_state.steer * STEER_OMEGA_SCALE);
int16_t steer_out = steering_pid_update(&s, imu.yaw_rate, dt);
motor_driver_update(&motor, balance_cmd, steer_out, now_ms);
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:11:05 -04:00
82ad626a94
feat: RealSense depth obstacle detection (Issue #611 )
...
New package saltybot_obstacle_detect — RANSAC ground plane fitting on
D435i depth images with 2D grid BFS obstacle clustering.
ground_plane.py (pure Python + numpy):
fit_ground_plane(pts, n_iter=50, inlier_thresh_m=0.06): RANSAC over 3D
point cloud in camera optical frame (+Z forward). Samples 3 points, fits
plane via cross-product, counts inliers, refines via SVD on best inlier
set. Orients normal toward -Y (upward in world). Returns (normal, d).
height_above_plane(pts, plane): signed h = d - n·p (h>0 = above ground).
obstacle_mask(pts, plane, min_h, max_h): min_obstacle_h_m < h < max_h.
ground_mask(pts, plane, thresh): inlier classification.
obstacle_clusterer.py (pure Python + numpy):
cluster_obstacles(pts, heights, cell_m=0.30, min_pts=5): projects
obstacle 3D points onto (X,Z) bird's-eye plane, discretises into grid
cells, runs 4-connected BFS flood-fill, returns ObstacleCluster list
sorted by forward distance. ObstacleCluster: centroid(3), radius_m,
height_m, n_pts + distance_m/lateral_m properties.
obstacle_detect_node.py (ROS2 node 'obstacle_detect'):
- Subscribes: /camera/depth/camera_info (latched, once),
/camera/depth/image_rect_raw (BEST_EFFORT, 30Hz float32 depth).
- Pipeline: stride downsample (default 8x → 80x60) → back-project to
3D → RANSAC ground plane (temporally blended α=0.3) → obstacle mask
(min_h=0.05m, max_h=0.80m) → BFS clustering → alert classification.
- Publishes:
/saltybot/obstacles (MarkerArray): SPHERE markers colour-coded
DANGER(red)/WARN(yellow)/CLEAR(green) + distance TEXT labels.
/saltybot/obstacles/cloud (PointCloud2): xyz float32 non-ground pts.
/saltybot/obstacles/alert (String JSON): alert_level, closest_m,
obstacle_count, per-obstacle {x,y,z,radius_m,height_m,level}.
- Safety zone integration (depth_estop_enabled=false by default):
DANGER → zero Twist to depth_estop_topic (/cmd_vel_input) feeds
into safety_zone's cmd_vel chain for independent depth e-stop.
config/obstacle_detect_params.yaml: all tuneable parameters with comments.
launch/obstacle_detect.launch.py: single node with params_file arg.
test/test_ground_plane.py: 10 unit tests (RANSAC correctness, normal
orientation, height computation, inlier/obstacle classification).
test/test_obstacle_clusterer.py: 8 unit tests (single/dual cluster,
distance sort, empty, min_pts filter, centroid accuracy, range clip).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:09:23 -04:00
921eaba8b3
feat: WebUI settings and configuration panel (Issue #614 )
...
Standalone ui/settings_panel.{html,js,css} — no build step.
Sections / tabs:
- PID: balance_controller (Kp/Ki/Kd/i_clamp/rate),
adaptive_pid (kp/ki/kd per load profile, output bounds)
- Speed: tank_driver (max_linear_vel, max_angular_vel, slip_factor),
smooth_velocity_controller (accel/decel limits),
battery_speed_limiter (speed factors)
- Safety: safety_zone (danger_range_m, warn_range_m, forward_arc_deg,
debounce, min_valid_range, publish_rate),
power_supervisor_node (battery % thresholds, speed factors),
lidar_avoidance (e-stop distance, safety zone sizes)
- Sensors: boolean toggles (estop_all_arcs, lidar_enabled, uwb_enabled),
uwb_imu_fusion weights and publish rate
- System: live /diagnostics subscriber (CPU/GPU/board/motor temps,
RAM/GPU/disk usage, WiFi RSSI+latency, MQTT status, last-update),
/rosapi/nodes node list
ROS2 parameter services (rcl_interfaces/srv/GetParameters +
SetParameters) via rosbridge WebSocket. Each section has independent
↓ LOAD (get_parameters) and ↑ APPLY (set_parameters) buttons with
success/error status feedback.
Presets: save/load/delete named snapshots of all values to
localStorage. Reset-to-defaults button restores built-in defaults.
Changed fields highlighted in amber (slider thumb + input border).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:08:47 -04:00
sl-uwb
65e0009118
feat: ESP-NOW to ROS2 serial relay (Issue #618 )
...
New ROS2 package saltybot_uwb_espnow_relay:
- packet.py: EspNowPacket dataclass + FrameReader stateful decoder
- Parses 20-byte ESP-NOW packets: MAGIC, tag_id, msg_type, anchor_id,
range_mm (int32 LE), rssi_dbm (float32), timestamp_ms, battery_pct,
flags (bit0=estop), seq_num
- Serial framing: STX(0x02) + LEN(0x14) + DATA[20] + XOR-CRC(1)
- Sync recovery: re-hunts STX after bad LEN or CRC; byte-by-byte capable
- relay_node.py: /espnow_relay ROS2 node
- Reads from USB serial in background thread (auto-reconnects on error)
- MSG_RANGE (0x10): publishes UwbRange on /uwb/espnow/ranges
- MSG_ESTOP (0x20): publishes std_msgs/Bool on /uwb/espnow/estop
and /saltybot/estop (latched True for estop_latch_s after last packet)
- MSG_HEARTBEAT (0x30): publishes EspNowHeartbeat on /uwb/espnow/heartbeat
- Range validity gating: min_range_m / max_range_m params
- 16/16 unit tests passing (test/test_packet.py, no ROS2/hardware needed)
saltybot_uwb_msgs: add EspNowHeartbeat.msg
(tag_id, battery_pct, seq_num, timestamp_ms + std_msgs/Header)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:08:19 -04:00
sl-android
9b1f3ddaf0
feat: GPS waypoint logger and route planner (Issue #617 )
...
Add phone/waypoint_logger.py — interactive Termux CLI for recording,
managing, and publishing GPS waypoints:
GPS acquisition
- termux-location with gps/network/passive provider selection
- Falls back to network provider on GPS timeout
- Optional --live-gps flag: subscribes to saltybot/phone/gps MQTT
topic (sensor_dashboard.py stream) to avoid redundant GPS calls
Waypoint operations
- Record: acquires GPS fix, prompts for name + tags, appends to route
- List: table with lat/lon/alt/accuracy/tags + inter-waypoint
distance (haversine) and bearing (8-point compass)
- Delete: by index with confirmation prompt
- Clear: entire route with confirmation
- Rename: route name
Persistence
- Routes saved as JSON to ~/saltybot_route.json (configurable)
- Auto-loads on startup; survives session restarts
MQTT publish (saltybot/phone/route, QoS 1, retained)
- Full waypoint list with metadata
- nav2_poses array: flat-earth x/y (metres from origin),
quaternion yaw facing next waypoint (last faces prev)
- Compatible with Nav2 FollowWaypoints action input
Geo maths
- haversine_m(): great-circle distance
- bearing_deg(): initial bearing with 8-point compass label
- flat_earth_xy(): ENU metres for Nav2 pose export (<1% error <100km)
Flags: --broker, --port, --file, --route, --provider, --live-gps,
--no-mqtt, --debug
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:05:57 -04:00
837c42a00d
feat: Jetson Orin Nano mount bracket (Issue #612 )
2026-03-15 10:04:37 -04:00
c0bb4f6276
Merge pull request 'feat: CAN bus driver for BLDC motor controllers (Issue #597 )' ( #610 ) from sl-firmware/issue-597-can-driver into main
2026-03-14 16:27:36 -04:00
2996d18ace
feat: CAN bus driver for BLDC motor controllers (Issue #597 )
...
- Add can_driver.h / can_driver.c: CAN2 on PB12/PB13 (AF9) at 500 kbps
APB1=54 MHz, PSC=6, BS1=13tq, BS2=4tq, SJW=1tq → 18tq/bit, SP 77.8%
Filter bank 14 (SlaveStartFilterBank=14); 32-bit mask; FIFO0
Accept std IDs 0x200–0x21F (left/right feedback frames)
TX: velocity+torque cmd (0x100+nid, DLC=4) at 100 Hz via main loop
RX: velocity/current/position/temp/fault feedback (0x200+nid, DLC=8)
AutoBusOff=ENABLE for HW recovery; can_driver_process() drains FIFO0
- Add JLINK_TLM_CAN_STATS (0x89, 16 bytes) + JLINK_CMD_CAN_STATS_GET (0x10)
Also add JLINK_TLM_SLOPE (0x88) + jlink_tlm_slope_t missing from Issue #600
- Wire into main.c: init after jlink_init; 100Hz TX loop (differential drive
speed_rpm ± steer_rpm/2); CAN enable follows arm state; 1Hz stats telemetry
- Add CAN_RPM_SCALE=10 and CAN_TLM_HZ=1 to config.h
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:58:13 -04:00
bb5eff1382
Merge pull request 'feat: MQTT-to-ROS2 phone sensor bridge (Issue #601 )' ( #605 ) from sl-android/issue-601-mqtt-ros2-bridge into main
2026-03-14 15:55:22 -04:00
8b1d6483cf
Merge pull request 'feat: Slope tilt compensation (Issue #600 )' ( #609 ) from sl-controls/issue-600-slope-compensation into main
2026-03-14 15:55:01 -04:00
6c00d6a321
Merge pull request 'feat: UWB anchor auto-calibration via inter-anchor ranging + MDS (Issue #602 )' ( #608 ) from sl-uwb/issue-602-anchor-calibration into main
2026-03-14 15:54:56 -04:00
2460ba27c7
Merge pull request 'feat: Nav2 with UWB localization (Issue #599 )' ( #607 ) from sl-jetson/issue-599-nav2-uwb into main
2026-03-14 15:54:52 -04:00
2367e08140
Merge pull request 'feat: Multi-sensor pose fusion (Issue #595 )' ( #606 ) from sl-perception/issue-595-pose-fusion into main
2026-03-14 15:54:48 -04:00
f188997192
Merge pull request 'feat: RPLIDAR A1 mount bracket (Issue #596 )' ( #604 ) from sl-mechanical/issue-596-rplidar-mount into main
2026-03-14 15:54:40 -04:00
7e5f673f7d
Merge pull request 'feat: WebUI gamepad teleop panel (Issue #598 )' ( #603 ) from sl-webui/issue-598-gamepad-teleop into main
2026-03-14 15:54:36 -04:00
be4966b01d
feat: Tilt compensation for slopes (Issue #600 )
...
Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples
the robot's balance offset from genuine ground incline. The balance
controller subtracts the slope estimate from measured pitch so the PID
balances around the slope surface rather than absolute vertical.
- include/slope_estimator.h + src/slope_estimator.c: first-order IIR
filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz
- include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88),
jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm()
- include/balance.h + src/balance.c: integrate slope_estimator into
balance_t; update, reset on tilt-fault and disarm
- test/test_slope_estimator.c: 35 unit tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:07:05 -04:00
sl-uwb
82cc223fb8
feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602 )
...
- peer_range_once(): DS-TWR initiator role toward a peer anchor
(POLL → RESP → FINAL, one-sided range estimate Ra - Da/2)
- AT+PEER_RANGE=<id>: returns +PEER_RANGE:<my>,<peer>,<mm>,<rssi>
or +PEER_RANGE:ERR,<peer>,TIMEOUT
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:06:29 -04:00
5f03e4cbef
feat: Tilt compensation for slopes (Issue #600 )
...
Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples
the robot's balance offset from genuine ground incline. The balance
controller subtracts the slope estimate from measured pitch so the PID
balances around the slope surface rather than absolute vertical.
- include/slope_estimator.h + src/slope_estimator.c: first-order IIR
filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz
- include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88),
jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm()
- include/balance.h + src/balance.c: integrate slope_estimator into
balance_t; update, reset on tilt-fault and disarm
- test/test_slope_estimator.c: 35 unit tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:04:58 -04:00
sl-uwb
587ca8a98e
feat: UWB anchor auto-calibration via inter-anchor ranging + MDS (Issue #602 )
...
Anchor firmware (esp32/uwb_anchor/src/main.cpp):
- Add peer_range_once(peer_id) — DS-TWR initiator role toward a peer anchor
- Add AT+PEER_RANGE=<id> command: triggers inter-anchor ranging and returns
+PEER_RANGE:<my_id>,<peer_id>,<range_mm>,<rssi_dbm> (or ERR,TIMEOUT)
ROS2 package saltybot_uwb_calibration_msgs:
- CalibrateAnchors.srv: request (anchor_ids[], n_samples) →
response (positions_x/y/z[], residual_rms_m, anchor_positions_json)
ROS2 package saltybot_uwb_calibration:
- mds_math.py: classical MDS (double-centred D², eigendecomposition),
anchor_frame_align() to fix anchor-0 at origin / anchor-1 on +X
- calibration_node.py: /saltybot/uwb/calibrate_anchors service —
opens anchor serial ports, rounds-robin AT+PEER_RANGE= for all pairs,
builds N×N distance matrix, runs MDS, returns JSON anchor positions
- 12/12 unit tests passing (test/test_mds_math.py)
- Supports ≥ 4 anchors; 5× averaged ranging per pair by default
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:03:53 -04:00
40b0917c33
feat: Nav2 integration with UWB localization (Issue #599 )
...
New package saltybot_nav2_uwb replacing AMCL-based localization with
UWB-IMU EKF fused pose. Key components:
- uwb_pose_bridge_node: subscribes /saltybot/pose/fused_cov (from EKF),
computes map→odom TF via T_map_odom = T_map_base × inv(T_odom_base),
broadcasts at 20 Hz. Publishes /initialpose on first valid pose.
- waypoint_sequencer.py: pure-Python state machine (IDLE→RUNNING→
SUCCEEDED/ABORTED/CANCELED) for sequential waypoint execution.
- waypoint_follower_node: action server on /saltybot/nav/follow_waypoints
(nav2_msgs/FollowWaypoints), sends each goal to Nav2 NavigateToPose
in sequence; JSON topic /saltybot/nav/waypoints for operator use.
- nav2_uwb_params.yaml: DWB controller capped at 1.0 m/s, global+local
costmap with /scan (RPLIDAR), rolling-window global costmap (no static
map needed), AMCL removed from lifecycle manager.
- nav2_uwb.launch.py: bridge (t=0) → Nav2 (t=2s) → waypoint follower
(t=4s) with LogInfo markers.
- 65 unit tests passing (waypoint dataclass, sequencer state machine,
2-D TF maths, progress tracking).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:02:26 -04:00
c76d5b0dd7
feat: Multi-sensor pose fusion node (Issue #595 )
...
New package saltybot_pose_fusion — EKF fusing UWB+IMU absolute pose,
visual odometry velocity, and raw IMU into a single authoritative pose.
pose_fusion_ekf.py (pure Python, no ROS2 deps):
PoseFusionEKF — state [x, y, θ, vx, vy, ω], 6-state EKF.
- predict_imu(ax_body, ay_body, omega, dt): body-frame IMU predict step
with Jacobian F, bias-compensated accel, process noise Q.
- update_uwb_position(x, y, sigma_m): absolute position measurement
(H=[1,0,0,0,0,0; 0,1,0,0,0,0]) from UWB+IMU fused stream.
- update_uwb_heading(heading_rad, sigma_rad): heading measurement.
- update_vo_velocity(vx_body, omega, ...): VO velocity measurement —
body-frame vx rotated to world via cos/sin(θ), updates [vx,vy,ω] state.
- Joseph-form covariance update for numerical stability.
- Dual dropout clocks: uwb_dropout_s, vo_dropout_s (reset on each update).
- Velocity damping when uwb_dropout_s > 2s.
- Sensor weight parameters: sigma_uwb_pos_m, sigma_uwb_head_rad,
sigma_vo_vel_m_s, sigma_vo_omega_r_s, sigma_imu_accel/gyro,
sigma_vel_drift, dropout_vel_damp.
pose_fusion_node.py (ROS2 node 'pose_fusion'):
- Subscribes: /imu/data (Imu, 200Hz → predict), /saltybot/pose/fused_cov
(PoseWithCovarianceStamped, 10Hz → position+heading update, σ extracted
from message covariance when use_uwb_covariance=true), /saltybot/visual_odom
(Odometry, 30Hz → velocity update, σ from twist covariance).
- Publishes: /saltybot/pose/authoritative (PoseWithCovarianceStamped),
/saltybot/pose/status (String JSON, 10Hz).
- TF2: map→base_link broadcast at IMU rate.
- Suppresses output when uwb_dropout_s > uwb_dropout_max_s (10s).
- Warns (throttled) on UWB/VO dropout.
config/pose_fusion_params.yaml: sensor weights + dropout thresholds.
launch/pose_fusion.launch.py: single node launch with params_file arg.
test/test_pose_fusion_ekf.py: 13 unit tests — init, predict, UWB/VO
updates, dropout reset, covariance shape/convergence, sigma override.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:00:54 -04:00
sl-android
c62444cc0e
chore: Register mqtt_ros2_bridge entry point and paho-mqtt dep (Issue #601 )
...
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 14:59:41 -04:00
sl-android
dd13569413
feat: MQTT-to-ROS2 phone sensor bridge (Issue #601 )
...
Add saltybot_phone/mqtt_ros2_bridge_node.py — ROS2 node bridging the three
MQTT topics published by phone/sensor_dashboard.py into typed ROS2 messages:
saltybot/phone/imu → /saltybot/phone/imu sensor_msgs/Imu
saltybot/phone/gps → /saltybot/phone/gps sensor_msgs/NavSatFix
saltybot/phone/battery → /saltybot/phone/battery sensor_msgs/BatteryState
(status) → /saltybot/phone/bridge/status std_msgs/String
Key design:
- paho-mqtt loop_start() runs in dedicated network thread; on_message
enqueues (topic, payload) pairs into a thread-safe queue
- ROS2 timer drains queue at 50 Hz — all publishing stays on executor
thread, avoiding any rclpy threading concerns
- Timestamp alignment: uses ROS2 wall clock by default; opt-in
use_phone_timestamp param uses phone epoch ts when drift < warn_drift_s
- IMU: populates accel + gyro with diagonal covariance; orientation_cov[0]=-1
(unknown per REP-145)
- GPS: NavSatStatus.STATUS_FIX for gps/fused/network providers; full 3×3
position covariance from accuracy_m; COVARIANCE_TYPE_APPROXIMATED
- Battery: pct→percentage [0-1], temp Kelvin, health/status mapped from
Android health strings, voltage/current=NaN (unavailable on Android)
- Input validation: finite value checks on IMU, lat/lon range on GPS,
pct [0-100] on battery; bad messages logged at DEBUG and counted
- Status topic at 0.2 Hz: JSON {mqtt_connected, rx/pub/err counts,
age_s per sensor, queue_depth}
- Auto-reconnect via paho reconnect_delay_set (5 s → 20 s max)
Add launch/mqtt_bridge.launch.py with args: mqtt_host, mqtt_port,
reconnect_delay_s, use_phone_timestamp, warn_drift_s, imu_accel_cov,
imu_gyro_cov.
Register mqtt_ros2_bridge console script in setup.py.
Add python3-paho-mqtt exec_depend to package.xml.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 14:59:02 -04:00
816d165db4
feat: RPLIDAR A1 mount bracket (Issue #596 )
2026-03-14 14:58:41 -04:00
cbcae34b79
feat: WebUI gamepad teleoperation panel (Issue #598 )
...
- Standalone ui/gamepad_panel.{html,js,css} — no build step
- Web Gamepad API integration: L-stick=linear, R-stick=angular
- LT trigger scales speed down (fine control)
- B/Circle button toggles E-stop; Start button resumes
- Live raw axis bars and button state in sidebar
- Virtual dual joystick (left=drive, right=steer) via Pointer Capture API
- Deadzone ring drawn on canvas; configurable 0–40%
- Touch and mouse support
- WASD/Arrow keyboard input (W/S=forward/reverse, A/D=turn, Space=E-stop)
- Speed limiter sliders: linear (0–1.0 m/s), angular (0–2.0 rad/s)
- Configurable deadzone slider (0–40%)
- E-stop: latches zero-velocity command, blinking overlay, resume button
- Publishes geometry_msgs/Twist to /cmd_vel at 20 Hz via rosbridge WebSocket
- Input priority: gamepad > keyboard > virtual sticks
- Live command display (m/s, rad/s) with color feedback
- Pub rate display (Hz) in sidebar
- localStorage WS URL persistence, auto-reconnect on load
- Mobile-responsive: sidebar hidden ≤800px, right stick hidden ≤560px
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 14:58:41 -04:00
061189670a
Merge pull request 'feat: STM32 watchdog and fault recovery handler (Issue #565 )' ( #583 ) from sl-firmware/issue-565-fault-handler into main
2026-03-14 13:54:22 -04:00
8fbe7c0033
feat: STM32 watchdog and fault recovery handler (Issue #565 )
...
- New src/fault_handler.c + include/fault_handler.h:
- HardFault/MemManage/BusFault/UsageFault naked ISR stubs with
Cortex-M7 stack-frame capture (R0-R3, LR, PC, xPSR, CFSR, HFSR,
MMFAR, BFAR, SP) and NVIC_SystemReset()
- .noinit SRAM capture ring survives soft reset; persisted to flash
sector 7 (0x08060000, 8x64-byte slots) on subsequent boot
- MPU Region 0 stack guard (32 B at __stack_end, no-access) ->
MemManage fault detected as FAULT_STACK_OVF
- Brownout detect via RCC_CSR_BORRSTF on boot -> FAULT_BROWNOUT
- Watchdog reset detection delegates to existing watchdog.c
- LED blink codes on LED2 (PC14, active-low) for 10 s post-recovery:
HARDFAULT=3, WATCHDOG=2, BROWNOUT=1, STACK_OVF=4 fast blinks
- fault_led_tick(), fault_log_read(), fault_log_get_count(),
fault_get_last_type(), fault_log_clear(), FAULT_ASSERT() macro
- jlink.h: add JLINK_CMD_FAULT_LOG_GET (0x0F), JLINK_TLM_FAULT_LOG
(0x86), jlink_tlm_fault_log_t (20 bytes), fault_log_req in JLinkState,
jlink_send_fault_log() declaration
- jlink.c: dispatch JLINK_CMD_FAULT_LOG_GET; implement
jlink_send_fault_log() (26-byte CRC16-XModem framed response)
- main.c: call fault_handler_init() first in main(); send fault log
TLM on boot if prior fault recorded; fault_led_tick() in main loop;
handle fault_log_req flag to respond to Jetson queries
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 13:37:14 -04:00
15ff5acca7
Merge pull request 'feat: Visual odometry from RealSense stereo ORB (Issue #586 )' ( #593 ) from sl-perception/issue-586-visual-odom into main
2026-03-14 13:32:56 -04:00
f2743198e5
Merge pull request 'feat: WebUI map view (Issue #587 )' ( #591 ) from sl-webui/issue-587-map-view into main
2026-03-14 13:32:50 -04:00
6512c805be
Merge pull request 'feat: Motor current monitoring (Issue #584 )' ( #594 ) from sl-controls/issue-584-motor-current into main
2026-03-14 13:32:30 -04:00
1da1d50171
Merge pull request 'feat: Phone video bridge (Issue #585 )' ( #592 ) from sl-android/issue-585-video-bridge into main
2026-03-14 13:32:24 -04:00
6a8b6a679e
Merge pull request 'feat: Integrate UWB tag display + ESP-NOW + e-stop (salty/uwb-tag-display-wireless)' ( #590 ) from sl-uwb/issue-merge-uwb-tag-display into main
2026-03-14 13:32:19 -04:00
ddf8332cd7
Merge pull request 'feat: Battery holder bracket (Issue #588 )' ( #589 ) from sl-mechanical/issue-588-battery-holder into main
2026-03-14 13:32:16 -04:00
e9429e6177
Merge pull request 'feat: ROS2 launch orchestrator for full SaltyBot bringup (Issue #577 )' ( #582 ) from sl-jetson/issue-577-bringup-launch into main
2026-03-14 13:32:10 -04:00
2b06161cb4
feat: Motor current monitoring and overload protection (Issue #584 )
...
Adds ADC-based motor current sensing with configurable overload threshold,
soft PWM limiting, hard cutoff on sustained overload, and auto-recovery.
Changes:
- include/motor_current.h: MotorCurrentState enum (NORMAL/SOFT_LIMIT/COOLDOWN),
thresholds (5A hard, 4A soft, 2s overload, 10s cooldown), full API
- src/motor_current.c: reads battery_adc_get_current_ma() each tick (reuses
existing ADC3 IN13/PC3 DMA sampling); linear PWM scale in soft-limit zone
(scale256 fixed-point); fault counter + one-tick fault_pending flag for
main-loop fault log integration; telemetry at MOTOR_CURR_TLM_HZ (5 Hz)
- include/pid_flash.h: add pid_sched_entry_t (16 bytes), pid_sched_flash_t
(128 bytes at 0x0807FF40), PID_SCHED_MAX_BANDS=6, pid_flash_load_schedule(),
pid_flash_save_all() — fixes missing types needed by jlink.h (Issue #550 )
- src/pid_flash.c: implement flash_write_words() helper, pid_flash_load_schedule(),
pid_flash_save_all() — single sector-7 erase covers both schedule and PID records
- include/jlink.h: add JLINK_TLM_MOTOR_CURRENT (0x86), jlink_tlm_motor_current_t
(8 bytes: current_ma, limit_pct, state, fault_count), jlink_send_motor_current_tlm()
- src/jlink.c: implement jlink_send_motor_current_tlm() (14-byte frame)
Motor overload state machine:
MC_NORMAL : current_ma < 4000 mA — full PWM authority
MC_SOFT_LIMIT : 4000-5000 mA — linear reduction (0% at 4A → 100% at 5A)
MC_COOLDOWN : >5A sustained 2s → zero output for 10s then NORMAL
Main-loop integration:
motor_current_tick(now_ms);
if (motor_current_fault_pending()) fault_log_append(FAULT_MOTOR_OVERCURRENT);
cmd = motor_current_apply_limit(balance_pid_output());
motor_current_send_tlm(now_ms);
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:25:29 -04:00
c1b82608d5
feat: Visual odometry from RealSense stereo ORB (Issue #586 )
...
Adds stereo ORB-based visual odometry to saltybot_visual_odom package.
New modules:
- orb_stereo_matcher.py: ORB feature detection (cv2.ORB_create) with BFMatcher
NORM_HAMMING + Lowe ratio test for temporal matching (infra1 prev→curr).
Stereo scale method matches infra1↔infra2 under epipolar row constraint
(|Δrow|≤2px), computes depth = baseline_m * fx / disparity.
- stereo_orb_node.py: StereoOrbNode subscribes to infra1+infra2+depth
(ApproximateTimeSynchronizer 3-topic), detects/matches ORB temporally,
estimates SE(3) via Essential matrix (5-point RANSAC) using StereoVO,
recovers metric scale from D435i aligned depth (primary) or stereo
baseline disparity (fallback). Publishes nav_msgs/Odometry on
/saltybot/visual_odom and broadcasts TF2 odom→camera_link. Baseline
auto-updated from infra2 camera_info Tx (overrides parameter).
- config/stereo_orb_params.yaml, launch/stereo_orb.launch.py
- setup.py: adds stereo_orb entrypoint, installs launch+config dirs
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:21:58 -04:00
sl-android
08bc23f6df
feat: Phone video streaming bridge (Issue #585 )
...
Phone side — phone/video_bridge.py:
- MJPEG streaming server for Android/Termux phone camera
- Dual camera backends: OpenCV VideoCapture (V4L2) with automatic
fallback to termux-camera-photo for unmodified Android
- WebSocket server (ws://0.0.0.0:8765) — binary JPEG frames + JSON
info/error control messages; supports multiple concurrent clients
- HTTP server (http://0.0.0.0:8766 ):
/stream — multipart/x-mixed-replace MJPEG
/snapshot — single JPEG
/health — JSON stats (frame count, dropped, resolution, fps)
- Thread-safe single-slot FrameBuffer; CaptureThread rate-limited with
wall-clock accounting for capture latency
- Flags: --ws-port, --http-port, --width, --height, --fps, --quality,
--device, --camera-id, --no-http, --debug
Jetson side — saltybot_phone/phone_camera_node.py:
- ROS2 node: receives JPEG frames, publishes:
/saltybot/phone/camera sensor_msgs/Image (bgr8)
/saltybot/phone/camera/compressed sensor_msgs/CompressedImage
/saltybot/phone/camera/info std_msgs/String (stream metadata)
- WebSocket client (primary); HTTP MJPEG polling fallback on WS failure
- Auto-reconnect loop (default 3 s) for both transports
- Latency warning when frame age > latency_warn_ms (default 200 ms)
- 10 s diagnostics log: received/published counts + last frame age
- Registered as phone_camera_node console script in setup.py
- Added to phone_bringup.py launch with phone_host / phone_cam_enabled args
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:20:28 -04:00
5dac6337e6
feat: WebUI map view (Issue #587 )
...
Standalone 3-file 2D map panel (ui/map_panel.{html,js,css}).
No build step. Open directly or serve ui/ directory.
Canvas layers (drawn every animation frame):
- Grid lines (1m spacing) + world-origin axis cross + 1m scale bar
- RPLIDAR scan dots (/scan, green, cbor-compressed, 100ms throttle)
- Safety zone rings: danger 0.30m (red dashed) + warn 1.00m (amber dashed)
- 100-position breadcrumb trail with fading cyan polyline + dots every 5 pts
- UWB anchor markers (amber diamond + label, user-configured)
- Robot marker: circle + forward arrow, red when e-stopped
Interactions:
- Mouse wheel zoom (zooms around cursor)
- Click+drag pan
- Pinch-to-zoom (touch, two-finger)
- Auto-center toggle (robot stays centered when on)
- Zoom +/- buttons, Reset view button
- Clear trail button
- Mouse hover shows world coords (m) in bottom-left HUD
ROS topics:
SUB /saltybot/pose/fused geometry_msgs/PoseStamped 50ms throttle
SUB /scan sensor_msgs/LaserScan 100ms + cbor
SUB /saltybot/safety_zone/status std_msgs/String (JSON) 200ms throttle
Sidebar:
- Robot position (x, y m) + heading (°)
- Safety zone: forward zone (CLEAR/WARN/DANGER), closest obstacle (m), e-stop
- UWB anchor manager: add/remove anchors with x/y/label, persisted localStorage
- Topic reference
E-stop banner: pulsing red overlay when /saltybot/safety_zone/status estop_active=true
Mobile-responsive: sidebar hidden on <700px, canvas fills viewport.
WS URL persisted in localStorage.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:20:04 -04:00
sl-uwb
4b8d1b2ff7
feat: Integrate UWB tag display + ESP-NOW + e-stop (salty/uwb-tag-display-wireless)
...
Integrates Tee's additions to the DS-TWR tag firmware (esp32/uwb_tag/).
Base is our DS-TWR initiator from Issue #545 ; extensions added:
OLED display (SSD1306 128×64, I2C SDA=4 SCL=5):
- Big distance readout (nearest anchor, auto m/mm)
- Per-anchor range rows with link-age indicator
- Signal strength bars (RSSI)
- Uptime + sequence counter
- Full-screen E-STOP warning when button held
ESP-NOW wireless (peer-to-peer, no AP required):
- 20-byte broadcast packet: magic, tag_id, msg_type, anchor_id,
range_mm, rssi_dbm, timestamp_ms, battery_pct, flags, seq_num
- MSG_RANGE (0x10) on every successful TWR
- MSG_ESTOP (0x20) at 10 Hz while button held; 3× clear on release
- MSG_HEARTBEAT (0x30) at 1 Hz
Emergency stop (GPIO 0 / BOOT button, active LOW):
- Blocks ranging while active
- 10 Hz ESP-NOW e-stop TX, serial +ESTOP:ACTIVE / +ESTOP:CLEAR
- 3× clear packets on release
Build: adds Adafruit SSD1306 + GFX libraries to platformio.ini.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:19:31 -04:00
5556c06153
feat: Battery holder bracket (Issue #588 )
2026-03-14 12:18:37 -04:00
5a1290a8f9
Merge pull request 'feat: UWB anchor mount bracket (Issue #564 )' ( #569 ) from sl-mechanical/issue-564-uwb-anchor-mount into main
2026-03-14 12:15:43 -04:00
7b75cdad1a
feat: UWB anchor mount bracket (Issue #564 )
2026-03-14 12:15:12 -04:00
b09017c949
Merge pull request 'feat: UWB-IMU EKF fusion for robust indoor localization (Issue #573 )' ( #581 ) from sl-uwb/issue-573-uwb-imu-fusion into main
2026-03-14 12:14:05 -04:00
1726558a7a
Merge pull request 'feat: RPLIDAR safety zone detector (Issue #575 )' ( #580 ) from sl-perception/issue-575-safety-zone into main
2026-03-14 12:14:01 -04:00
5a3f4d1df6
Merge pull request 'feat: WebUI event log panel (Issue #576 )' ( #579 ) from sl-webui/issue-576-event-log into main
2026-03-14 12:13:56 -04:00
