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 )
...
## 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 )
...
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 )
...
- 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 )
...
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 )
...
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
...
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 )
...
- 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 )
...
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
b432492785
Merge pull request 'feat(social): multi-modal person state tracker #82 ' ( #93 ) from sl-perception/social-person-state into main
2026-03-01 23:30:04 -05:00
9a68dfdb2e
feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90 )
...
## Summary
- saltybot_uwb_msgs: add UwbBearing.msg, add tag_id to UwbRange.msg,
register UwbBearing in CMakeLists.txt
- ranging_math.py: add bearing_from_pos(x, y) helper (atan2-based)
- uwb_driver_node.py: dual-rate architecture
• 100 Hz /uwb/ranges — raw TWR ranges with tag_id attribution
• 10 Hz /uwb/bearing — Kalman-fused bearing + range estimate
• enrolled_tag_ids parameter for tag pairing filter
• AT+RANGE_ADDR=<tag> pairing command on connect
- uwb_config.yaml: range_rate / bearing_rate / enrolled_tag_ids params
- uwb.launch.py: expose new params as launch arguments
- test_ranging_math.py: 7 new bearing_from_pos unit tests
Closes #90
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:25:08 -05:00
d872ea5e34
feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91 )
...
- saltybot_social_msgs: full message/service definitions (standalone compilation)
- saltybot_social_nav: social navigation orchestrator
- Follow modes: shadow/lead/side/orbit/loose/tight
- Voice steering: mode switching + route commands via /social/speech/*
- A* obstacle avoidance on Nav2/SLAM occupancy grid (8-directional, inflation)
- MiDaS monocular depth for CSI cameras (TRT FP16 + ONNX fallback)
- Waypoint teaching + replay with WaypointRoute persistence
- High-speed EUC tracking (5.5 m/s = ~20 km/h)
- Predictive position extrapolation (0.3s ahead at high speed)
- Launch: social_nav.launch.py (social_nav + midas_depth + waypoint_teacher)
- Config: social_nav_params.yaml
- Script: build_midas_trt_engine.py (ONNX -> TRT FP16)
2026-03-01 23:15:00 -05:00
84790412d6
feat(social): multi-modal person state tracker (Issue #82 )
2026-03-01 23:08:22 -05:00
Sebastien Vayrette
ac6fcb9a42
docs: add Leap Motion, fix ESC step inset 12mm
2026-03-01 17:49:17 -05:00
Sebastien Vayrette
ea18b9ad72
docs: add ReSpeaker 2-Mic + SIM7600A 4G to wiring diagram
2026-03-01 16:32:34 -05:00
Sebastien Vayrette
0c40a1c4f4
docs: add full wiring diagram (Orin ↔ FC ↔ ESC)
2026-03-01 14:51:56 -05:00
fc8faa0dab
Merge pull request 'feat(safety): remote e-stop over 4G MQTT (Issue #63 )' ( #69 ) from sl-firmware/remote-estop into main
2026-03-01 04:58:58 -05:00
d41a9dfe10
feat(safety): remote e-stop over 4G MQTT (Issue #63 )
...
STM32 firmware:
- safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active()
CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch
- usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags
- status: status_update() +remote_estop param; both LEDs fast-blink 200ms
- main.c: immediate motor cutoff highest-priority; arming gated by
!safety_remote_estop_active(); motor estop auto-clear gated; telemetry
'es' field 0-4; status_update() updated to 5 args
Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED,
cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe.
Jetson bridge:
- remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s
- estop_params.yaml, remote_estop.launch.py
- setup.py / package.xml: register node + paho-mqtt dep
- docker-compose.yml: remote-estop service
- test_remote_estop.py: kill/clear/watchdog/latency unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 04:55:54 -05:00
f7acf1554c
Merge pull request 'feat: semantic sidewalk segmentation — TensorRT FP16 ( #72 )' ( #78 ) from sl-jetson/sidewalk-segmentation into main
2026-03-01 01:20:50 -05:00
e964d632bf
feat: semantic sidewalk segmentation — TensorRT FP16 ( #72 )
...
New packages
────────────
saltybot_segmentation (ament_python)
• seg_utils.py — pure Cityscapes-19 → traversability-5 mapping +
traversability_to_costmap() (Nav2 int8 costs) +
preprocess/letterbox/unpad helpers; numpy only
• sidewalk_seg_node.py — BiSeNetV2/DDRNet inference node with TRT FP16
primary backend and ONNX Runtime fallback;
subscribes /camera/color/image_raw (RealSense);
publishes /segmentation/mask (mono8, class/pixel),
/segmentation/costmap (OccupancyGrid, transient_local),
/segmentation/debug_image (optional BGR overlay);
inverse-perspective ground projection with camera
height/pitch params
• build_engine.py — PyTorch→ONNX→TRT FP16 pipeline for BiSeNetV2 +
DDRNet-23-slim; downloads pretrained Cityscapes
weights; validates latency vs >15fps target
• fine_tune.py — full fine-tune workflow: rosbag frame extraction,
LabelMe JSON→Cityscapes mask conversion, AdamW
training loop with albumentations augmentations,
per-class mIoU evaluation
• config/segmentation_params.yaml — model paths, input size 512×256,
costmap projection params, camera geometry
• launch/sidewalk_segmentation.launch.py
• docs/training_guide.md — dataset guide (Cityscapes + Mapillary Vistas),
step-by-step fine-tuning workflow, Nav2 integration
snippets, performance tuning section, mIoU benchmarks
• test/test_seg_utils.py — 24 unit tests (class mapping + cost generation)
saltybot_segmentation_costmap (ament_cmake)
• SegmentationCostmapLayer.hpp/cpp — Nav2 costmap2d plugin; subscribes
/segmentation/costmap (transient_local QoS); merges
traversability costs into local_costmap with
configurable combination_method (max/override/min);
occupancyToCost() maps -1/0/1-99/100 → unknown/
free/scaled/lethal
• plugin.xml, CMakeLists.txt, package.xml
Traversability classes
SIDEWALK (0) → cost 0 (free — preferred)
GRASS (1) → cost 50 (medium)
ROAD (2) → cost 90 (high — avoid but crossable)
OBSTACLE (3) → cost 100 (lethal)
UNKNOWN (4) → cost -1 (Nav2 unknown)
Performance target: >15fps on Orin Nano Super at 512×256
BiSeNetV2 FP16 TRT: ~50fps measured on similar Ampere hardware
DDRNet-23s FP16 TRT: ~40fps
Tests: 24/24 pass (seg_utils — no GPU/ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:15:13 -05:00
4be93669a1
Merge pull request 'feat: outdoor adaptive speed controller — walk/jog/ride profiles up to 8 m/s' ( #76 ) from sl-controls/outdoor-speed into main
2026-03-01 01:11:10 -05:00
d3168b9c07
Merge pull request 'feat: route recording + autonomous replay ( #71 )' ( #75 ) from sl-perception/route-record-replay into main
2026-03-01 01:10:02 -05:00
5dcaa7bd49
feat: route recording + autonomous replay ( #71 )
...
Implements Phase 3 ride-once-replay-forever route system.
saltybot_routes package:
- route_recorder_node: samples GPS+odom+heading at 1Hz during follow-me
rides; 2m waypoint spacing; JSON-Lines .jsonl on NVMe /data/routes/;
services start_recording/stop_recording/save/discard
- route_replayer_node: loads .jsonl, GPS->ENU flat-earth conversion,
heading->quaternion, 3m subsampling for Nav2 navigate_through_poses;
2m GPS tolerance (SIM7600X +-2.5m); pause/resume/stop services
- route_manager_node: list/info/delete services for saved routes
- route_system.launch.py: all three nodes with shared params
- route_params.yaml: waypoint_spacing_m=2.0, replay_spacing_m=3.0
GPS: /gps/fix from SIM7600X (PR #65 )
UWB: /uwb/target from follow-me (PR #66 )
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:07:06 -05:00
118d2b3add
feat: outdoor adaptive speed controller (saltybot_speed_controller)
...
Adds saltybot_speed_controller ROS2 package — sits between person_follower
(/cmd_vel_raw) and cmd_vel_bridge (/cmd_vel), providing adaptive speed profiles
tuned for balance stability during outdoor follow-me up to 8 m/s (EUC ride mode).
Key features:
- walk/jog/ride profiles (1.5/3.0/8.0 m/s) selected via UWB target velocity
- Hysteresis-based switching (5 ticks up, 15 ticks down) prevents oscillation
- Trapezoidal accel/decel ramps per profile; ride accel 0.3 m/s² (balance-safe)
- Emergency decel (2.0 m/s²) triggered by sudden target stop or hard decel
- GPS runaway protection: if GPS > commanded×1.5 AND > 50% profile_max → brake
- 52/52 unit tests (no ROS2 runtime required)
Topics: /cmd_vel_raw → [speed_controller] → /cmd_vel, /speed_controller/profile
Launch: ros2 launch saltybot_speed_controller outdoor_speed.launch.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:06:50 -05:00
dcc26e6937
Merge pull request 'feat: SIM7600X mount + LTE/GNSS antenna brackets' ( #70 ) from sl-mechanical/cellular-mount into main
2026-03-01 01:00:50 -05:00
b3c03e096f
Merge pull request 'feat: outdoor nav — OSM routing + geofence ( #59 )' ( #67 ) from sl-perception/outdoor-nav into main
2026-03-01 01:00:43 -05:00
