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a50f22d56b
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feat: Nav2 cmd_vel to STM32 autonomous drive bridge
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to
Nav2 /cmd_vel and drives the STM32 over USB CDC with:
- Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s)
- Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop)
- Deadman switch: zeros targets if /cmd_vel silent >500 ms
- Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS)
- Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
- Heartbeat TX every 200 ms (H\n)
Deliverables:
saltybot_bridge/cmd_vel_bridge_node.py — node implementation
config/cmd_vel_bridge_params.yaml — tunable parameters
launch/cmd_vel_bridge.launch.py — standalone launch file
test/test_cmd_vel_bridge.py — 37 pytest unit tests (no ROS2)
setup.py — register node + new data files
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 22:50:15 -05:00 |
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22aaeb02cf
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feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2)
STM32 firmware (C):
- include/jetson_cmd.h: protocol constants (HB_TIMEOUT_MS=500,
SPEED_MAX_DEG=4°), API for jetson_cmd_process/is_active/steer/sp_offset
- src/jetson_cmd.c: main-loop parser for buffered C<spd>,<str> frames;
setpoint offset = speed/1000 * 4°; steer clamped ±1000
- lib/USB_CDC/src/usbd_cdc_if.c: add H (heartbeat) and C (drive cmd) to
CDC_Receive ISR — follows existing pattern: H updates jetson_hb_tick in
ISR, C copied to jetson_cmd_buf for main-loop sscanf (avoids sscanf in IRQ)
- src/main.c: integrate jetson_cmd — process buffered frame, apply setpoint
offset around balance_update(), inject steer into motor_driver_update()
only when heartbeat alive (fallback: steer=0, setpoint unchanged)
ROS2 (Python):
- saltybot_cmd_node.py: full bidirectional node — owns serial port, handles
telemetry RX → topics AND /cmd_vel TX → C<spd>,<str>\n + H\n heartbeat
200ms timer; sends C0,0\n on shutdown; speed/steer_scale configurable
- serial_bridge_node.py: add write_serial() helper for extensibility
- launch/bridge.launch.py: mode arg (bidirectional|rx_only) selects node
- config/bridge_params.yaml: heartbeat_period, speed_scale, steer_scale docs
- test/test_cmd.py: 13 tests — zero, full fwd/rev, turn clamping, combined
- setup.py: saltybot_cmd_node entry point
All 21 tests pass (8 parse + 13 cmd).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 21:07:15 -05:00 |
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7c4e46aaa1
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feat: STM32-to-Jetson ROS2 serial bridge node
saltybot_bridge ROS2 Python package (ament_python):
- serial_bridge_node.py: reads USB CDC JSON telemetry from STM32F722 at 50Hz
Parses exact firmware format: {"p","r","e","ig","m","s","y"} (all ×10 ints)
State enum: 0=DISARMED, 1=ARMED, 2=TILT_FAULT (matched to balance_state_t)
- Publishes sensor_msgs/Imu on /saltybot/imu (pitch/roll/yaw as angular_velocity)
- Publishes std_msgs/String on /saltybot/balance_state (full PID JSON diagnostics)
- Publishes diagnostic_msgs/DiagnosticArray on /diagnostics (OK/WARN/ERROR by state)
- Auto-reconnects on serial disconnect; IMU fault frames → ERROR diagnostic
- launch/bridge.launch.py with serial_port + baud_rate launch args
- config/bridge_params.yaml (921600 baud, /dev/ttyACM0)
- test/test_parse.py: 8 unit tests covering normal, fault, edge cases (all pass)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 17:11:02 -05:00 |
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