Move camera viewer from TELEMETRY to new CAMERAS tab group (rose color).
Reorganizes tab structure to separate media capture from system telemetry.
CameraViewer.jsx already provides comprehensive MJPEG stream support:
- Multi-camera switching (7 total: front/left/rear/right CSI, D435i RGB/depth, panoramic)
- FPS counter per camera with quality badge (FULL/GOOD/LOW/NO SIGNAL)
- Resolution and camera info display
- Detection overlays (faces, gestures, scene objects)
- Picture-in-picture support (up to 3 pinned cameras)
- Video recording (MP4/WebM) and snapshot capture
- 360° panoramic viewer with mouse drag pan
- Color-coded quality indicators based on FPS
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Features:
- Subscribes to /saltybot/hands (21 landmarks per hand - MediaPipe format)
- Subscribes to /saltybot/hand_gesture (String gesture label)
- Canvas-based hand skeleton rendering with bone connections
- Support for dual hand tracking (left and right)
- Handedness indicators with color coding
* Left hand: green
* Right hand: yellow
- Real-time gesture display with confidence indicator
- Per-landmark confidence visualization
- Bone connections between all 21 joints
Hand Skeleton Features:
- 21 MediaPipe landmarks per hand
* Wrist (1)
* Thumb (4)
* Index finger (4)
* Middle finger (4)
* Ring finger (4)
* Pinky finger (4)
- 20 bone connections between joints
- Confidence-based rendering (only show high-confidence points)
- Scaling and normalization for viewport
- Joint type indicators (tips with ring outline)
- Glow effects around landmarks
Gesture Recognition:
- Real-time gesture label display
- Confidence percentage (0-100%)
- Color-coded confidence:
* Green: >80% (high confidence)
* Yellow: 50-80% (medium confidence)
* Blue: <50% (detecting)
Hand Status Display:
- Live detection status for both hands
- Visual indicators (✓ detected / ◯ not detected)
- Dual-hand canvas rendering
- Gesture info panel with confidence bar
Integration:
- Added to SOCIAL tab group as "Hands" tab
- Positioned after "Faces" tab
- Uses subscribe hook for real-time updates
- Dark theme with color-coded hands
- Canvas-based rendering for smooth visualization
Build: 125 modules, no errors
Main bundle: 270.08 KB
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Features:
- Subscribes to /diagnostics (diagnostic_msgs/DiagnosticArray)
- Hardware status cards per subsystem with color-coded health
- Real-time error and warning counts
- Expandable diagnostic cards with detailed key-value pairs
- Diagnostic status timeline with timestamps
- Aggregated system health summary
- Status indicators: OK (green), WARNING (yellow), ERROR (red), STALE (gray)
- Hardware Status Display
* Per-subsystem diagnostic cards
* Status level with color coding
* Expandable details with key values
* Hardware ID tracking
* Name and message display
- Health Summary Card
* Total diagnostic count
* OK/WARNING/ERROR/STALE breakdowns
* Overall system health status
* Visual status indicator
- Timeline and History
* Recent status timeline (10 latest events)
* Timestamp tracking
* Status transitions
* Scrollable history
- Status Legend
* Color-coded reference guide
* Status descriptions
* Quick status lookup
Integration:
- Added to MONITORING tab group as first tab (highest priority)
- Uses subscribe hook for real-time updates
- Dark theme with comprehensive status visualization
- Max 100 diagnostic events in history
Build: 124 modules, no errors
Main bundle: 264.31 KB
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements saltybot_pure_pursuit package:
- Pure pursuit algorithm for path following with configurable parameters
- Lookahead distance (0.5m default) for target point on path
- Goal tolerance (0.1m) for goal detection
- Heading error correction to reduce speed when misaligned with path
- Publishes Twist commands on /cmd_vel_tracked for Nav2 integration
- Subscribes to /odom (odometry) and /path (Path trajectory)
- Tracks and publishes cross-track error for monitoring
Pure pursuit geometry:
- Finds closest point on path to robot current position
- Looks ahead specified distance along path from closest point
- Computes steering angle to follow circular arc to lookahead point
- Reduces linear velocity when heading error is large (with correction enabled)
- Clamps velocities to configurable maximums
Configuration parameters:
- lookahead_distance: 0.5m (typical range: 0.1-1.0m)
- goal_tolerance: 0.1m (distance to goal before stopping)
- heading_tolerance: 0.1 rad (unused but can support in future)
- max_linear_velocity: 1.0 m/s
- max_angular_velocity: 1.57 rad/s
- use_heading_correction: true (reduces speed on large heading errors)
Comprehensive test suite: 20+ tests covering:
- Geometric calculations (distance, quaternion conversions)
- Path following logic (empty path, straight/curved/spiral paths)
- Steering calculations (heading errors, velocity limits)
- Edge cases and realistic scenarios
- Control loop integration
- Parameter variations
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Critical bug fix:
- Added missing StatusHeader import (used in JSX line 215)
- Added missing LogViewer import (used in JSX line 291)
- Added missing MotorCurrentGraph import (used in JSX line 264)
These imports were referenced in JSX but not imported, causing dashboard crashes on load.
Build verification:
- 122 modules, all compiled successfully
- No errors or warnings
- Bundle: 255.38 KB main
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Polls /dev/video* at 2 Hz, drives a three-state machine
(connected/disconnected/restarting) and publishes to
/saltybot/camera_status (std_msgs/String). Reconnects within
restart_grace_s (5 s) → 'restarting' held for restart_hold_s (2 s)
to signal downstream capture pipelines to restart. Scan function
is injected for offline testing. 82/82 tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Features:
- Virtual dual-stick gamepad interface
* Left stick: linear velocity (forward/backward)
* Right stick: angular velocity (turn left/right)
- Canvas-based rendering with real-time visual feedback
- Velocity vector visualization on sticks
- 10% deadzone on both axes for dead-stick detection
- WASD keyboard fallback for manual driving
* W/S: forward/backward
* A/D: turn left/right
* Smooth blending between gamepad and keyboard input
- Speed limiter slider (0-100%)
* Real-time control of max velocity
* Disabled during e-stop state
- Emergency stop button (e-stop)
* Immediate velocity zeroing
* Visual status indicator (red when active)
* Prevents accidental motion during e-stop
- ROS Integration
* Publishes geometry_msgs/Twist to /cmd_vel
* Max linear velocity: 0.5 m/s
* Max angular velocity: 1.0 rad/s
* 50ms update rate
- UI Features
* Real-time velocity display (m/s and rad/s)
* Status bar with control mode indicator
* Speed limit percentage display
* Control info with keyboard fallback guide
Integration:
- Replaces previous split-view control layout
- Enhanced TELEMETRY/control tab
- Comprehensive gamepad + keyboard control system
Build: 120 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Energy-gated log-mel + cosine-similarity wake-word node. Subscribes to
/social/speech/audio_raw (PCM-16 UInt8MultiArray), maintains a 1.5 s
sliding ring buffer, runs detection every 100 ms; fires Bool(True) on
/saltybot/wake_word_detected with 2 s cooldown. Template loaded from
.npy file; passive (no detections) when template_path is empty.
91/91 tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Features:
- Enumerate active ROS nodes from /rosout activity
- Real-time node status tracking (alive/dead based on heartbeat)
- Heartbeat timeout: 5 seconds without updates = dead
- Display node name, status, uptime, and last seen timestamp
- Color-coded status indicators (green=alive, gray=dead)
- Sortable table with node statistics
- Summary card showing alive/dead node counts
- Periodic status polling every 2 seconds
Integration:
- Added to MONITORING tab group as 'Nodes' tab
- Subscribes to /rosout (rcl_interfaces/Log) to detect active nodes
- Real-time updates with smooth transitions
Build: 119 modules, no errors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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>
