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Author SHA1 Message Date
sl-webui
f384cc4810 feat: Robot GPS live map panel (Issue #709 companion) 
Adds gps_map_panel.html/css/js — standalone dashboard panel:

- Leaflet.js + OpenStreetMap with dark CSS filter (matches dashboard theme)
- Heading-aware SVG robot marker (orange arrow shows direction of travel)
- Orange breadcrumb trail polyline (up to 2000 pts, CLEAR button)
- FOLLOW mode auto-pan; drag map to switch to FREE mode
- Sidebar: speed (km/h, color-coded), altitude, heading compass rose,
  fix status (0=NO FIX…4=RTK), fix count, lat/lon, trail log
- Exponential backoff auto-reconnect (2s→30s cap)
- Stale detection at 5s for fix + velocity badges

Subscribes via rosbridge to:
  saltybot/gps/fix  std_msgs/String JSON — {lat, lon, alt, stat, t}
  saltybot/gps/vel  std_msgs/String JSON — {spd, hdg, t}

index.html: new GPS MAP card (🛰️, #709) before CAN MONITOR
dashboard.js: gpsWatch subscription + 'gps' panel entry

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-03 22:28:44 -04:00
sl-jetson
d57c0bd51d feat: VESC CAN health monitor (Issue #651) 
New package: saltybot_vesc_health

- recovery_fsm.py: pure state machine (no ROS2/CAN deps; fully unit-tested)
  - VescHealthState: HEALTHY → DEGRADED (>500 ms) → ESTOP (>2 s) / BUS_OFF
  - VescMonitor.tick(): drives recovery sequence per VESC; startup-safe
  - VescMonitor.on_frame(): resets state on CAN frame arrival
  - VescMonitor.on_bus_off/on_bus_ok(): bus-off override + recovery
  - HealthFsm: dual-VESC wrapper aggregating both monitors

- health_monitor_node.py: ROS2 node
  - Subscribes /vesc/left/state + /vesc/right/state (JSON from vesc_telemetry)
  - Sends GET_VALUES alive frames via SocketCAN on DEGRADED state
  - Publishes /vesc/health (JSON, 10 Hz) — state, elapsed, recent faults
  - Publishes /diagnostics (DiagnosticArray, OK/WARN/ERROR per VESC)
  - Publishes /estop (JSON event) + zero /cmd_vel on e-stop trigger/clear
  - Polls ip link for bus-off state (1 Hz)
  - 200-entry fault event log included in /vesc/health

- test/test_vesc_health.py: 39 unit tests, all passing, no hardware needed
- config/vesc_health_params.yaml, launch/vesc_health.launch.py

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-18 08:03:19 -04:00
sl-webui
b6c6dbd838 feat: WebUI main dashboard with panel launcher (Issue #630) 
Replaces ui/index.html (old USB-serial HUD) with a full rosbridge
dashboard. Adds ui/dashboard.{css,js}.

Top bar:
- Robot name + ⚡ SALTYBOT logo
- Live battery % + voltage with fill bar (4S LiPo: 12.0V–16.8V)
- Safety state from /saltybot/safety_zone/status (GREEN/AMBER/RED)
- E-stop state display
- Drive mode display
- ROS uptime counter
- rosbridge WS input + CONNECT button

Panel grid (auto-fill responsive):
- MAP VIEW (#587) — /saltybot/pose/fused liveness dot
- GAMEPAD TELEOP (#598) — /cmd_vel activity indicator
- DIAGNOSTICS (#562) — /diagnostics liveness dot
- EVENT LOG (#576) — /rosout liveness dot
- SETTINGS (#614) — param service (config state, no topic)
- GIMBAL (#551) — /gimbal/state liveness dot

Each card shows: icon, title, issue #, description, topic chips,
and a LIVE/IDLE/OFFLINE status badge updated every second. Cards
open the linked standalone panel in the same tab.

Auto-detect rosbridge:
- Probes: page hostname:9090, localhost:9090, saltybot.local:9090
- Progress dots per candidate (trying/ok/fail)
- Falls back to manual URL entry
- Saves last successful URL to localStorage

Bottom bar:
- ⛔ E-STOP button (latches, publishes zero Twist to /cmd_vel)
  Space bar shortcut from dashboard
- RESUME button
- Drive mode switcher: MANUAL / AUTO / FOLLOW / DOCK
  (publishes to /saltybot/drive_mode std_msgs/String)
- Session timer (HH:MM:SS since page load)

Info strip: rosbridge URL · msg rate · latency (5s ping via
/rosapi/get_time) · robot IP

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-15 14:35:56 -04:00