Adds saltybot_bringup.launch.py with ordered startup groups (drivers→
perception→navigation→UI), timer-based health gates, configurable
profiles (minimal/full/debug), and estop on Ctrl-C shutdown.
Also adds launch_profiles.py dataclass module and 53-test coverage for
profile hierarchy, timing gates, safety bounds, and to_dict serialization.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_safety_zone — ROS2 Python node that processes the RPLIDAR
A1M8 /scan into three concentric 360° safety zones, latches an e-stop
when DANGER is detected in the forward arc, and overrides /cmd_vel to
zero while the latch is active.
Zone thresholds (default):
DANGER < 0.30 m — latching e-stop in forward arc
WARN < 1.00 m — advisory (published in sector data)
CLEAR otherwise
Sector grid:
36 sectors of 10° each (sector 0 = robot forward, CCW positive).
Per-sector: angle_deg, zone, min_range_m, in_forward_arc flag.
E-stop behaviour:
- Latches after estop_debounce_frames (2) consecutive DANGER scans
in the forward arc (configurable ±30°, or all-arcs mode).
- While latched: zero Twist published to /cmd_vel every scan + every
incoming /cmd_vel_input message is blocked.
- Clear only via service (obstacle must be gone):
/saltybot/safety_zone/clear_estop (std_srvs/Trigger)
Published topics:
/saltybot/safety_zone String/JSON every scan
— per-sector {sector, angle_deg, zone, min_range_m, forward}
— estop_active, estop_reason, danger_sectors[], warn_sectors[]
/saltybot/safety_zone/status String/JSON 10 Hz
— forward_zone, closest_obstacle_m, danger/warn counts
/cmd_vel Twist zero when e-stopped
Subscribed topics:
/scan LaserScan — RPLIDAR A1M8
/cmd_vel_input Twist — upstream velocity (pass-through / block)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Anchor firmware for Makerfabs ESP32 UWB Pro (DW3000 chip). Two anchors
mount on SaltyBot (port/starboard), USB-connected to Jetson Orin.
- DS-TWR responder: Poll→Resp→Final with ±10cm accuracy
- Streams +RANGE:<id>,<mm>,<rssi_dbm> on Serial 115200
- AT command interface: AT+RANGE?, AT+RANGE_ADDR=, AT+ID?
- ANCHOR_ID 0/1 set at build time (env:anchor0 / env:anchor1)
- PlatformIO config for Makerfabs MaUWB_DW3000 library
- udev rules for /dev/uwb-anchor0 /dev/uwb-anchor1 USB symlinks
- Pin map: SCK=18 MISO=19 MOSI=23 CS=21 RST=27 IRQ=34
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_uwb_position — ROS2 Python package that reads JSON range
measurements from an ESP32 DW3000 UWB tag over USB serial, trilaterates
the robot's absolute position from 3+ fixed infrastructure anchors, and
publishes position + TF2 to the rest of the stack.
Serial protocol (one JSON line per frame):
Full frame: {"ts":…, "ranges": [{"id":0,"d_mm":1500,"rssi":-65}, …]}
Per-anchor: {"id":0, "d_mm":1500, "rssi":-65.0}
Accepts both "d_mm" and "range_mm" field names.
Trilateration (trilateration.py, numpy, no ROS deps):
Linear least-squares: linearise sphere equations around anchor 0,
solve (N-1)x2 (2D) or (N-1)x3 (3D) system via np.linalg.lstsq.
2D mode (default): robot_z fixed, needs >=3 anchors.
3D mode (solve_z=true): full 3D, needs >=4 anchors.
Outlier rejection:
After initial solve, compute per-anchor residual |r_meas - r_pred|.
Reject anchors with residual > outlier_threshold_m (0.4 m default).
Re-solve with inliers if >= min_anchors remain.
Track consecutive outlier strikes; flag in /status after N strikes.
Kalman filter (KalmanFilter3D, constant-velocity, 6-state, numpy):
Predict-only coasting when anchors drop below minimum.
Q=0.05, R=0.10 (tunable).
Topics:
/saltybot/uwb/pose PoseStamped 10 Hz Kalman-filtered position
/saltybot/uwb/range/<id> UwbRange on arrival, raw per-anchor ranges
/saltybot/uwb/status String/JSON 10 Hz state+residuals+flags
TF2: uwb_link -> map (identity rotation)
Anchor config: flat float arrays in YAML.
Default layout: 4-anchor 5x5m room at 2m height.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds a full gimbal control panel with live camera preview:
Standalone page (ui/gimbal_panel.html + .js + .css):
- Self-contained HTML page, no build step, served directly
- roslib.js via CDN, connects to rosbridge WebSocket
- 2-D canvas pan/tilt pad: click-drag + touch pointer capture
- Live camera stream (front/rear/left/right selector, base64 CompressedImage)
- FPS badge + angle overlay on video feed
- Preset positions: CENTER / LEFT / RIGHT / UP / DOWN
- Home button (0° / 0°)
- Person-tracking toggle → /gimbal/tracking_enabled
- Current angle display from /gimbal/state feedback
- WS URL persisted in localStorage
React component (GimbalPanel.jsx) + App.jsx integration:
- Same features in dashboard — TELEOP group → Gimbal tab
- Shares rosbridge connection from parent
- Mobile-responsive: stacks vertically on mobile, side-by-side on lg+
ROS topics:
PUB /gimbal/cmd geometry_msgs/Vector3
SUB /gimbal/state geometry_msgs/Vector3
PUB /gimbal/tracking_enabled std_msgs/Bool
SUB /camera/*/image_raw/compressed sensor_msgs/CompressedImage
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add saltybot_head_tracking — ROS2 Python node for automatic person-
following using dual-axis PID control targeting the pan/tilt camera head.
Pipeline:
1. Subscribe to /saltybot/objects (DetectedObjectArray from YOLOv8n)
2. Filter for class_id==0 (person); select best target by score:
score = 0.6 * 1/(1+dist_m) + 0.4 * confidence
(falls back to confidence-only when distance_m==0 / unknown)
3. Compute pixel error of bbox centre from image centre
4. Apply dead-zone (10 px default) to suppress micro-jitter
5. Convert pixel error to angle error via camera FOV
6. Independent PID controllers for pan and tilt axes
7. Accumulate PID output into absolute angle setpoint
8. Publish geometry_msgs/Point to /saltybot/gimbal/cmd:
x = pan_angle_deg, y = tilt_angle_deg, z = confidence
State machine:
IDLE -> waiting for first detection
TRACKING -> active PID
LOST -> hold last angle for hold_duration_s (3 s)
CENTERING -> return to (0, 0) at 20 deg/s -> IDLE
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add phone/voice_commander.py — Termux-based voice command listener for SaltyBot:
- Continuous wake word detection ('Hey Salty') via Whisper STT on short audio clips
- Command recording after wake word, transcribed with local Whisper (tiny/base/small)
- Parses go forward/back/left/right, stop, follow me, go home, look at me
- Publishes JSON to /saltybot/voice/cmd via ROS2 (rclpy) or rosbridge WebSocket
- TTS confirmation via termux-tts-speak; 'Yes?' prompt on wake word
- Fuzzy token-overlap fallback for wake word matching
- Flags: --host, --port, --model, --threshold, --record-sec, --no-tts, --debug
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Keep both Issue #531 (PID_RESULT telemetry) and Issue #533 (BATTERY
telemetry) additions in include/jlink.h and src/jlink.c.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add VoskSTT class to audio_utils.py: offline Vosk STT backend as
low-latency CPU alternative to Whisper for Jetson deployments
- Update audio_pipeline_node.py: stt_backend param ("whisper"/"vosk"),
Vosk loading with Whisper fallback, CPU auto-detection for Whisper,
dual-backend _process_utterance dispatch, STT/<backend> log prefix
- Update audio_pipeline_params.yaml: add stt_backend and vosk_model_path
- Add test/test_audio_pipeline.py: 40 unit tests covering EnergyVAD,
PCM conversion, AudioBuffer, UtteranceSegmenter, VoskSTT, JabraAudioDevice,
AudioMetrics, AudioState
- Integrate into full_stack.launch.py: audio_pipeline at t=5s with
enable_audio_pipeline and audio_stt_backend args
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
