Add autonomous patrol mode with idle behaviors and social integration:
Patrol Node:
- Nav2 /navigate_to_pose integration for autonomous navigation
- Idle behaviors at each waypoint (10-30s pan-tilt sweep + greetings)
- Person detection → pause patrol → social mode → resume
- Battery monitoring: automatic return to dock at <25%
- Teleop override: can be interrupted by joystick control
- Voice commands: 'patrol start/stop' via speech
- Randomized waypoint order for variety
- State publishing to /saltybot/patrol_state
Features:
- Waypoint loading from patrol_params.yaml (x, y, yaw coordinates)
- Random idle durations (configurable 10-30s)
- Pan-tilt sweep and greeting at each waypoint
- Person detection pause with timeout
- Automatic dock return when battery low
- Polling loop for state management
- Voice control integration
State Machine:
IDLE ↔ NAVIGATE → IDLE_BEHAVIOR → (next waypoint)
↓
[Person Detected] → PAUSE_PERSON
↓
[Battery Low] → RETURN_TO_DOCK
↓
[Teleop/Voice] → IDLE
Configuration:
- Waypoints with name, x, y, yaw
- Idle time range (min/max)
- Battery dock threshold (default 25%)
- Person detection pause timeout
Topics:
- /saltybot/patrol_state (String)
- /saltybot/speech_text (String)
- /saltybot/pan_tilt_cmd (String)
- /saltybot/person_detections (Detection2DArray)
- /saltybot/teleop_cmd (String)
- /saltybot/voice_cmd (String)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
NeoPixel status indicators with animated patterns:
- Breathing blue (idle state)
- Green pulse (follow mode)
- Red flash (error state)
- Rainbow animation (celebrate)
- Amber pulse (low battery <20%)
- White chase (search mode)
Features:
- Smooth transitions between states
- Configurable LED count (default 30) and GPIO pin (default GPIO18)
- Auto-dim brightness control
- Subscribes to battery, balance, social, emotion, health topics
- Publishes LED state JSON to /saltybot/led_state
- 30Hz update frequency with multiple animation patterns
Configuration:
- YAML-based hardware and pattern settings
- Per-pattern speed and color customization
- State priority system for concurrent status indicators
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement centralized health monitoring node that:
- Subscribes to /saltybot/<node>/heartbeat from all tracked nodes
- Tracks expected nodes from YAML configuration
- Marks nodes DEAD if silent >5 seconds
- Triggers auto-restart via ros2 launch when nodes fail
- Publishes /saltybot/system_health JSON with full status
- Alerts face display on critical node failures
Features:
- Configurable heartbeat timeout (default 5s)
- Automatic dead node detection and restart
- System health JSON publishing (timestamp, uptime, node status, critical alerts)
- Face alert system for critical failures
- Rate-limited alerting to avoid spam
- Comprehensive monitoring config with critical/important node tiers
Package structure:
- saltybot_health_monitor: Main health monitoring node
- health_config.yaml: Configurable list of monitored nodes
- health_monitor.launch.py: Launch file with parameters
- Unit tests for heartbeat parsing and health status generation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement multi-person tracking with:
- Track up to 10 people with persistent unique IDs
- Target priority: wake-word speaker > closest known > largest bbox
- Occlusion handoff with 3-second grace period
- Re-ID via face embedding (cosine similarity) + HSV color histogram
- Group detection and centroid calculation
- Lost target behavior: stop + rotate + SEARCHING state
- 15+ fps on Jetson Orin Nano Super
- PersonArray message publishing with active target tracking
- Configurable similarity thresholds and grace periods
- Unit tests for tracking, matching, priority, and re-ID
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- Central ROS2 TTS node using Piper (offline ONNX speech synthesis)
- Subscribe to /saltybot/tts_request (String messages) for TTS requests
- Priority queue management with interrupt capability
- Audio output to Jabra device via ALSA/PulseAudio
- Configurable voice, speed, pitch, and volume parameters
- Publish /saltybot/tts_state (idle/synthesizing/playing) for status tracking
- Preload Piper model on startup for faster synthesis
- Queue management with configurable max size (default 16)
- Non-blocking async playback via worker thread
- Complete ROS2 package with launch file and tests
- Update battery_low_pct from 15% to 20% for auto-dock trigger (Issue #410 requirement)
- Add social mood publisher for charging animation display
- Trigger face charging animation (happy mood) when entering CHARGING state
- ArUco marker ID 42 detection via RealSense D435i (already configured)
- Approach sequence: detect → align → slow → contact → verify charging
- 360° search then expand capability (DETECTING state handles search)
- Safety abort timeouts already implemented in FSM state machine
- IR beacon fallback detection also available
- ROS2 node for balance mode PID parameter management via pyvesc UART
- Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff
- Startup ramp: gradual acceleration from 0 to full output over configurable duration
- IMU integration: subscribe to /imu/data for pitch/roll angle computation
- State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry
- Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data
- Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency
- Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- ROS2 node for balance mode PID parameter management via pyvesc UART
- Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff
- Startup ramp: gradual acceleration from 0 to full output over configurable duration
- IMU integration: subscribe to /imu/data for pitch/roll angle computation
- State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry
- Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data
- Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency
- Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement circular buffer bag recorder with:
- Configurable topics recording
- Last N minutes circular buffer (default 30min)
- Manual save trigger via /saltybot/save_bag service
- Auto-save on crash with signal handlers
- Storage management (7-day TTL, 50GB quota)
- Compression via zstd
- Optional rsync to NAS for backup
- Periodic maintenance (cleanup expired, enforce quota)
Saves to /home/seb/rosbags/ by default.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement EncounterSyncService ROS2 node for managing offline-first
encounter data syncing. Features:
- Monitors /home/seb/encounter-queue/ for JSON files
- Uploads to configurable cloud API when connectivity detected
- Exponential backoff retry with max 5 attempts
- Moves synced files to /home/seb/encounter-queue/synced/
- Publishes status on /social/encounter_sync_status topic
- Connectivity check via HTTP ping (configurable URL)
- Handles offline operation gracefully
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement state machine for detecting and enrolling unknown persons.
Manages workflow: DETECT → GREET → ASK_NAME → SMALL_TALK → ENROLL → FAREWELL
Features:
- Subscribes to /saltybot/person_tracker for unknown face detection
- Unknown person threshold configurable (default: 30% confidence)
- State machine with Piper TTS triggers for each state
- Captures STT responses for name and conversation context
- Publishes /social/orchestrator/state for coordination with other nodes
- Handles person interruptions gracefully (walks away)
- Auto-enrolls person to face gallery (configurable)
- Stores encounter data as JSON in /home/seb/encounter-queue/
- Tracks duration, responses, interests, and enrollment success
Encounter data structure:
{
person_id, timestamp, state, name, context, greeting_response,
interests[], enrollment_success, duration_sec, notes
}
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Creates log-mel spectrogram template for 'hey salty' wake word detection
using synthetic speech generation. Template generated from 5 synthetic
audio samples with varying pitch to improve robustness.
- generate_wake_word_template.py: Script to synthesize and generate template
- hey_salty.npy: 40-band log-mel template (40, 61) shape
- wake_word_params.yaml: Updated template_path
- README.md: Documentation for template usage and retraining procedures
The template is used by wake_word_node.py via cosine similarity matching
against incoming audio. Configurable sensitivity via match_threshold.
Future work: Collect real training recordings to improve accuracy.
Implement SCS/STS serial protocol driver for Waveshare ST3215 servos
at 1Mbps daisy-chain configuration. Pan and tilt servos on single UART.
Features:
- SCSServoBus class: Low-level protocol handler with packet construction
- Position write commands with configurable speed (0-1000)
- Position and temperature readback from servos
- PanTiltNode: ROS2 node with target tracking control loop
- Subscribes to /saltybot/target_track for centroid position
- Proportional control to keep target centered in D435i FOV
- Publishes /pan_tilt/state with angles and temperatures
- Publishes /pan_tilt/command for servo position monitoring
- 30 Hz control loop, 1 Hz telemetry loop
- Configurable servo limits and speeds
Servos: 0.24° resolution, 0-4095 position range
Camera: 87° × 58° field of view
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
