bd9cb6da35
feat(perception): lane/path edge detector (Issue #339 )
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Adds Canny+Hough+bird-eye perspective pipeline for detecting left/right
path edges from the forward camera. Pure-Python helper (_path_edges.py)
is fully tested; ROS2 node publishes PathEdges on /saltybot/path_edges.
- saltybot_scene_msgs/msg/PathEdges.msg — new message
- saltybot_scene_msgs/CMakeLists.txt — register PathEdges.msg
- saltybot_bringup/_path_edges.py — PathEdgeConfig, PathEdgesResult,
build/apply_homography, canny_edges,
hough_lines, classify_lines,
average_line, warp_segments,
process_frame
- saltybot_bringup/path_edges_node.py — ROS2 node (sensor_msgs/Image →
PathEdges, parameters for all
tunable Canny/Hough/birdseye params)
- test/test_path_edges.py — 38 tests, 38 passing
- setup.py — add path_edges console_script
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-03 11:33:22 -05:00
eb61207532
feat(perception): dynamic obstacle velocity estimator (Issue #326 )
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Adds ObstacleVelocity/ObstacleVelocityArray msgs and an
ObstacleVelocityNode that clusters /scan points, tracks each centroid
with a constant-velocity Kalman filter, and publishes velocity vectors
on /saltybot/obstacle_velocities.
New messages (saltybot_scene_msgs):
msg/ObstacleVelocity.msg — obstacle_id, centroid, velocity,
speed_mps, width_m, depth_m,
point_count, confidence, is_static
msg/ObstacleVelocityArray.msg — array wrapper with header
New files (saltybot_bringup):
saltybot_bringup/_obstacle_velocity.py — pure helpers (no ROS2 deps)
KalmanTrack constant-velocity 2-D KF: predict(dt) / update(centroid)
coasting counter → alive flag; confidence = age/n_init
associate() greedy nearest-centroid matching (O(N·M), strict <)
ObstacleTracker predict-all → associate → update/spawn → prune cycle
saltybot_bringup/obstacle_velocity_node.py
Subscribes /scan (BEST_EFFORT); reuses _lidar_clustering helpers;
publishes ObstacleVelocityArray on /saltybot/obstacle_velocities
Parameters: distance_threshold_m=0.20, min_points=3, range 0.05–12m,
max_association_dist_m=0.50, max_coasting_frames=5,
n_init_frames=3, q_pos=0.05, q_vel=0.50, r_pos=0.10,
static_speed_threshold=0.10
test/test_obstacle_velocity.py — 48 tests, all passing
Modified:
saltybot_scene_msgs/CMakeLists.txt — register new msgs
saltybot_bringup/setup.py — add obstacle_velocity console_script
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-03 06:53:04 -05:00
4dbb4c6f0d
feat(perception): appearance-based person re-identification (Issue #322 )
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 12s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Adds PersonTrack/PersonTrackArray msgs and a PersonReidNode that matches
individuals across camera views using HSV colour histogram appearance
features and cosine similarity, with EMA gallery update and 30s stale timeout.
New messages (saltybot_scene_msgs):
msg/PersonTrack.msg — track_id, camera_id, bbox, confidence,
first_seen, last_seen, is_stale
msg/PersonTrackArray.msg — array wrapper with header
New files (saltybot_bringup):
saltybot_bringup/_person_reid.py — pure kinematics (no ROS2 deps)
extract_hsv_histogram() 2-D HS histogram (H=16, S=8 → 128-dim, L2-norm)
cosine_similarity() handles zero/non-unit vectors
match_track() best gallery match above threshold (strict >)
TrackGallery add/update/match/mark_stale/prune_stale
TrackEntry mutable dataclass; EMA feature blend (α=0.3)
saltybot_bringup/person_reid_node.py
Subscribes /camera/color/image_raw + /saltybot/scene/objects (BEST_EFFORT)
Crops COCO person (class_id=0) ROIs; extracts features; matches gallery
Publishes PersonTrackArray on /saltybot/person_tracks at 5 Hz
Parameters: camera_id, similarity_threshold=0.75, stale_timeout_s=30,
max_tracks=20, publish_hz=5.0
test/test_person_reid.py — 50 tests, all passing
Modified:
saltybot_scene_msgs/CMakeLists.txt — register PersonTrack/Array msgs
saltybot_bringup/setup.py — add person_reid console_script
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-03 06:45:43 -05:00
067a871103
feat(perception): wheel encoder differential drive odometry (Issue #184 )
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 7s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Adds saltybot_bridge_msgs package with WheelTicks.msg (int32 left/right
encoder counts) and a WheelOdomNode that subscribes to
/saltybot/wheel_ticks, integrates midpoint-Euler differential drive
kinematics (handling int32 counter rollover), and publishes
nav_msgs/Odometry on /odom_wheel at 50 Hz with optional TF broadcast.
New files:
jetson/ros2_ws/src/saltybot_bridge_msgs/
msg/WheelTicks.msg
CMakeLists.txt, package.xml
jetson/ros2_ws/src/saltybot_bringup/
saltybot_bringup/_wheel_odom.py — pure kinematics (no ROS2 deps)
saltybot_bringup/wheel_odom_node.py — 50 Hz timer node + TF broadcast
test/test_wheel_odom.py — 42 tests, all passing
Modified:
saltybot_bringup/package.xml — add saltybot_bridge_msgs, nav_msgs deps
saltybot_bringup/setup.py — add wheel_odom console_script entry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-03 00:41:39 -05:00
e24c0b2e26
feat(perception): sky detector for outdoor navigation — Issue #307
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- Add _sky_detector.py: SkyResult NamedTuple; detect_sky() with dual HSV
band masking (blue sky H∈[90,130]/S∈[40,255]/V∈[80,255] OR overcast
S∈[0,50]/V∈[185,255]), cv2.bitwise_or combined mask; sky_fraction over
configurable top scan_frac region; horizon_y = bottommost row where
per-row sky fraction ≥ row_threshold (−1 when no sky detected)
- Add sky_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes Float32 /saltybot/sky_fraction and Int32 /saltybot/horizon_y
per frame; scan_frac (default 0.60) and row_threshold (default 0.30) params
- Register sky_detector console script in setup.py
- 33/33 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 21:39:28 -05:00
3bf603f685
feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296
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- Add _terrain_roughness.py: RoughnessResult NamedTuple; gabor_energy() with
4-orientation × 2-wavelength (5px, 10px) quadrature Gabor bank, DC removal
via image mean subtraction (prevents false high energy on uniform surfaces);
lbp_variance() using 8-point radius-1 LBP in vectorised numpy slice
comparisons (no sklearn); estimate_roughness() with bottom roi_frac crop,
normalised blend roughness = 0.5*(gabor/500) + 0.5*(lbp/5000) clipped [0,1]
- Add terrain_rough_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes Float32 /saltybot/terrain_roughness at 2Hz (configurable via
publish_hz param); roi_frac param default 0.40 (bottom 40% = floor region)
- Register terrain_roughness console script in setup.py
- 37/37 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 21:12:51 -05:00
c5f3a5b2ce
feat(perception): motion blur detector via Laplacian variance — Issue #286
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- Add _blur_detector.py: BlurResult NamedTuple, laplacian_variance() (ksize=3
Laplacian on greyscale, with optional ROI crop), detect_blur() returning
variance + is_blurred flag + threshold; handles greyscale and BGR inputs,
empty ROI returns 0.0
- Add blur_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes Bool /saltybot/image_blurred and Float32 /saltybot/blur_score per
frame; threshold and roi_frac ROS params
- Register blur_detector console script in setup.py
- 25/25 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 20:46:37 -05:00
f5093ecd34
feat(perception): HSV color object segmenter — Issue #274
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- Add ColorDetection.msg + ColorDetectionArray.msg to saltybot_scene_msgs
- Add _color_segmenter.py: HsvRange/ColorBlob types, COLOR_RANGES defaults,
mask_for_color() (dual-band red wrap), find_color_blobs() with morph open,
contour extraction, area filter and max-blob-per-color limit
- Add color_segment_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes /saltybot/color_objects (ColorDetectionArray) per frame;
active_colors, min_area_px, max_blobs_per_color params
- Add saltybot_scene_msgs exec_depend to saltybot_bringup/package.xml
- Register color_segmenter console_script in setup.py
- 34/34 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 17:32:41 -05:00
f0e11fe7ca
feat(bringup): depth image hole filler via bilateral interpolation (Issue #268 )
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Adds multi-pass spatial-Gaussian hole filler for D435i depth images.
Each pass replaces zero/NaN pixels with the Gaussian-weighted mean of valid
neighbours in a growing kernel (×1, ×2.5, ×6 default); original valid
pixels are never modified. Handles uint16 mm → float32 m conversion,
border pixels via BORDER_REFLECT, and above-d_max pixels as holes.
Publishes filled float32 depth on /camera/depth/filled at camera rate.
37/37 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 14:19:27 -05:00
9d12805843
feat(bringup): visual odometry drift detector (Issue #260 )
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Adds sliding-window drift detector that compares cumulative path lengths
of visual odom and wheel odom over a configurable window (default 10 s).
Drift = |vo_path − wheel_path|; flagged when ≥ 0.5 m (configurable).
OdomBuffer handles per-source rolling storage with automatic age eviction.
Publishes Bool on /saltybot/vo_drift_detected and Float32 on
/saltybot/vo_drift_magnitude at 2 Hz. 27/27 pure-Python tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 13:26:07 -05:00
32857435a1
feat(bringup): floor surface type classifier on D435i RGB (Issue #249 )
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Adds multi-feature nearest-centroid classifier for 6 surface types:
carpet, tile, wood, concrete, grass, gravel. Features: circular hue mean,
saturation mean/std, brightness, Laplacian texture variance, Sobel edge
density — all extracted from the bottom 40% of each frame (floor ROI).
Majority-vote temporal smoother (window=5) suppresses single-frame noise.
Publishes std_msgs/String on /saltybot/floor_type at 2 Hz.
34/34 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 12:51:14 -05:00
ff34f5ac43
feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239 )
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Adds gap-based Euclidean distance clustering of /scan LaserScan points.
Each cluster is published as a labelled semi-transparent CUBE + TEXT marker
in /saltybot/lidar_clusters (MarkerArray), sorted nearest-first. Stale
markers from shrinking cluster counts are explicitly deleted each cycle.
22/22 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 12:21:35 -05:00
b722279739
feat(bringup): scan height filter with IMU pitch compensation (Issue #211 )
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Two files added to saltybot_bringup:
- _scan_height_filter.py: pure-Python helpers (no rclpy) —
filter_scan_by_height() projects each LIDAR ray to world-frame height
using pitch/roll from the IMU and filters ground/ceiling returns;
pitch_roll_from_accel() uses convention-agnostic atan2 formula;
AttitudeEstimator low-pass filters the accelerometer attitude.
- scan_height_filter_node.py: subscribes /scan + /camera/imu, publishes
/scan_filtered (LaserScan) for Nav2 at source rate (up to 20 Hz).
setup.py: adds scan_height_filter entry point.
18/18 unit tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:50:56 -05:00
e6065e1531
feat(jetson): camera health watchdog node (issue #198 )
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Adds camera_health_node.py + _camera_state.py to saltybot_bringup:
• _camera_state.py — pure-Python CameraState dataclass (no ROS2):
on_frame(), age_s, fps(window_s), status(),
should_reset() + mark_reset() with 30s cooldown
• camera_health_node.py — subscribes 6 image topics (D435i color/depth
+ 4× IMX219 CSI front/right/rear/left);
1 Hz tick: WARNING at >2s silence, ERROR at
>10s + v4l2 stream-off/on reset for CSI cams;
publishes /saltybot/camera_health JSON with
per-camera status, age_s, fps, total_frames
• test/test_camera_health.py — 15 unit tests (15/15 pass, no ROS2 needed)
• setup.py — adds camera_health_monitor console_scripts entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:11:48 -05:00
c26293d000
feat(jetson): depth confidence filter node (issue #190 )
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Adds depth_confidence_filter_node.py to saltybot_bringup:
- Synchronises /camera/depth/image_rect_raw + /camera/depth/confidence
via ApproximateTimeSynchronizer (10ms slop)
- Zeros pixels where confidence uint8 < threshold * 255 (default 0.5)
- Republishes filtered float32 depth on /camera/depth/filtered
- Registered as depth_confidence_filter console_scripts entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 11:02:15 -05:00
772a70b545
feat: Nav2 path planning + obstacle avoidance (Phase 2b)
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Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:54:24 -05:00
76067d6d89
feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration
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Adds saltybot_bringup ROS2 package with four launch files:
- realsense.launch.py — D435i at 640x480x15fps, IMU unified topic
- rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink
- sensors.launch.py — both sensors + static TF (base_link→laser/camera)
- slam.launch.py — sensors + slam_toolbox online_async (compose entry point)
Sensor config YAMLs (mounted at /config/ in container):
- realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud)
- rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame
- slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution)
Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src
(was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory)
Topic reference and verification commands in SENSORS.md.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 17:14:21 -05:00
