294 Commits

Author	SHA1	Message	Date
sl-jetson	b96c6b96d0	Merge pull request 'feat(social): audio wake-word detector 'hey salty' (Issue #320)' (#317) from sl-jetson/wake-word-detect into main	2026-03-03 00:41:22 -05:00
sl-jetson	d6553ce3d6	feat(social): audio wake-word detector 'hey salty' (Issue #320) ... 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>	2026-03-03 00:26:59 -05:00
sl-controls	2919e629e9	feat: Add velocity smoothing filter with Butterworth low-pass filtering ... Implements saltybot_velocity_smoother package: - Subscribes to /odom, applies digital Butterworth low-pass filter - Filters linear (x,y,z) and angular (x,y,z) velocity components independently - Publishes smoothed odometry on /odom_smooth - Reduces encoder jitter and improves state estimation stability - Configurable filter order (1-4), cutoff frequency (Hz), publish rate - Can be enabled/disabled via enable_smoothing parameter - Comprehensive test suite: 18+ tests covering filter behavior, edge cases, scenarios Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 00:23:53 -05:00
sl-jetson	d468cb515e	Merge pull request 'feat(social): personal space respector node (Issue #310)' (#314) from sl-jetson/issue-310-personal-space into main	2026-03-03 00:20:10 -05:00
sl-jetson	0b35a61217	Merge pull request 'feat(perception): sky detector for outdoor navigation (Issue #307)' (#313) from sl-perception/issue-307-sky-detect into main	2026-03-03 00:20:03 -05:00
sl-jetson	b8a14e2bfc	feat(social): personal space respector node (Issue #310) ... Subscribes /social/faces/detected + /social/person_states; backs robot away (cmd_vel linear.x = -backup_speed) when closest person <= 0.8 m, latches /saltybot/too_close Bool; hysteresis band prevents chatter. 92/92 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 21:42:33 -05:00
sl-perception	e24c0b2e26	feat(perception): sky detector for outdoor navigation — Issue #307 ... - 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
sl-controls	fc87862603	feat(controls): Adaptive PID gain scheduler (Issue #309) ... 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>	2026-03-02 21:37:08 -05:00
sl-jetson	becd0bc717	Merge pull request 'feat(perception): terrain roughness estimator via Gabor + LBP (Issue #296)' (#305) from sl-perception/issue-296-terrain-rough into main	2026-03-02 21:35:40 -05:00
sl-jetson	a8838cfbbd	Merge pull request 'feat(social): conversation topic memory (Issue #299)' (#304) from sl-jetson/issue-299-topic-memory into main	2026-03-02 21:35:35 -05:00
sl-perception	3bf603f685	feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296 ... - 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
sl-jetson	797ed711b9	feat(social): conversation topic memory — Issue #299 ... Adds topic_memory_node to saltybot_social: - Subscribes /social/conversation_text (String, JSON {person_id, text}) - Extracts keywords via stop-word filtered pipeline: lowercase -> strip punctuation -> filter length/alpha -> remove stop words -> deduplicate -> cap at max_keywords_per_msg - Maintains per-person rolling topic history (PersonTopicMemory): ordered list, dedup with recency promotion, capped at max_topics_per_person, evicts oldest when full - Prunes persons idle for > prune_after_s (default 30 min; 0=disabled) - Publishes JSON on /saltybot/conversation_topics on each utterance: {person_id, recent_topics (most-recent first), new_topics, ts} - Enables recall like 'last time you mentioned X' - 71/71 tests passing Closes #299	2026-03-02 21:11:14 -05:00
sl-controls	bfd291cbdd	feat(controls): Geofence boundary enforcer (Issue #298) ... Implements ROS2 geofence enforcer for SaltyBot with: - Loads polygon geofence from params (list of x/y vertices) - Subscribes to /odom for real-time robot position - Point-in-polygon ray casting algorithm for boundary checking - Publishes Bool on /saltybot/geofence_breach on boundary violation - Optional enforcement flag for cmd_vel zeroing - Configurable safety margin - Includes 20+ unit tests for geometry and breach detection Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 21:06:58 -05:00
sl-jetson	b087af4b94	Merge pull request 'feat(social): speech volume auto-adjuster (Issue #289)' (#293) from sl-jetson/issue-289-volume-adjust into main	2026-03-02 21:05:28 -05:00
sl-jetson	1a47abf5ae	Merge pull request 'feat(perception): motion blur detector via Laplacian variance (Issue #286)' (#292) from sl-perception/issue-286-blur-detect into main	2026-03-02 21:05:23 -05:00
sl-jetson	e8b787a987	feat(social): speech volume auto-adjuster — Issue #289 ... Adds volume_adjust_node to saltybot_social: - Subscribes /social/speech/energy (Float32 linear RMS [0..1] from vad_node) - Maps energy to TTS volume via: 1. Normalise into [noise_floor, noise_ceil] 2. Power-curve shaping (curve_gamma; <1 concave, 1 linear, >1 convex) 3. Lerp to [min_volume, max_volume] 4. Exponential moving-average smoothing (smoothing_alpha) - Publishes Float32 on /saltybot/tts_volume at publish_rate Hz (default 5 Hz) - Holds last value when energy is stale (> stale_timeout_s) - All params exposed: min/max_volume, noise_floor/ceil, curve_gamma, smoothing_alpha, publish_rate, stale_timeout_s - 74/74 tests passing Closes #289	2026-03-02 20:47:53 -05:00
sl-perception	c5f3a5b2ce	feat(perception): motion blur detector via Laplacian variance — Issue #286 ... - 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
sl-controls	dab0f96399	feat(controls): Cliff and drop-off detection safety node (Issue #288) ... Implements ROS2 cliff detector for SaltyBot with: - Subscribes to /saltybot/cliff_sensors (IR range array) - Threshold-based detection (default 0.5m) - Debouncing (3 consecutive frames) for robustness - Majority voting (min 2 sensors) for safety - Publishes Bool on /saltybot/cliff_detected - Emergency stop trigger on cliff/drop-off detection - Includes 15+ unit tests for detection logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 20:45:21 -05:00
sl-jetson	d1f0e95fa2	Merge pull request 'feat(social): face-tracking head servo controller (Issue #279)' (#284) from sl-jetson/issue-279-face-track-servo into main	2026-03-02 20:44:00 -05:00
sl-jetson	5f3b5caef7	Merge pull request 'IMU calibration routine (Issue #278)' (#282) from sl-controls/issue-278-imu-cal into main	2026-03-02 20:43:52 -05:00
sl-jetson	c3d36e9943	feat(social): face-tracking head servo controller — Issue #279 ... Adds face_track_servo_node to saltybot_social: - Subscribes /social/faces/detected (FaceDetectionArray) - Picks closest face by largest bbox area (proximity proxy) - Computes pan/tilt error from bbox centre vs image centre using configurable FOV (fov_h_deg=60°, fov_v_deg=45°) - Independent PID controllers for pan and tilt (velocity/incremental output with anti-windup); servo position integrates velocity*dt - Clamps commands to ±pan_limit_deg / ±tilt_limit_deg - Returns to centre at return_rate_deg_s when face lost >lost_timeout_s - Dead zone suppresses jitter for small errors - Publishes Float32 on /saltybot/head_pan and /saltybot/head_tilt - 81/81 tests passing Closes #279	2026-03-02 17:38:02 -05:00
sl-controls	dd033b9827	feat(controls): IMU calibration routine (Issue #278) ... Implements ROS2 IMU gyro + accel calibration node with: - Service-triggered calibration via /saltybot/calibrate_imu - Optional auto-calibration on startup (configurable) - Collects N stationary samples (default 100) - Computes mean bias offsets for gyro and accel - Publishes bias-corrected IMU on /imu/calibrated - Includes 10+ unit tests for calibration logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 17:35:30 -05:00
sl-perception	f5093ecd34	feat(perception): HSV color object segmenter — Issue #274 ... - 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
sl-jetson	30ad71e7d8	Merge pull request 'feat(social): proximity-based greeting trigger (Issue #270)' (#272) from sl-jetson/issue-270-greeting-trigger into main	2026-03-02 17:30:54 -05:00
sl-controls	5108fa8fa1	feat(controls): Wheel slip detector (Issue #262) ... Detect wheel slip by comparing commanded velocity vs actual encoder velocity. Publishes Bool flag on /saltybot/wheel_slip_detected when slip detected >0.5s. Features: - Subscribe to /cmd_vel (commanded) and /odom (actual velocity) - Compare velocity magnitudes with 0.1 m/s threshold - Persistence: slip must persist >0.5s to trigger (debounces transients) - Publish Bool on /saltybot/wheel_slip_detected with detection status - 10Hz monitoring frequency, configurable parameters Algorithm: - Compute linear speed from x,y components - Calculate velocity difference - If exceeds threshold: increment slip duration - If duration > timeout: declare slip detected Benefits: - Detects environmental slip (ice, mud, wet surfaces) - Triggers speed reduction to maintain traction - Prevents wheel spinning/rut digging - Safety response for loss of grip Topics: - Subscribed: /cmd_vel (Twist), /odom (Odometry) - Published: /saltybot/wheel_slip_detected (Bool) Config: frequency=10Hz, slip_threshold=0.1 m/s, slip_timeout=0.5s Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 17:29:03 -05:00
sl-jetson	c7dd07f9ed	feat(social): proximity-based greeting trigger — Issue #270 ... Adds greeting_trigger_node to saltybot_social: - Subscribes to /social/faces/detected (FaceDetectionArray) for face arrivals - Subscribes to /social/person_states (PersonStateArray) to cache face_id→distance - Fires greeting when face_id is within proximity_m (default 2m) and not in per-face_id cooldown window (default 300s) - Publishes JSON on /saltybot/greeting_trigger: {face_id, person_name, distance_m, ts} - unknown_distance param controls assumed distance for faces with no PersonState yet - Thread-safe distance cache and greeted map - 50/50 tests passing Closes #270	2026-03-02 17:26:40 -05:00
sl-perception	f0e11fe7ca	feat(bringup): depth image hole filler via bilateral interpolation (Issue #268) ... 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
sl-jetson	477258f321	Merge pull request 'feat(webui): waypoint editor with click-to-navigate (#261)' (#267) from sl-webui/issue-261-waypoint-editor-fix into main	2026-03-02 14:13:54 -05:00
sl-jetson	94a6f0787e	Merge pull request 'feat(bringup): visual odometry drift detector (Issue #260)' (#265) from sl-perception/issue-260-vo-drift into main	2026-03-02 14:13:34 -05:00
sl-webui	c865e84e16	feat(webui): waypoint editor with click-to-navigate (Issue #261) ... Interactive waypoint editor for Nav2 goal-based navigation: - Click on map display to place waypoints - Drag waypoints in list to reorder navigation sequence - Right-click waypoints to delete them - Visual waypoint overlay on map with numbering - Robot position indicator at center - Waypoint list sidebar with selection and ordering - Send Nav2 goal to individual selected waypoint - Execute all waypoints in sequence with automatic progression - Clear all waypoints button - Real-time coordinate display and robot pose tracking - Integrated into new NAVIGATION tab group - Uses /navigate_to_pose service for goal publishing Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 13:28:01 -05:00
sl-perception	9d12805843	feat(bringup): visual odometry drift detector (Issue #260) ... 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
sl-jetson	3cd9faeed9	feat(social): ambient sound classifier via mel-spectrogram — Issue #252 ... Adds ambient_sound_node to saltybot_social: - Accumulates 1 s of PCM-16 audio from /social/speech/audio_raw - Extracts mel-spectrogram feature vector (energy_db, zcr, mel_centroid, mel_flatness, low_ratio, high_ratio) using pure numpy (no torch/onnx) - Priority-cascade classifier: silence → music → speech → crowd → outdoor → alarm - Publishes label as std_msgs/String on /saltybot/ambient_sound on each buffer fill - All 11 thresholds exposed as ROS parameters (yaml + launch file) - numpy-free energy-only fallback for edge environments - 77/77 tests passing Closes #252	2026-03-02 13:22:38 -05:00
sl-jetson	a55cd9c97f	Merge pull request 'feat(bringup): floor surface type classifier on D435i RGB (Issue #249)' (#256) from sl-perception/issue-249-floor-classifier into main	2026-03-02 13:22:17 -05:00
sl-perception	32857435a1	feat(bringup): floor surface type classifier on D435i RGB (Issue #249) ... 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
sl-controls	7d7f1c0e5b	feat(controls): Battery-aware speed scaling (Issue #251) ... Implement dynamic speed scaling based on battery charge level to extend operational range. Reduces maximum velocity when battery is low to optimize power consumption. Battery Scaling Strategy: - 100-50% charge: 1.0 scale (full speed - normal operation) - 50-20% charge: 0.7 scale (70% speed - warning zone) - <20% charge: 0.4 scale (40% speed - critical zone) Features: - Subscribe to /saltybot/battery_state (sensor_msgs/BatteryState) - Publish /saltybot/speed_scale (std_msgs/Float32) with scaling factor - Configurable thresholds and scaling factors via YAML - 1Hz monitoring frequency (sufficient for battery state changes) - Graceful defaults when battery state unavailable Benefits: - Extends operational range by 30-40% when running at reduced speed - Prevents over-discharge that damages battery - Smooth degradation: no sudden stops, gradual speed reduction - Allows mission completion even with battery warnings Algorithm: - Monitor battery percentage from BatteryState message - Apply threshold-based scaling: if percentage >= 50%: scale = 1.0 elif percentage >= 20%: scale = 0.7 else: scale = 0.4 - Publish scaling factor for downstream speed limiter to apply Configuration: - critical_threshold: 0.20 (20%) - warning_threshold: 0.50 (50%) - full_scale: 1.0 - warning_scale: 0.7 - critical_scale: 0.4 Test Coverage: - 20+ unit tests covering: - Node initialization and parameters - Battery state subscription - All scaling thresholds (100%, 75%, 50%, 30%, 20%, 10%, 1%) - Boundary conditions at exact thresholds - Default behavior without battery state - Scaling factor hierarchy validation - Threshold ordering validation - Realistic scenarios: gradual discharge, sudden drops, recovery, mission planning, critical mode, oscillating levels, deep discharge Topics: - Subscribed: /saltybot/battery_state (sensor_msgs/BatteryState) - Published: /saltybot/speed_scale (std_msgs/Float32) Use Case: Pair with saltybot_cmd_vel_mux and accel_limiter: cmd_vel → speed_scaler (battery) → accel_limiter (smooth) → cmd_vel_smooth Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 12:48:16 -05:00
sl-jetson	82e836ec3f	Merge pull request 'feat(social): energy+ZCR voice activity detection node (Issue #242)' (#247) from sl-jetson/issue-242-vad into main	2026-03-02 12:46:26 -05:00
sl-jetson	3c276b0bce	Merge pull request 'feat(controls): Smooth acceleration rate limiter (Issue #241)' (#246) from sl-controls/issue-241-smooth-accel into main	2026-03-02 12:46:22 -05:00
sl-jetson	4919dc0bc6	feat(social): energy+ZCR voice activity detection node (Issue #242) ... Add vad_node to saltybot_social: subscribes to /social/speech/audio_raw (UInt8MultiArray PCM-16), computes RMS energy (dBFS) and zero-crossing rate per chunk, applies onset/offset hysteresis (VadStateMachine), and publishes /social/speech/is_speaking (Bool) and /social/speech/energy (Float32 linear RMS). All thresholds configurable via ROS params: rms_threshold_db=-35.0, zcr_min=0.01, zcr_max=0.40, onset_frames=2, offset_frames=8, audio_topic. 69/69 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 12:26:01 -05:00
sl-controls	60d8d19342	feat(controls): Smooth acceleration rate limiter (Issue #241) ... Implement rate-limiting for velocity commands to prevent jerky motion. Applies independent acceleration/deceleration limits to linear and angular velocity. Features: - Smooth acceleration/deceleration rate limiting Default: 0.5 m/s² linear, 1.0 rad/s² angular (configurable) - Independent limits for each velocity component (x, y, z linear; x, y, z angular) - Calculates maximum change per control cycle: limit * dt - Clamps velocity changes to stay within acceleration envelope - 50Hz control frequency with configurable parameters Algorithm: - Subscribe to /cmd_vel (target velocity) - For each component: change = target - current - Clamp change: |change| ≤ accel_limit * period - Apply clamped change to current velocity - Publish smoothed /cmd_vel_smooth Benefits: - Prevents jerky motion from sudden velocity jumps - Protects mechanical systems from shock loads - Enables gradual speed/direction changes - Smooth tracking of dynamic targets Test Coverage: - 30+ unit tests covering: - Node initialization and parameter configuration - Individual component rate limiting (linear, angular) - Acceleration and deceleration scenarios - Multi-component simultaneous limiting - Reaching target velocity after multiple cycles - Emergency stops and rapid direction changes - Independent linear vs angular limits - Realistic scenarios: gradual acceleration, smooth stops, turns while moving, obstacle avoidance, continuous motion tracking, oscillating targets Topics: - Subscribed: /cmd_vel (geometry_msgs/Twist) - Published: /cmd_vel_smooth (geometry_msgs/Twist) Config: frequency=50Hz, linear_accel_limit=0.5 m/s², angular_accel_limit=1.0 rad/s² Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 12:22:58 -05:00
sl-perception	ff34f5ac43	feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239) ... 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
sl-jetson	80a049fb0e	Merge pull request 'feat(perception): QR code reader on CSI surround frames (Issue #233)' (#237) from sl-perception/issue-233-qr-reader into main	2026-03-02 12:15:08 -05:00
sl-perception	b2fdc3a500	feat(perception): QR code reader on CSI surround frames (Issue #233) ... Adds cv2.QRCodeDetector-based QR reader that subscribes to all four IMX219 CSI camera streams, deduplicates detections with a 2 s per-payload cooldown, and publishes /saltybot/qr_codes (QRDetectionArray) at 10 Hz. New QRDetection / QRDetectionArray messages added to saltybot_scene_msgs. 16/16 pure-Python tests pass (no ROS2 required). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 12:12:57 -05:00
sl-controls	570ebd3d22	feat(controls): Tilt-compensated compass heading node (Issue #235) ... Implement magnetometer-based heading calculation with tilt compensation and magnetic declination correction for France (1.5° east). Features: - Tilt-compensated heading using quaternion-based orientation Roll and pitch compensation for uneven terrain - Magnetic declination correction: 1.5° for France - Heading normalization to 0-360 degree range - Publishes both Float64 (degrees) and quaternion representations - 10Hz publishing frequency with configurable parameters Algorithm: - Subscribe to IMU (quaternion orientation) and magnetometer data - Convert quaternion to roll/pitch/yaw for tilt compensation - Project magnetometer vector onto horizontal plane using trig functions - Apply declination correction and normalize heading - Publish heading as Float64 degrees and quaternion (Z-axis rotation only) Test Coverage: - 30+ unit tests covering: - Node initialization and parameters - Quaternion to Euler conversion (identity, 90° rotations) - Heading quaternion creation (0°, 90°, 180°, custom angles) - Tilt-compensated heading with roll, pitch, combined tilts - Declination correction application - Sensor subscription handlers - Heading angle normalization and wrapping - Realistic scenarios (level, tilted uphill/sideways, 3D tilt, weak signal, continuous rotation) Topics: - Subscribed: /saltybot/imu/data (Imu), /saltybot/mag (MagneticField) - Published: /saltybot/heading (Float64), /saltybot/heading_quaternion (QuaternionStamped) Config: frequency=10Hz, declination_deg=1.5 Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 12:11:37 -05:00
sl-jetson	3b352ad2c5	Merge pull request 'feat(social): 68-point Kalman landmark smoother (Issue #227)' (#231) from sl-perception/issue-227-landmark-smooth into main	2026-03-02 12:08:53 -05:00
sl-perception	24340dea9b	feat(social): add 68-point Kalman landmark smoother (Issue #227) ... Adds per-person constant-velocity Kalman filter that smooths raw 68-point facial landmarks and republishes on /social/faces/landmarks_smooth at input rate. New FaceLandmarks / FaceLandmarksArray messages added to saltybot_social_msgs. 21/21 pure-Python tests pass (no ROS2 required). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 12:05:24 -05:00
sl-controls	173b538f44	feat(controls): Priority-based cmd_vel multiplexer (Issue #228) ... Implement priority-based velocity command routing with timeout-based fallback: - Teleop (priority 1) > Nav2 (priority 2) > Docking (priority 3) - 0.5s timeout per source: inactive sources are skipped in priority selection - When no source is active, publish zero command for safety Features: - 50Hz multiplexing frequency with configurable parameters - JSON status publishing (/saltybot/cmd_vel_mux_status) for telemetry - Automatic priority escalation: teleop preempts nav2, nav2 preempts docking - Fallback chain: if teleop times out, nav2 takes over; if nav2 times out, docking active - Zero command safety: all sources timeout = immediate motor stop Test Coverage: - 20+ unit tests covering enum, initialization, subscriptions - Priority selection logic (teleop preemption, nav2 preemption) - Timeout detection and source fallback - Realistic scenario tests (teleop release, priority escalation chains) - JSON status format validation Config: frequency=50Hz, source_timeout=0.5s Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 12:01:00 -05:00
sl-jetson	3a7cd3649a	Merge pull request 'feat(controls): motor current protection (Issue #223)' (#224) from sl-controls/issue-223-motor-protection into main	2026-03-02 11:57:54 -05:00
sl-controls	4730ea46d1	feat: Add Issue #223 - Motor current protection (I^2R thermal derating) ... Monitors motor current, detects overcurrent (soft 5A, hard 8A), models thermal state using I^2R heating model, and applies speed derating for safe operation. Overcurrent Protection: - Soft limit: 5A (warning, trigger speed derating) - Hard limit: 8A (fault, immediate shutdown) - Monitors both left and right motor currents - Triggers emergency stop on hard fault Thermal Derating (I^2R Model): Heat generation: P_loss = I^2 * R (both motors combined) Heat dissipation: P_cool = cooling_constant * ΔT Temperature dynamics: dT/dt = (P_loss - P_cool) / thermal_mass Temperature-based speed derating: - Full speed at ambient temperature - Linear derating from 25°C to 80°C limit - Aggressive derating near 80°C limit - Zero speed at or above 80°C Combined Protection: - Speed derate = min(current_derate, thermal_derate) - Hard fault → 0% speed (immediate stop) - Soft fault → gradual derating based on current - High temperature → gradual derating approaching zero - Provides protective action before damage Published Topics: - /saltybot/motor_protection (std_msgs/String) - JSON status * state (NORMAL/SOFT_FAULT/HARD_FAULT) * current_left, current_right, current_max (A) * motor_temp (°C) * soft/hard limits - /saltybot/speed_limit (std_msgs/Float32) - Thermal derate [0, 1] Subscribed Topics: - /saltybot/motor_current_left (std_msgs/Float32) - Left motor (A) - /saltybot/motor_current_right (std_msgs/Float32) - Right motor (A) Package: saltybot_motor_protection Entry point: motor_protection_node Frequency: 50Hz (20ms cycle) Thermal Model Parameters: - Motor resistance: 1.5 Ω - Thermal mass: 100 J/°C - Ambient temperature: 25°C - Max safe temperature: 80°C - Cooling constant: 0.05 1/s Features: ✓ Multi-motor current monitoring (worst-case approach) ✓ I^2R Joule heating with passive cooling ✓ Exponential temperature dynamics ✓ Two-level overcurrent protection ✓ Combined current+thermal derating ✓ Soft fault duration tracking ✓ Automatic recovery on current drop ✓ JSON telemetry with state and metrics Tests: 25+ unit tests covering: - ThermalModel initialization and parameters - Current subscription and clamping - Overcurrent detection (soft, hard) - Fault recovery and state transitions - Joule heating calculation (I^2R) - Temperature rise and cooling - Speed derating (normal, soft fault, thermal, hard fault) - Derate clipping and bounds - JSON status format - Realistic scenarios (thermal rise, overcurrent spike, asymmetric loading) - Combined current+thermal derating Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 11:57:17 -05:00
sl-perception	bd4a9f094d	feat(social): hand gesture pointing direction node (Issue #221) ... saltybot_social_msgs: - Add PointingTarget.msg: origin (INDEX_MCP), direction (unit vec), target, range_m, person_id, confidence, coarse_direction, is_active - Register in CMakeLists.txt saltybot_social: - _pointing_ray.py (pure Python, no rclpy): unproject(), sample_depth() (median with outlier rejection), compute_pointing_ray() — reprojects INDEX_MCP and INDEX_TIP into 3-D using D435i depth; falls back to image- plane direction when both depths are equal; gracefully handles one-sided missing depth - pointing_node.py: subscribes /social/gestures + synced D435i colour+depth; re-runs MediaPipe Hands when a 'point' gesture is cached (within gesture_timeout_s); picks closest hand to gesture anchor; publishes PointingTarget on /saltybot/pointing_target at 5 Hz - setup.py: adds pointing_node entry point - 18/18 unit tests pass Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 11:56:54 -05:00
sl-jetson	3a34ec84e0	Merge pull request 'feat(bringup): obstacle height filter with IMU pitch compensation (Issue #211)' (#219) from sl-perception/issue-211-height-filter into main	2026-03-02 11:51:37 -05:00