sl-android
c249b2d74e
feat: Phone voice command interface (Issue #553 )
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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>
2026-03-14 10:26:38 -04:00
e4116dffc0
feat: Remove ELRS arm requirement for autonomous operation (Issue #512 )
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Enable Jetson autonomous arming while keeping RC as optional override.
Changes:
- RC kill switch (CH5 OFF) now triggers emergency stop instead of disarm
→ Allows Jetson-armed robots to remain armed when RC disconnects
→ Maintains kill switch safety for emergency situations
- RC disarm only triggers on explicit CH5 falling edge (RC still alive)
→ RC disconnect doesn't disarm Jetson-controlled missions
→ RC failsafe timer (500ms) handles signal loss separately
- Jetson arming via CDC 'A' command works independently of RC state
→ Robots can operate fully autonomous without RC transmitter
→ Heartbeat timeout (500ms) prevents runaway if Jetson crashes
Safety maintained:
- Arming hold timer: 500ms (prevents accidental arm)
- Tilt limit: ±10° level required
- IMU calibration: Required before any arm attempt
- Remote E-stop: Blocks all arming
- RC failsafe: 500ms signal loss = disarm
- Jetson timeout: 500ms heartbeat = zero motors
Command protocol (unchanged):
- Jetson: A=arm, D=disarm, E=estop, Z=clear estop
- RC: CH5 switch (optional override)
- Heartbeat: H command every ≤500ms
- Drive: C<speed>,<steer> every ≤200ms
See AUTONOMOUS_ARMING.md for complete protocol and testing checklist.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-06 11:45:12 -05:00
sl-android
df49eec21f
feat: Android/Termux OpenClaw node (Issue #420 )
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Add complete phone node infrastructure:
ROS2 Package (saltybot_phone):
- camera_node: /phone/camera/image_raw (320x240, 15 FPS)
- gps_node: /phone/gps (NavSatFix via termux-api)
- imu_node: /phone/imu (accelerometer data)
- openclaw_chat_node: Local LLM inference
Subscribes /saltybot/speech_text
Publishes /saltybot/chat_response
- ws_bridge: WebSocket bridge to Jetson Orin (:9090)
Phone Scripts:
- termux-bootstrap.sh: Complete Termux setup
- power-management.sh: Battery/thermal monitoring
- README.md: Setup documentation
Architecture:
- Termux on Android phone
- WiFi/USB tether to Jetson Orin
- ROS2 topic bridge for sensors
- Local LLM for on-device chat (Phi-2)
- Termux:Boot auto-start
- Power management for extended runtime
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-05 08:55:47 -05:00
