Sebastien Vayrette
d9b4b10b90
Merge remote-tracking branch 'origin/sl-perception/issue-646-vesc-odometry'
2026-03-17 11:27:45 -04:00
Sebastien Vayrette
a96fd91ed7
Merge remote-tracking branch 'origin/sl-firmware/issue-645-vesc-telemetry'
2026-03-17 11:27:36 -04:00
Sebastien Vayrette
bf8df6af8f
Merge remote-tracking branch 'origin/sl-controls/issue-644-vesc-can-driver'
2026-03-17 11:27:26 -04:00
d8b25bad77
feat: VESC CAN odometry for nav2 (Issue #646 )
...
Replace single-motor vesc_odometry_bridge with dual-CAN differential
drive odometry for left (CAN 61) and right (CAN 79) VESC motors.
New files:
- diff_drive_odom.py: pure-Python kinematics (eRPM→wheel vel, exact arc
integration, heading wrap), no ROS deps, fully unit-tested
- test/test_vesc_odometry.py: 20 unit tests (straight, arc, spin,
invert_right, guard conditions) — all pass
- config/vesc_odometry_params.yaml: configurable wheel_radius,
wheel_separation, motor_poles, invert_right, covariance tuning
Updated:
- vesc_odometry_bridge.py: rewritten as VESCCANOdometryNode; subscribes
to /vesc/can_61/state and /vesc/can_79/state (std_msgs/String JSON);
publishes /odom and /saltybot/wheel_odom (nav_msgs/Odometry) + TF
odom→base_link with proper 6×6 covariance matrices
- odometry_bridge.launch.py: updated to launch vesc_can_odometry with
vesc_odometry_params.yaml
- setup.py: added vesc_can_odometry entry point + config install
- pose_fusion_node.py: added optional wheel_odom_topic subscriber that
feeds DiffDriveOdometry velocities into EKF via update_vo_velocity
- pose_fusion_params.yaml: added use_wheel_odom, wheel_odom_topic,
sigma_wheel_vel_m_s, sigma_wheel_omega_r_s parameters
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:54:19 -04:00
b2c9f368f6
feat: VESC CAN telemetry for dual motors (Issue #645 )
...
New saltybot_vesc_telemetry ROS2 package — SocketCAN (python-can, can0)
telemetry for dual FSESC 6.7 Pro (FW 6.6) on CAN IDs 61 (left) and 79 (right).
- vesc_can_protocol.py: STATUS/STATUS_4/STATUS_5 frame parsers, VescState
dataclass, GET_VALUES request builder (CAN_PACKET_PROCESS_SHORT_BUFFER)
- vesc_telemetry_node.py: ROS2 node; background CAN RX thread; publishes
/vesc/left/state, /vesc/right/state, /vesc/combined (JSON String msgs),
/diagnostics (DiagnosticArray); overcurrent/overtemp/fault alerting;
configurable poll rate 10-50 Hz (default 20 Hz)
- test_vesc_telemetry.py: 31 unit tests, all passing (no ROS/CAN required)
- config/vesc_telemetry_params.yaml, launch file
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:53:09 -04:00
a506989af6
feat: CANable 2.0 bringup with udev rule and systemd service (Issue #643 )
...
- udev: 70-canable.rules — gs_usb VID/PID 1d50:606f, names iface can0 and brings it up at 500 kbps on plug-in
- systemd: can-bringup.service — oneshot service bound to sys-subsystem-net-devices-can0.device
- scripts: can_setup.sh — manual up/down/verify helper; candump verify for VESC IDs 61 (0x3D) and 79 (0x4F)
- install_systemd.sh updated to install can-bringup.service and all udev rules
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:49:21 -04:00
1d87899270
feat: VESC SocketCAN dual-motor driver IDs 61/79 (Issue #644 )
...
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:47:57 -04:00
0fcad75cb4
Merge pull request 'feat: Encoder odometry and wheel speed feedback (Issue #632 )' ( #642 ) from sl-controls/issue-632-encoder-odom into main
2026-03-15 17:29:54 -04:00
5aadf4b5c8
Merge pull request 'feat: Jetson Orin system monitor ROS2 node (Issue #631 )' ( #640 ) from sl-jetson/issue-631-system-monitor into main
2026-03-15 17:29:50 -04:00
5f0affcd79
feat: Jetson Orin system monitor ROS2 node (Issue #631 )
...
New package saltybot_system_monitor:
- jetson_stats.py: pure-Python data layer (JetsonStats, CpuCore,
TegrastatsParser, JtopReader, TegrastatsReader, MockReader,
AlertChecker, AlertThresholds) — no ROS2 dependency
- system_monitor_node.py: ROS2 node publishing /saltybot/system/stats
(JSON) and /saltybot/diagnostics (DiagnosticArray) at 1 Hz
- Alerts: CPU/GPU >85% WARN (+10% ERROR), temp >80°C, disk/RAM >90%,
power >30 W; each alert produces a DiagnosticStatus entry
- Stats source priority: jtop > tegrastats > mock (auto-detected)
- config/system_monitor.yaml: all thresholds and rate tunable via params
- launch/system_monitor.launch.py: single-node launch with config arg
- test/test_system_monitor.py: 50+ pytest tests, ROS2-free
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 16:36:04 -04:00
779f9d00e2
feat: Encoder odometry and wheel speed feedback (Issue #632 )
...
- TIM2 (32-bit) left encoder, TIM3 (16-bit) right encoder in mode 3
- RPM calculation with int16 clamp; 16-bit wrap handled via signed delta
- Differential-drive odometry: x/y/theta Euler-forward integration
- Flash config (sector 7, 0x0807FF00) for ticks_per_rev/wheel_diam/base
- JLINK_TLM_ODOM (0x8C) at 50 Hz: rpm_l/r, x_mm, y_mm, theta_cdeg, speed_mmps
- 75/75 unit tests passing (TEST_HOST build)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 16:34:38 -04:00
4c7fa938a5
Merge pull request 'feat: UWB accuracy analyzer (Issue #634 )' ( #641 ) from sl-uwb/issue-634-uwb-logger into main
2026-03-15 16:30:16 -04:00
45332f1a8b
Merge pull request 'feat: UART command protocol for Jetson-STM32 (Issue #629 )' ( #639 ) from sl-firmware/issue-629-uart-protocol into main
2026-03-15 16:30:09 -04:00
af46b15391
Merge pull request 'feat: ArUco docking detection (Issue #627 )' ( #638 ) from sl-perception/issue-627-aruco-docking into main
2026-03-15 16:30:04 -04:00
e1d605dba7
Merge pull request 'feat: WebUI main dashboard (Issue #630 )' ( #637 ) from sl-webui/issue-630-main-dashboard into main
2026-03-15 16:30:00 -04:00
c8c8794daa
Merge pull request 'feat: Termux voice command interface (Issue #633 )' ( #636 ) from sl-android/issue-633-voice-commands into main
2026-03-15 16:29:56 -04:00
b5862ef529
Merge pull request 'feat: Cable management tray (Issue #628 )' ( #635 ) from sl-mechanical/issue-628-cable-tray into main
2026-03-15 16:29:52 -04:00
sl-uwb
343e53081a
feat: UWB position logger and accuracy analyzer (Issue #634 )
...
saltybot_uwb_logger_msgs (new package):
- AccuracyReport.msg: n_samples, mean/bias/std (x,y,2D), CEP50, CEP95,
RMSE, max_error, per-anchor range stats, test_id, duration_s
- StartAccuracyTest.srv: request (truth_x/y_m, n_samples, timeout_s,
test_id) → response (success, message, test_id)
saltybot_uwb_logger (new package):
- accuracy_stats.py: compute_stats() + RangeAccum — pure numpy, no ROS2
CEP50/CEP95 = 50th/95th percentile of 2-D error; bias, std, RMSE, max
- logger_node.py: /uwb_logger ROS2 node
Subscribes:
/saltybot/pose/fused → fused_pose_<DATE>.csv (ts, x, y, heading)
/saltybot/uwb/pose → uwb_pose_<DATE>.csv (ts, x, y)
/uwb/ranges → uwb_ranges_<DATE>.csv (ts, anchor_id, range_m,
raw_mm, rssi, tag_id)
Service /saltybot/uwb/start_accuracy_test:
Collects N fused-pose samples at known (truth_x, truth_y) in background
thread. On completion or timeout: publishes AccuracyReport on
/saltybot/uwb/accuracy_report + writes accuracy_<test_id>.json.
Per-anchor range stats included. CSV flushed every 5 s.
Tests: 16/16 passing (test/test_accuracy_stats.py, no ROS2/hardware)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 14:44:21 -04:00
602fbc6ab3
feat: UART command protocol for Jetson-STM32 (Issue #629 )
...
Implements binary command protocol on UART5 (PC12/PD2) at 115200 baud
for Jetson→STM32 communication. Frame: STX+LEN+CMD+PAYLOAD+CRC8+ETX.
Commands: SET_VELOCITY (RPM direct to CAN), GET_STATUS, SET_PID, ESTOP,
CLEAR_ESTOP. DMA1_Stream0_Channel4 circular 256-byte RX ring. ACK/NACK
inline; STATUS pushed at 10 Hz. Heartbeat timeout 500 ms (UART_PROT_HB_TIMEOUT_MS).
NOTE: Spec requested USART1 @ 115200; USART1 occupied by JLink @ 921600.
Implemented on UART5 instead; note in code comments.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 14:41:00 -04:00
1fd935b87e
feat: ArUco marker detection for docking (Issue #627 )
...
New package saltybot_aruco_detect — DICT_4X4_50 ArUco detection from
RealSense D435i RGB, pose estimation, PoseArray + dock target output.
aruco_math.py (pure Python, no ROS2): rot_mat_to_quat (Shepperd),
rvec_to_quat (Rodrigues + cv2 fallback), tvec_distance, tvec_yaw_rad,
MarkerPose dataclass with lazy-cached distance_m/yaw_rad/lateral_m/quat.
aruco_detect_node.py (ROS2 node 'aruco_detect'):
Subscribes: /camera/color/image_raw (30Hz BGR8) + /camera/color/camera_info.
Converts to greyscale, cv2.aruco.ArucoDetector.detectMarkers().
estimatePoseSingleMarkers (legacy API) with solvePnP(IPPE_SQUARE) fallback.
Dock target: closest marker in dock_marker_ids (default=[42], empty=any),
filtered to max_dock_range_m (3.0m).
Publishes: /saltybot/aruco/markers (PoseArray — all detected, camera frame),
/saltybot/aruco/dock_target (PoseStamped — closest dock candidate,
position.z=forward, position.x=lateral), /saltybot/aruco/viz (MarkerArray
— SPHERE + TEXT per marker, dock in red), /saltybot/aruco/status (JSON
10Hz — detected_count, dock_distance_m, dock_yaw_deg, dock_lateral_m).
Optional debug image with drawDetectedMarkers + drawFrameAxes.
corner_refinement=CORNER_REFINE_SUBPIX.
config/aruco_detect_params.yaml, launch/aruco_detect.launch.py.
test/test_aruco_math.py: 22 unit tests (rotation/quat math, distance,
yaw sign/magnitude, MarkerPose accessors + caching).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 14:37:22 -04:00
b6c6dbd838
feat: WebUI main dashboard with panel launcher (Issue #630 )
...
Replaces ui/index.html (old USB-serial HUD) with a full rosbridge
dashboard. Adds ui/dashboard.{css,js}.
Top bar:
- Robot name + ⚡ SALTYBOT logo
- Live battery % + voltage with fill bar (4S LiPo: 12.0V–16.8V)
- Safety state from /saltybot/safety_zone/status (GREEN/AMBER/RED)
- E-stop state display
- Drive mode display
- ROS uptime counter
- rosbridge WS input + CONNECT button
Panel grid (auto-fill responsive):
- MAP VIEW (#587 ) — /saltybot/pose/fused liveness dot
- GAMEPAD TELEOP (#598 ) — /cmd_vel activity indicator
- DIAGNOSTICS (#562 ) — /diagnostics liveness dot
- EVENT LOG (#576 ) — /rosout liveness dot
- SETTINGS (#614 ) — param service (config state, no topic)
- GIMBAL (#551 ) — /gimbal/state liveness dot
Each card shows: icon, title, issue #, description, topic chips,
and a LIVE/IDLE/OFFLINE status badge updated every second. Cards
open the linked standalone panel in the same tab.
Auto-detect rosbridge:
- Probes: page hostname:9090, localhost:9090, saltybot.local:9090
- Progress dots per candidate (trying/ok/fail)
- Falls back to manual URL entry
- Saves last successful URL to localStorage
Bottom bar:
- ⛔ E-STOP button (latches, publishes zero Twist to /cmd_vel)
Space bar shortcut from dashboard
- RESUME button
- Drive mode switcher: MANUAL / AUTO / FOLLOW / DOCK
(publishes to /saltybot/drive_mode std_msgs/String)
- Session timer (HH:MM:SS since page load)
Info strip: rosbridge URL · msg rate · latency (5s ping via
/rosapi/get_time) · robot IP
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 14:35:56 -04:00
sl-android
26bf4ab8d3
feat: Add Termux voice command interface (Issue #633 )
...
phone/voice_cmd.py — listens via termux-speech-to-text, parses commands
(go forward/back, turn left/right, stop, e-stop, go to waypoint, speed
up/down, status) and publishes structured JSON to saltybot/phone/voice_cmd.
TTS confirmation via termux-tts-speak. Manual text fallback via --text flag.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 14:35:27 -04:00
cb802ee76f
feat: Cable management tray (Issue #628 )
2026-03-15 14:33:49 -04:00
0e8758e9e1
Merge pull request 'feat: Battery voltage telemetry + LVC (Issue #613 )' ( #626 ) from sl-firmware/issue-613-battery-voltage into main
2026-03-15 13:29:32 -04:00
7785a16bff
feat: Battery voltage telemetry and LVC (Issue #613 )
...
- Add include/lvc.h + src/lvc.c: 3-stage low voltage cutoff state machine
WARNING 21.0V: MELODY_LOW_BATTERY buzzer, full motor power
CRITICAL 19.8V: double-beep every 10s, 50% motor power scaling
CUTOFF 18.6V: MELODY_ERROR one-shot, motors disabled + latched
200mV hysteresis on recovery; CUTOFF latched until reboot
- Add JLINK_TLM_LVC (0x8B, 4 bytes): voltage_mv, percent, protection_state
jlink_send_lvc_tlm() frame encoder in jlink.c
- Wire into main.c:
lvc_init() at startup; lvc_tick() each 1kHz loop tick
lvc_is_cutoff() triggers safety_arm_cancel + balance_disarm + motor_driver_estop
lvc_get_power_scale() applied to ESC speed command (100/50/0%)
1Hz JLINK_TLM_LVC telemetry with fuel-gauge percent field
- Add LVC thresholds to config.h (LVC_WARNING/CRITICAL/CUTOFF/HYSTERESIS_MV)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 11:04:38 -04:00
68568b2b66
Merge pull request 'feat: WebUI settings panel (Issue #614 )' ( #622 ) from sl-webui/issue-614-settings-panel into main
2026-03-15 11:03:04 -04:00
38df5b4ebb
Merge pull request 'feat: GPS waypoint logger (Issue #617 )' ( #620 ) from sl-android/issue-617-waypoint-logger into main
2026-03-15 11:02:58 -04:00
fea550c851
Merge pull request 'feat: ROS2 bag recording manager (Issue #615 )' ( #625 ) from sl-jetson/issue-615-bag-recorder into main
2026-03-15 11:02:37 -04:00
13b17a11e1
Merge pull request 'feat: Steering PID controller (Issue #616 )' ( #624 ) from sl-controls/issue-616-steering-pid into main
2026-03-15 11:02:33 -04:00
96d13052b4
Merge pull request 'feat: RealSense obstacle detection (Issue #611 )' ( #623 ) from sl-perception/issue-611-obstacle-detect into main
2026-03-15 11:02:29 -04:00
a01fa091d4
Merge pull request 'feat: ESP-NOW to ROS2 serial relay node (Issue #618 )' ( #621 ) from sl-uwb/issue-618-espnow-relay into main
2026-03-15 11:02:21 -04:00
62aab7164e
Merge pull request 'feat: Jetson Orin Nano mount bracket (Issue #612 )' ( #619 ) from sl-mechanical/issue-612-jetson-mount into main
2026-03-15 11:02:14 -04:00
7e12dab4ae
feat: ROS2 bag recording manager (Issue #615 )
...
Upgrades saltybot_bag_recorder (Issue #488 ) with:
- Motion-triggered auto-record: subscribes /cmd_vel, starts on non-zero
velocity, stops after 30s idle timeout (configurable)
- Auto-split at 1 GB or 10 min via subprocess restart
- USB/NVMe storage selection: ordered priority list, picks first path
with >= 2 GB free (/media/usb0 -> /media/usb1 -> /mnt/nvme -> ~/bags)
- Disk monitoring: warns at 70%, triggers cleanup of bags >7 days at 80%
- JSON status on /saltybot/bag_recorder/status at 1 Hz
- Services: /saltybot/bag_recorder/{start,stop,split}
(legacy /saltybot/{start,stop}_recording kept for compatibility)
- bag_policy.py: pure-Python MotionState, DiskInfo, StorageSelector,
BagPolicy — ROS2-free, fully unit-testable
- 76 unit tests passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:12:40 -04:00
1e69337ffd
feat: Steering PID for differential drive (Issue #616 )
...
Closed-loop yaw-rate controller that converts Jetson Twist.angular.z
to a differential wheel speed offset using IMU gyro Z as feedback.
- include/steering_pid.h + src/steering_pid.c: PID with anti-windup
(integral clamped to ±200 counts) and rate limiter (10 counts/ms
max output change) to protect balance PID from sudden steering steps.
JLINK_TLM_STEERING (0x8A) telemetry at 10 Hz.
- include/mpu6000.h + src/mpu6000.c: expose yaw_rate (board_gz) in
IMUData so callers have direct bias-corrected gyro Z feedback.
- include/jlink.h + src/jlink.c: add JLINK_TLM_STEERING (0x8A),
jlink_tlm_steering_t (8 bytes), jlink_send_steering_tlm().
- test/test_steering_pid.c: 78 unit tests (host build with gcc),
all passing.
Usage (main loop):
steering_pid_set_target(&s, jlink_state.steer * STEER_OMEGA_SCALE);
int16_t steer_out = steering_pid_update(&s, imu.yaw_rate, dt);
motor_driver_update(&motor, balance_cmd, steer_out, now_ms);
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:11:05 -04:00
82ad626a94
feat: RealSense depth obstacle detection (Issue #611 )
...
New package saltybot_obstacle_detect — RANSAC ground plane fitting on
D435i depth images with 2D grid BFS obstacle clustering.
ground_plane.py (pure Python + numpy):
fit_ground_plane(pts, n_iter=50, inlier_thresh_m=0.06): RANSAC over 3D
point cloud in camera optical frame (+Z forward). Samples 3 points, fits
plane via cross-product, counts inliers, refines via SVD on best inlier
set. Orients normal toward -Y (upward in world). Returns (normal, d).
height_above_plane(pts, plane): signed h = d - n·p (h>0 = above ground).
obstacle_mask(pts, plane, min_h, max_h): min_obstacle_h_m < h < max_h.
ground_mask(pts, plane, thresh): inlier classification.
obstacle_clusterer.py (pure Python + numpy):
cluster_obstacles(pts, heights, cell_m=0.30, min_pts=5): projects
obstacle 3D points onto (X,Z) bird's-eye plane, discretises into grid
cells, runs 4-connected BFS flood-fill, returns ObstacleCluster list
sorted by forward distance. ObstacleCluster: centroid(3), radius_m,
height_m, n_pts + distance_m/lateral_m properties.
obstacle_detect_node.py (ROS2 node 'obstacle_detect'):
- Subscribes: /camera/depth/camera_info (latched, once),
/camera/depth/image_rect_raw (BEST_EFFORT, 30Hz float32 depth).
- Pipeline: stride downsample (default 8x → 80x60) → back-project to
3D → RANSAC ground plane (temporally blended α=0.3) → obstacle mask
(min_h=0.05m, max_h=0.80m) → BFS clustering → alert classification.
- Publishes:
/saltybot/obstacles (MarkerArray): SPHERE markers colour-coded
DANGER(red)/WARN(yellow)/CLEAR(green) + distance TEXT labels.
/saltybot/obstacles/cloud (PointCloud2): xyz float32 non-ground pts.
/saltybot/obstacles/alert (String JSON): alert_level, closest_m,
obstacle_count, per-obstacle {x,y,z,radius_m,height_m,level}.
- Safety zone integration (depth_estop_enabled=false by default):
DANGER → zero Twist to depth_estop_topic (/cmd_vel_input) feeds
into safety_zone's cmd_vel chain for independent depth e-stop.
config/obstacle_detect_params.yaml: all tuneable parameters with comments.
launch/obstacle_detect.launch.py: single node with params_file arg.
test/test_ground_plane.py: 10 unit tests (RANSAC correctness, normal
orientation, height computation, inlier/obstacle classification).
test/test_obstacle_clusterer.py: 8 unit tests (single/dual cluster,
distance sort, empty, min_pts filter, centroid accuracy, range clip).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:09:23 -04:00
921eaba8b3
feat: WebUI settings and configuration panel (Issue #614 )
...
Standalone ui/settings_panel.{html,js,css} — no build step.
Sections / tabs:
- PID: balance_controller (Kp/Ki/Kd/i_clamp/rate),
adaptive_pid (kp/ki/kd per load profile, output bounds)
- Speed: tank_driver (max_linear_vel, max_angular_vel, slip_factor),
smooth_velocity_controller (accel/decel limits),
battery_speed_limiter (speed factors)
- Safety: safety_zone (danger_range_m, warn_range_m, forward_arc_deg,
debounce, min_valid_range, publish_rate),
power_supervisor_node (battery % thresholds, speed factors),
lidar_avoidance (e-stop distance, safety zone sizes)
- Sensors: boolean toggles (estop_all_arcs, lidar_enabled, uwb_enabled),
uwb_imu_fusion weights and publish rate
- System: live /diagnostics subscriber (CPU/GPU/board/motor temps,
RAM/GPU/disk usage, WiFi RSSI+latency, MQTT status, last-update),
/rosapi/nodes node list
ROS2 parameter services (rcl_interfaces/srv/GetParameters +
SetParameters) via rosbridge WebSocket. Each section has independent
↓ LOAD (get_parameters) and ↑ APPLY (set_parameters) buttons with
success/error status feedback.
Presets: save/load/delete named snapshots of all values to
localStorage. Reset-to-defaults button restores built-in defaults.
Changed fields highlighted in amber (slider thumb + input border).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:08:47 -04:00
sl-uwb
65e0009118
feat: ESP-NOW to ROS2 serial relay (Issue #618 )
...
New ROS2 package saltybot_uwb_espnow_relay:
- packet.py: EspNowPacket dataclass + FrameReader stateful decoder
- Parses 20-byte ESP-NOW packets: MAGIC, tag_id, msg_type, anchor_id,
range_mm (int32 LE), rssi_dbm (float32), timestamp_ms, battery_pct,
flags (bit0=estop), seq_num
- Serial framing: STX(0x02) + LEN(0x14) + DATA[20] + XOR-CRC(1)
- Sync recovery: re-hunts STX after bad LEN or CRC; byte-by-byte capable
- relay_node.py: /espnow_relay ROS2 node
- Reads from USB serial in background thread (auto-reconnects on error)
- MSG_RANGE (0x10): publishes UwbRange on /uwb/espnow/ranges
- MSG_ESTOP (0x20): publishes std_msgs/Bool on /uwb/espnow/estop
and /saltybot/estop (latched True for estop_latch_s after last packet)
- MSG_HEARTBEAT (0x30): publishes EspNowHeartbeat on /uwb/espnow/heartbeat
- Range validity gating: min_range_m / max_range_m params
- 16/16 unit tests passing (test/test_packet.py, no ROS2/hardware needed)
saltybot_uwb_msgs: add EspNowHeartbeat.msg
(tag_id, battery_pct, seq_num, timestamp_ms + std_msgs/Header)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:08:19 -04:00
sl-android
9b1f3ddaf0
feat: GPS waypoint logger and route planner (Issue #617 )
...
Add phone/waypoint_logger.py — interactive Termux CLI for recording,
managing, and publishing GPS waypoints:
GPS acquisition
- termux-location with gps/network/passive provider selection
- Falls back to network provider on GPS timeout
- Optional --live-gps flag: subscribes to saltybot/phone/gps MQTT
topic (sensor_dashboard.py stream) to avoid redundant GPS calls
Waypoint operations
- Record: acquires GPS fix, prompts for name + tags, appends to route
- List: table with lat/lon/alt/accuracy/tags + inter-waypoint
distance (haversine) and bearing (8-point compass)
- Delete: by index with confirmation prompt
- Clear: entire route with confirmation
- Rename: route name
Persistence
- Routes saved as JSON to ~/saltybot_route.json (configurable)
- Auto-loads on startup; survives session restarts
MQTT publish (saltybot/phone/route, QoS 1, retained)
- Full waypoint list with metadata
- nav2_poses array: flat-earth x/y (metres from origin),
quaternion yaw facing next waypoint (last faces prev)
- Compatible with Nav2 FollowWaypoints action input
Geo maths
- haversine_m(): great-circle distance
- bearing_deg(): initial bearing with 8-point compass label
- flat_earth_xy(): ENU metres for Nav2 pose export (<1% error <100km)
Flags: --broker, --port, --file, --route, --provider, --live-gps,
--no-mqtt, --debug
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-15 10:05:57 -04:00
837c42a00d
feat: Jetson Orin Nano mount bracket (Issue #612 )
2026-03-15 10:04:37 -04:00
c0bb4f6276
Merge pull request 'feat: CAN bus driver for BLDC motor controllers (Issue #597 )' ( #610 ) from sl-firmware/issue-597-can-driver into main
2026-03-14 16:27:36 -04:00
2996d18ace
feat: CAN bus driver for BLDC motor controllers (Issue #597 )
...
- Add can_driver.h / can_driver.c: CAN2 on PB12/PB13 (AF9) at 500 kbps
APB1=54 MHz, PSC=6, BS1=13tq, BS2=4tq, SJW=1tq → 18tq/bit, SP 77.8%
Filter bank 14 (SlaveStartFilterBank=14); 32-bit mask; FIFO0
Accept std IDs 0x200–0x21F (left/right feedback frames)
TX: velocity+torque cmd (0x100+nid, DLC=4) at 100 Hz via main loop
RX: velocity/current/position/temp/fault feedback (0x200+nid, DLC=8)
AutoBusOff=ENABLE for HW recovery; can_driver_process() drains FIFO0
- Add JLINK_TLM_CAN_STATS (0x89, 16 bytes) + JLINK_CMD_CAN_STATS_GET (0x10)
Also add JLINK_TLM_SLOPE (0x88) + jlink_tlm_slope_t missing from Issue #600
- Wire into main.c: init after jlink_init; 100Hz TX loop (differential drive
speed_rpm ± steer_rpm/2); CAN enable follows arm state; 1Hz stats telemetry
- Add CAN_RPM_SCALE=10 and CAN_TLM_HZ=1 to config.h
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:58:13 -04:00
bb5eff1382
Merge pull request 'feat: MQTT-to-ROS2 phone sensor bridge (Issue #601 )' ( #605 ) from sl-android/issue-601-mqtt-ros2-bridge into main
2026-03-14 15:55:22 -04:00
8b1d6483cf
Merge pull request 'feat: Slope tilt compensation (Issue #600 )' ( #609 ) from sl-controls/issue-600-slope-compensation into main
2026-03-14 15:55:01 -04:00
6c00d6a321
Merge pull request 'feat: UWB anchor auto-calibration via inter-anchor ranging + MDS (Issue #602 )' ( #608 ) from sl-uwb/issue-602-anchor-calibration into main
2026-03-14 15:54:56 -04:00
2460ba27c7
Merge pull request 'feat: Nav2 with UWB localization (Issue #599 )' ( #607 ) from sl-jetson/issue-599-nav2-uwb into main
2026-03-14 15:54:52 -04:00
2367e08140
Merge pull request 'feat: Multi-sensor pose fusion (Issue #595 )' ( #606 ) from sl-perception/issue-595-pose-fusion into main
2026-03-14 15:54:48 -04:00
f188997192
Merge pull request 'feat: RPLIDAR A1 mount bracket (Issue #596 )' ( #604 ) from sl-mechanical/issue-596-rplidar-mount into main
2026-03-14 15:54:40 -04:00
7e5f673f7d
Merge pull request 'feat: WebUI gamepad teleop panel (Issue #598 )' ( #603 ) from sl-webui/issue-598-gamepad-teleop into main
2026-03-14 15:54:36 -04:00
be4966b01d
feat: Tilt compensation for slopes (Issue #600 )
...
Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples
the robot's balance offset from genuine ground incline. The balance
controller subtracts the slope estimate from measured pitch so the PID
balances around the slope surface rather than absolute vertical.
- include/slope_estimator.h + src/slope_estimator.c: first-order IIR
filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz
- include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88),
jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm()
- include/balance.h + src/balance.c: integrate slope_estimator into
balance_t; update, reset on tilt-fault and disarm
- test/test_slope_estimator.c: 35 unit tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:07:05 -04:00
sl-uwb
82cc223fb8
feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602 )
...
- peer_range_once(): DS-TWR initiator role toward a peer anchor
(POLL → RESP → FINAL, one-sided range estimate Ra - Da/2)
- AT+PEER_RANGE=<id>: returns +PEER_RANGE:<my>,<peer>,<mm>,<rssi>
or +PEER_RANGE:ERR,<peer>,TIMEOUT
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:06:29 -04:00
