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>
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
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>
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
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>
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>
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>
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
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>
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>
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>
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>
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>
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>
Two new packages:
- saltybot_person_reid_msgs: PersonAppearance + PersonAppearanceArray msgs
- saltybot_person_reid: MobileNetV2 torso-crop embedder (128-dim L2-norm)
with 128-bin HSV histogram fallback, cosine-similarity gallery with EMA
identity updates and configurable age-based pruning, ROS2 node publishing
PersonAppearanceArray on /saltybot/person_reid at 5 Hz.
Pure-Python helpers (_embedding_model, _reid_gallery) importable without
rclpy — 18/18 unit tests pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
New saltybot_thermal package with thermal_node: reads all
/sys/class/thermal/thermal_zone* sysfs entries (millidegrees→°C),
publishes /saltybot/thermal JSON at 1 Hz with zones[], max_temp_c,
warn, and throttled flags. Logs ROS2 WARN at ≥75°C, ERROR at ≥85°C.
thermal_root param allows sysfs override for offline testing.
50/50 tests passing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Implements node watchdog ROS2 node that monitors heartbeats from critical
systems and triggers safety fallback when motor driver is lost >2s.
Features:
- Monitor heartbeats from: balance, motor_driver, emergency, docking
- Alert on /saltybot/node_watchdog (JSON) if heartbeat lost >1s
- Safety fallback: zero cmd_vel if motor driver lost >2s
- Republish cmd_vel on /saltybot/cmd_vel_safe with safety checks
- 20Hz monitoring and publishing frequency
- Configurable heartbeat timeout thresholds
Heartbeat Topics:
- /saltybot/balance_heartbeat (std_msgs/UInt32)
- /saltybot/motor_driver_heartbeat (std_msgs/UInt32)
- /saltybot/emergency_heartbeat (std_msgs/UInt32)
- /saltybot/docking_heartbeat (std_msgs/UInt32)
- /cmd_vel (geometry_msgs/Twist)
Published Topics:
- /saltybot/node_watchdog (std_msgs/String) - JSON status
- /saltybot/cmd_vel_safe (geometry_msgs/Twist) - Safety-checked velocity
Package: saltybot_node_watchdog
Entry point: node_watchdog_node
Launch file: node_watchdog.launch.py
Tests: 20+ unit tests covering:
- Heartbeat reception and timeout detection
- Motor driver critical timeout (>2s)
- Safety fallback logic
- cmd_vel zeroing on motor driver loss
- Health status JSON serialization
- Multi-node failure scenarios
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
New MeshPeer.msg (1 Hz DDS heartbeat: robot_id, social_state, active persons,
greeted names) and MeshHandoff.msg (person context transfer on STATE_LEAVING).
mesh_comms_node subscribes to person_states and orchestrator/state, publishes
announce heartbeat, triggers handoff on LEAVING, tracks peers with timeout
cleanup, and propagates mesh-wide greeting deduplication via /social/mesh/greeted.
73/73 tests passing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add SpeechTranscript.language (BCP-47), ConversationResponse.language fields
- speech_pipeline_node: whisper_language param (""=auto-detect via Whisper LID);
detected language published in every transcript
- conversation_node: track per-speaker language; inject "[Please respond in X.]"
hint for non-English speakers; propagate language to ConversationResponse.
_LANG_NAMES: 24 BCP-47 codes -> English names. Also adds Issue #161 emotion
context plumbing (co-located in same branch for clean merge)
- tts_node: voice_map_json param (JSON BCP-47->ONNX path); lazy voice loading
per language; playback queue now carries (text, lang) tuples for voice routing
- speech_params.yaml, tts_params.yaml: new language params with docs
- 47/47 tests pass (test_multilang.py)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
