saltylab-firmware

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Commit Graph

Author	SHA1	Message	Date
Sebastien Vayrette	868b453777	fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)	2026-03-05 19:25:23 -05:00
sl-webui	6d6909d9d9	feat: Voice command router (Issue #491 ) Natural language voice command routing with fuzzy matching for speech variations. Supported Commands: - Follow me / Come with me - Stop / Halt / Freeze - Go home / Return to dock / Charge - Patrol / Autonomous mode - Come here / Approach - Sit / Sit down - Spin / Rotate / Turn around - Dance / Groove - Take photo / Picture / Smile - What's that / Identify / Recognize - Battery status / Battery level Features: - Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold - Multiple pattern support per command for natural variations - Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services - Command monitoring via /saltybot/voice_command - Graceful handling of unrecognized speech Architecture: - Input: /saltybot/speech/transcribed_text (lowercase text) - Fuzzy match against 11 command groups with 40+ patterns - Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services Files: - saltybot_voice_router_node.py: Main router with fuzzy matching - launch/voice_router.launch.py: Launch configuration - VOICE_ROUTER_README.md: Usage documentation Dependencies: - rapidfuzz: Fuzzy string matching for natural speech handling - rclpy, std_msgs, geometry_msgs: ROS2 core Performance: <100ms per command (fuzzy matching + routing) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-05 17:05:02 -05:00
sl-jetson	7b22141142	feat: OTA firmware update (Issue #492 ) Complete over-the-air (OTA) firmware update system with: Features: - Downloads releases from Gitea (seb/saltylab-firmware) - Automatic colcon build in staging directory - Symlink-based atomic deployment - ROS2 service restart via systemd - Automatic rollback on build failure - Version tracking in ~/.saltybot-data/versions.json - Update history with timestamps Safety: - Blocks updates if robot velocity > 0.05 m/s - Velocity monitoring via odometry subscription - Backup before update for recovery Triggers: - MQTT /saltybot/ota_command: 'check', 'update:<version>', 'rollback' - /saltybot/ota_status: JSON status updates - Dashboard integration ready Configuration: - Gitea API base, repo info, directories - Build timeout: 3600s (1 hour) - Service restart automation - Backup retention policy ROS2 package structure complete with launch files and config.	2026-03-05 17:04:27 -05:00

Author

SHA1

Message

Date

Sebastien Vayrette

868b453777

fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)

2026-03-05 19:25:23 -05:00

sl-webui

6d6909d9d9

feat: Voice command router (Issue #491 )

Natural language voice command routing with fuzzy matching for speech variations.

Supported Commands:
- Follow me / Come with me
- Stop / Halt / Freeze
- Go home / Return to dock / Charge
- Patrol / Autonomous mode
- Come here / Approach
- Sit / Sit down
- Spin / Rotate / Turn around
- Dance / Groove
- Take photo / Picture / Smile
- What's that / Identify / Recognize
- Battery status / Battery level

Features:
- Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold
- Multiple pattern support per command for natural variations
- Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services
- Command monitoring via /saltybot/voice_command
- Graceful handling of unrecognized speech

Architecture:
- Input: /saltybot/speech/transcribed_text (lowercase text)
- Fuzzy match against 11 command groups with 40+ patterns
- Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services

Files:
- saltybot_voice_router_node.py: Main router with fuzzy matching
- launch/voice_router.launch.py: Launch configuration
- VOICE_ROUTER_README.md: Usage documentation

Dependencies:
- rapidfuzz: Fuzzy string matching for natural speech handling
- rclpy, std_msgs, geometry_msgs: ROS2 core

Performance: <100ms per command (fuzzy matching + routing)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 17:05:02 -05:00

sl-jetson

7b22141142

feat: OTA firmware update (Issue #492 )

Complete over-the-air (OTA) firmware update system with:

Features:
- Downloads releases from Gitea (seb/saltylab-firmware)
- Automatic colcon build in staging directory
- Symlink-based atomic deployment
- ROS2 service restart via systemd
- Automatic rollback on build failure
- Version tracking in ~/.saltybot-data/versions.json
- Update history with timestamps

Safety:
- Blocks updates if robot velocity > 0.05 m/s
- Velocity monitoring via odometry subscription
- Backup before update for recovery

Triggers:
- MQTT /saltybot/ota_command: 'check', 'update:<version>', 'rollback'
- /saltybot/ota_status: JSON status updates
- Dashboard integration ready

Configuration:
- Gitea API base, repo info, directories
- Build timeout: 3600s (1 hour)
- Service restart automation
- Backup retention policy

ROS2 package structure complete with launch files and config.

2026-03-05 17:04:27 -05:00

3 Commits