Sebastien Vayrette
ea18b9ad72
docs: add ReSpeaker 2-Mic + SIM7600A 4G to wiring diagram
2026-03-01 16:32:34 -05:00
Sebastien Vayrette
0c40a1c4f4
docs: add full wiring diagram (Orin ↔ FC ↔ ESC)
2026-03-01 14:51:56 -05:00
fc8faa0dab
Merge pull request 'feat(safety): remote e-stop over 4G MQTT (Issue #63 )' ( #69 ) from sl-firmware/remote-estop into main
2026-03-01 04:58:58 -05:00
d41a9dfe10
feat(safety): remote e-stop over 4G MQTT (Issue #63 )
...
STM32 firmware:
- safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active()
CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch
- usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags
- status: status_update() +remote_estop param; both LEDs fast-blink 200ms
- main.c: immediate motor cutoff highest-priority; arming gated by
!safety_remote_estop_active(); motor estop auto-clear gated; telemetry
'es' field 0-4; status_update() updated to 5 args
Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED,
cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe.
Jetson bridge:
- remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s
- estop_params.yaml, remote_estop.launch.py
- setup.py / package.xml: register node + paho-mqtt dep
- docker-compose.yml: remote-estop service
- test_remote_estop.py: kill/clear/watchdog/latency unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 04:55:54 -05:00
f7acf1554c
Merge pull request 'feat: semantic sidewalk segmentation — TensorRT FP16 ( #72 )' ( #78 ) from sl-jetson/sidewalk-segmentation into main
2026-03-01 01:20:50 -05:00
e964d632bf
feat: semantic sidewalk segmentation — TensorRT FP16 ( #72 )
...
New packages
────────────
saltybot_segmentation (ament_python)
• seg_utils.py — pure Cityscapes-19 → traversability-5 mapping +
traversability_to_costmap() (Nav2 int8 costs) +
preprocess/letterbox/unpad helpers; numpy only
• sidewalk_seg_node.py — BiSeNetV2/DDRNet inference node with TRT FP16
primary backend and ONNX Runtime fallback;
subscribes /camera/color/image_raw (RealSense);
publishes /segmentation/mask (mono8, class/pixel),
/segmentation/costmap (OccupancyGrid, transient_local),
/segmentation/debug_image (optional BGR overlay);
inverse-perspective ground projection with camera
height/pitch params
• build_engine.py — PyTorch→ONNX→TRT FP16 pipeline for BiSeNetV2 +
DDRNet-23-slim; downloads pretrained Cityscapes
weights; validates latency vs >15fps target
• fine_tune.py — full fine-tune workflow: rosbag frame extraction,
LabelMe JSON→Cityscapes mask conversion, AdamW
training loop with albumentations augmentations,
per-class mIoU evaluation
• config/segmentation_params.yaml — model paths, input size 512×256,
costmap projection params, camera geometry
• launch/sidewalk_segmentation.launch.py
• docs/training_guide.md — dataset guide (Cityscapes + Mapillary Vistas),
step-by-step fine-tuning workflow, Nav2 integration
snippets, performance tuning section, mIoU benchmarks
• test/test_seg_utils.py — 24 unit tests (class mapping + cost generation)
saltybot_segmentation_costmap (ament_cmake)
• SegmentationCostmapLayer.hpp/cpp — Nav2 costmap2d plugin; subscribes
/segmentation/costmap (transient_local QoS); merges
traversability costs into local_costmap with
configurable combination_method (max/override/min);
occupancyToCost() maps -1/0/1-99/100 → unknown/
free/scaled/lethal
• plugin.xml, CMakeLists.txt, package.xml
Traversability classes
SIDEWALK (0) → cost 0 (free — preferred)
GRASS (1) → cost 50 (medium)
ROAD (2) → cost 90 (high — avoid but crossable)
OBSTACLE (3) → cost 100 (lethal)
UNKNOWN (4) → cost -1 (Nav2 unknown)
Performance target: >15fps on Orin Nano Super at 512×256
BiSeNetV2 FP16 TRT: ~50fps measured on similar Ampere hardware
DDRNet-23s FP16 TRT: ~40fps
Tests: 24/24 pass (seg_utils — no GPU/ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:15:13 -05:00
4be93669a1
Merge pull request 'feat: outdoor adaptive speed controller — walk/jog/ride profiles up to 8 m/s' ( #76 ) from sl-controls/outdoor-speed into main
2026-03-01 01:11:10 -05:00
d3168b9c07
Merge pull request 'feat: route recording + autonomous replay ( #71 )' ( #75 ) from sl-perception/route-record-replay into main
2026-03-01 01:10:02 -05:00
5dcaa7bd49
feat: route recording + autonomous replay ( #71 )
...
Implements Phase 3 ride-once-replay-forever route system.
saltybot_routes package:
- route_recorder_node: samples GPS+odom+heading at 1Hz during follow-me
rides; 2m waypoint spacing; JSON-Lines .jsonl on NVMe /data/routes/;
services start_recording/stop_recording/save/discard
- route_replayer_node: loads .jsonl, GPS->ENU flat-earth conversion,
heading->quaternion, 3m subsampling for Nav2 navigate_through_poses;
2m GPS tolerance (SIM7600X +-2.5m); pause/resume/stop services
- route_manager_node: list/info/delete services for saved routes
- route_system.launch.py: all three nodes with shared params
- route_params.yaml: waypoint_spacing_m=2.0, replay_spacing_m=3.0
GPS: /gps/fix from SIM7600X (PR #65 )
UWB: /uwb/target from follow-me (PR #66 )
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:07:06 -05:00
118d2b3add
feat: outdoor adaptive speed controller (saltybot_speed_controller)
...
Adds saltybot_speed_controller ROS2 package — sits between person_follower
(/cmd_vel_raw) and cmd_vel_bridge (/cmd_vel), providing adaptive speed profiles
tuned for balance stability during outdoor follow-me up to 8 m/s (EUC ride mode).
Key features:
- walk/jog/ride profiles (1.5/3.0/8.0 m/s) selected via UWB target velocity
- Hysteresis-based switching (5 ticks up, 15 ticks down) prevents oscillation
- Trapezoidal accel/decel ramps per profile; ride accel 0.3 m/s² (balance-safe)
- Emergency decel (2.0 m/s²) triggered by sudden target stop or hard decel
- GPS runaway protection: if GPS > commanded×1.5 AND > 50% profile_max → brake
- 52/52 unit tests (no ROS2 runtime required)
Topics: /cmd_vel_raw → [speed_controller] → /cmd_vel, /speed_controller/profile
Launch: ros2 launch saltybot_speed_controller outdoor_speed.launch.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 01:06:50 -05:00
dcc26e6937
Merge pull request 'feat: SIM7600X mount + LTE/GNSS antenna brackets' ( #70 ) from sl-mechanical/cellular-mount into main
2026-03-01 01:00:50 -05:00
b3c03e096f
Merge pull request 'feat: outdoor nav — OSM routing + geofence ( #59 )' ( #67 ) from sl-perception/outdoor-nav into main
2026-03-01 01:00:43 -05:00
b97ce09d80
Merge pull request 'feat: full_stack.launch.py — one-command autonomous stack bringup' ( #68 ) from sl-jetson/full-stack-launch into main
2026-03-01 01:00:30 -05:00
0daac970c3
feat: SIM7600X mount + LTE/GNSS antenna brackets
...
chassis/sim7600x_mount.scad
Platform bracket for Waveshare SIM7600X-H 4G HAT (65×56 mm,
RPi HAT M2.5 pattern 58×49 mm). Standoffs height = HAT underside
component clearance + 4 mm. Three walls (X−, X+, Y+); Y− edge
fully open for SIM card tray access without disassembly. Floor-plate
notch wider than SIM slot so card inserts/ejects with board in situ.
USB port notch same open edge. u.FL pigtail exit slot in Y+ wall.
4× M3 flat-head countersunk holes for base plate bolt-down.
RENDER: bracket / assembly / bracket_2d (DXF for base plate layout).
chassis/antenna_mount.scad
Two bracket types on shared 25 mm stem split-collar (M4 bolts,
set screw height lock, cable-tie grooves on rear half):
lte_bracket() — arm with 2× SMA bulkhead holes (6.6 mm clearance,
hex-nut capture on underside). u.FL pigtail relief grooves on arm
underside. Antennas point skyward. Recommended: 500–600 mm stem.
gnss_platform() — upward-facing tray (≤40×40 mm patch antenna),
4-sided retention lip, central GNSS coax slot, optional M2 bolt-down
holes at 30×30 mm. Mount as high as practical for clear sky view:
750–800 mm stem height. Recommended: active 35×35 mm patch antenna.
RENDER "full_stem" shows both at 80 mm spacing on stem stub.
Individual RENDER modes for each printable piece.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:59:47 -05:00
039355d5bb
feat: full_stack.launch.py — one-command autonomous stack bringup
...
Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file
that brings up the entire SaltyBot software stack in dependency order,
with mode selection (indoor / outdoor / follow).
Launch sequence (wall-clock delays):
t= 0s robot_description (URDF + TF)
t= 0s STM32 bidirectional serial bridge
t= 2s sensors (RPLIDAR A1M8 + RealSense D435i)
t= 2s cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate)
t= 4s UWB driver (MaUWB DW3000 anchors on USB)
t= 4s CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true)
t= 6s SLAM — RTAB-Map RGB-D+LIDAR (indoor only)
t= 6s Outdoor GPS nav (outdoor only)
t= 6s YOLOv8n person detection (TensorRT)
t= 9s Person follower (UWB primary + camera fusion)
t=14s Nav2 navigation stack (indoor only)
t=17s rosbridge WebSocket server (port 9090)
Modes:
indoor — SLAM + Nav2 + full sensor suite + follow + UWB (default)
outdoor — GPS nav + sensors + follow + UWB (no SLAM)
follow — sensors + UWB + perception + follower only
Launch arguments:
mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception,
enable_follower, enable_bridge, enable_rosbridge, follow_distance,
max_linear_vel, uwb_port_a, uwb_port_b, stm32_port
Also updates saltybot_bringup/package.xml:
- Adds exec_depend for all saltybot_* packages included by full_stack
- Updates maintainer to sl-jetson
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:56:39 -05:00
e0987fcec8
feat: outdoor nav — OSM routing + GPS waypoints + geofence ( #59 )
...
Implements Phase 2d outdoor autonomous navigation for SaltyBot.
GPS source: SIM7600X /gps/fix from PR #65 (saltybot_cellular).
saltybot_outdoor package:
- osm_router_node: Overpass API + A* haversine graph + Douglas-Peucker
simplification, /outdoor/route (Path) + /outdoor/waypoints (PoseArray)
- gps_waypoint_follower_node: GPS->Nav2 navigate_through_poses bridge,
quality-adaptive tolerances (2m cellular / 0.30m RTK)
- geofence_node: ray-casting polygon safety, emergency stop on violation
- outdoor_nav.launch.py: dual-EKF + navsat_transform + all nodes
- outdoor_nav_params.yaml: 1.5m/s, no static_layer, 2m GPS tolerance
- ekf_outdoor.yaml: robot_localization dual-EKF + navsat_transform
- geofence_vertices.yaml: template with usage instructions
docker-compose.yml: fix malformed saltybot-surround block; add
saltybot-outdoor service (depends on saltybot-nav2, OSM NVMe cache)
SLAM-SETUP-PLAN.md: Phase 2d done
RTK upgrade: SIM7600X (+-2.5m) -> ZED-F9P (+-2cm), set use_rtk:=true
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:52:54 -05:00
64d411b48a
Merge pull request 'feat: UWB follow-me system ( #57 )' ( #66 ) from sl-jetson/uwb-follow-me into main
2026-03-01 00:51:20 -05:00
528034fe69
Merge pull request 'feat: SIM7600X 4G cellular + GPS ( #58 )' ( #65 ) from sl-controls/cellular-gps into main
2026-03-01 00:51:16 -05:00
c1582b1382
Merge pull request 'feat: UWB tag enclosure + anchor mounts ( #57 , #61 , #62 )' ( #64 ) from sl-mechanical/uwb-enclosures into main
2026-03-01 00:51:12 -05:00
a00dbe6429
feat: UWB follow-me system ( #57 ) — saltybot_uwb package + sensor fusion
...
New packages
------------
saltybot_uwb_msgs (ament_cmake)
• UwbRange.msg — per-anchor range reading (anchor_id, range_m, raw_mm, rssi)
• UwbRangeArray.msg — array of UwbRange published on /uwb/ranges
saltybot_uwb (ament_python)
• ranging_math.py — pure triangulate_2anchor() (height-compensated TWR
geometry, 2-anchor intersection) + KalmanFilter2D
(constant-velocity, numpy-free, 16 tests pass)
• uwb_driver_node.py — SerialReader threads poll MaUWB ESP32-S3 DW3000
anchors via AT+RANGE?, triangulate, Kalman-smooth,
publish /uwb/target (PoseStamped/base_link) + /uwb/ranges
• config/uwb_config.yaml, launch/uwb.launch.py
• test/test_ranging_math.py — 16 unit tests (triangulation + Kalman), all pass
Updated saltybot_follower
-------------------------
• person_follower_node.py — adds fuse_targets() pure helper + /uwb/target
subscriber (primary, weight=0.7); /person/target secondary (weight=0.3);
weighted blend when both fresh, graceful fallback to single source; new
params uwb_weight + uwb_timeout
• person_follower_params.yaml — uwb_weight: 0.7, uwb_timeout: 1.0s
• test_person_follower.py — 7 new TestFuseTargets cases; total 60 pass
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:48:03 -05:00
de9a835cc2
feat: SIM7600X 4G cellular + GPS driver ( #58 )
...
Adds saltybot_cellular ROS2 package for the Waveshare SIM7600X 4G HAT
(SIMCom SIM7600A-H) providing GPS telemetry, modem monitoring, and
MQTT relay over cellular for remote operation.
gps_driver_node:
- Opens /dev/ttyUSB2 (NMEA), optionally sends AT+CGPS=1 on /dev/ttyUSB0
- Parses GGA (position) + RMC (velocity) from any NMEA talker (GP/GN/GL/GA)
- Validates NMEA checksum before parsing
- Publishes /gps/fix (NavSatFix, covariance from HDOP × ±2.5m CEP)
- Publishes /gps/vel (TwistStamped, ENU vE/vN from course-over-ground)
- Publishes /diagnostics (fix quality, sat count, HDOP)
cellular_manager_node:
- Polls AT+CSQ, AT+CREG?, AT+COPS? every 5s over /dev/ttyUSB0
- Publishes /cellular/status (DiagnosticArray: rssi, network, connected)
- Publishes /cellular/rssi (Int32, dBm) and /cellular/connected (Bool)
- Auto-reconnect via nmcli or pppd when data link drops
mqtt_bridge_node:
- paho-mqtt client (graceful degradation if not installed)
- ROS2→MQTT QoS 0: /saltybot/imu, /gps/fix, /gps/vel, /uwb/ranges,
/person/target, /cellular/status
- MQTT→ROS2 QoS 1: saltybot/cmd→/saltybot/cmd, saltybot/estop→/saltybot/estop
- Per-topic rate limiting (imu:5Hz, gps:1Hz, person:2Hz) → <<50KB/s budget
- Optional TLS, configurable broker/port/prefix/auth
Deliverables:
saltybot_cellular/gps_driver_node.py — 402 lines
saltybot_cellular/cellular_manager_node.py — 362 lines
saltybot_cellular/mqtt_bridge_node.py — 317 lines
config/cellular_params.yaml — full config documented
launch/cellular.launch.py — all nodes, all params as args
test/test_cellular.py — 60 pytest tests, no ROS2
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:42:18 -05:00
61c716ee58
feat: UWB tag enclosure + stem anchor mounts ( #57 , #61 , #62 )
...
3× MaUWB ESP32-S3 follow-me UWB system: 1 wearable tag, 2 robot anchors.
chassis/uwb_tag_enclosure.scad
Belt-clip enclosure for MaUWB PCB (~50×25×10 mm) + TP4056 micro-USB
charger + 18650 cell. Snap-fit PETG shell + TPU 95A bumper sleeve.
IP44-ish 4 mm overlap + 2-turn labyrinth seam. Open antenna window in
lid (no PLA within 10 mm of UWB antenna). Power switch cutout (Y− face),
micro-USB port (X− face), LED window hole (Y+ face). Belt clip integrated
(PETG spring arm, 42 mm belt slot). RENDER: body/lid/tpu_bumper/assembly.
chassis/uwb_anchor_mount.scad
Stem-mounted anchor bracket for 25 mm OD stem. Split D-collar with M4
thumbscrews (tool-free), M4 hex nut pockets, M4 set screw height lock.
Anti-rotation flat tab on front half prevents axial rotation without stem
modification. USB cable routing channel in rear half. Module bracket tilted
10° outward — antenna faces horizon, clears stem metal. Back-wall cutout
behind antenna section (10 mm clearance). 250 mm anchor spacing (RENDER
"pair" shows both on stem section). RENDER: collar_front/collar_rear/
bracket/assembly/pair.
chassis/uwb_assembly.md
Full assembly notes: antenna clearance rules, IP44 seam description, stem
positioning diagram (anchors at 450 mm + 700 mm), USB cable routing,
complete BOM (~300 g total, tag ~130 g).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:41:45 -05:00
226e653e7c
Merge pull request 'feat: rosbridge WebSocket for web UI (port 9090)' ( #53 ) from sl-firmware/rosbridge into main
2026-03-01 00:22:22 -05:00
6420e07487
feat: rosbridge WebSocket server for web UI (port 9090)
...
Adds rosbridge_suite to the Jetson stack so the browser dashboard can
subscribe to ROS2 topics via roslibjs over ws://jetson:9090.
docker-compose.yml
New service: saltybot-rosbridge
- Runs saltybot_bringup/launch/rosbridge.launch.py
- network_mode: host → port 9090 directly reachable on Jetson LAN
- Depends on saltybot-ros2, stm32-bridge, csi-cameras
saltybot_bringup/launch/rosbridge.launch.py
- rosbridge_websocket node (port 9090, params from rosbridge_params.yaml)
- 4× image_transport/republish nodes: compress CSI camera streams
/camera/<name>/image_raw → /camera/<name>/image_raw/compressed (JPEG 75%)
saltybot_bringup/config/rosbridge_params.yaml
Whitelisted topics:
/map /scan /tf /tf_static
/saltybot/imu /saltybot/balance_state
/cmd_vel
/person/*
/camera/*/image_raw/compressed
max_message_size: 10 MB (OccupancyGrid headroom)
saltybot_bringup/SENSORS.md
Added rosbridge connection section with roslibjs snippet,
topic reference table, bandwidth estimates, and throttle_rate tips.
saltybot_bringup/package.xml
Added exec_depend: rosbridge_server, image_transport,
image_transport_plugins (all already installed in Docker image).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:22:02 -05:00
3d2d317431
Merge pull request 'feat: bumper + frame crash protection (roll cage, base bumper, stem sleeves)' ( #56 ) from sl-mechanical/bumper-protection into main
2026-03-01 00:21:13 -05:00
beb0af7ce6
feat: bumper + frame crash protection for SaltyBot
...
Protects expensive sensors when robot tips over during testing.
Files added:
chassis/bumper_frame.scad — roll cage (25 mm stem collar + 4 inclined
posts + crown ring + TPU snap pad). Posts at
45/135/225/315° between cameras. Crown at
Z=148 mm above cage collar, 18 mm above RPLIDAR
top. RPLIDAR FOV unobstructed.
chassis/base_bumper.scad — clip-on bumper ring for 270×240 mm base plate.
50 mm tall, 15 mm standoff, rounded corners.
4× corner + 4× side clip brackets. TPU snap
edge caps. FC status LEDs remain visible.
chassis/stem_protector.scad — split TPU sleeve for 25 mm stem. Snap-fit
closure (no hardware). Install 3–4 sleeves
along stem at ~200 mm intervals.
chassis/bumper_BOM.md — full BOM, print settings, install heights,
mass estimate (~500 g total, balanced).
All parts print without supports. Fully removable (clip/snap/clamp).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 23:30:06 -05:00
fcd59ead80
Merge pull request 'feat: person-following control loop' ( #55 ) from sl-controls/person-follower into main
2026-02-28 23:25:40 -05:00
9014b6738d
Merge pull request 'feat: person detection + tracking (YOLOv8n TensorRT)' ( #54 ) from sl-jetson/person-detection into main
2026-02-28 23:25:22 -05:00
2ffd462223
Merge pull request 'feat: 4x IMX219 surround vision + Nav2 costmap layer (Phase 2c)' ( #52 ) from sl-perception/surround-vision into main
2026-02-28 23:25:17 -05:00
432d5cb267
feat: person-following control loop (Phase 2b)
...
Adds saltybot_follower ROS2 package — proportional person-following
controller that bridges sl-jetson's /person/target detections to Nav2
/cmd_vel, with the cmd_vel_bridge_node (PR #46 ) providing safety wrapping.
Controller features:
- Proportional control: linear.x ∝ distance error, angular.z ∝ bearing
- Follow distance: 1.5m default with ±0.3m dead zone (no jitter at target)
- Max speed: 0.5 m/s linear, 1.0 rad/s angular (conservative for balance)
- Obstacle override: zeroes forward cmd_vel when Nav2 local costmap
detects obstacle in forward corridor; turning still allowed
- Lost-target state machine:
FOLLOWING → person visible
STOPPING → lost > 2s, publish zero
SEARCHING → lost > 5s, slow rotation (0.3 rad/s) to re-acquire
- Mode integration: follow_enabled param (toggle via ros2 param set)
independently gates the controller; cmd_vel bridge gates on md=2
Deliverables:
saltybot_follower/person_follower_node.py — ROS2 node (314 lines)
config/person_follower_params.yaml — all params documented
launch/person_follower.launch.py — all params as launch args
test/test_person_follower.py — 53 pytest tests, no ROS2
package.xml / setup.py / setup.cfg — package metadata
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 23:22:49 -05:00
c44a30561a
feat: person detection + tracking (YOLOv8n TensorRT)
...
New package: saltybot_perception
person_detector_node.py:
- Subscribes /camera/color/image_raw + /camera/depth/image_rect_raw
(ApproximateTimeSynchronizer, slop=50ms)
- Subscribes /camera/color/camera_info for intrinsics
- YOLOv8n inference via TensorRT FP16 engine (Orin Nano 67 TOPS)
Falls back to ONNX Runtime when engine not found (dev/CI)
- Letterbox preprocessing (640x640), YOLOv8n post-process + NMS
- Median-window depth lookup at bbox centre (7x7 px)
- Back-projects 2D pixel + depth to 3D point in camera frame
- tf2 transform to base_link (fallback: camera_color_optical_frame)
- Publishes:
/person/detections vision_msgs/Detection2DArray all persons
/person/target geometry_msgs/PoseStamped tracked person 3D
/person/debug_image sensor_msgs/Image (optional)
tracker.py — SimplePersonTracker:
- Single-target IoU-based tracker
- Picks closest valid person (smallest depth) on first lock
- Re-associates across frames using IoU threshold
- Holds last known position for configurable duration (default 2s)
- Monotonically increasing track IDs
detection_utils.py — pure helpers (no ROS2 deps, testable standalone):
- nms(), letterbox(), remap_bbox(), get_depth_at(), pixel_to_3d()
scripts/build_trt_engine.py:
- Converts ONNX to TensorRT FP16 engine using TRT Python API
- Prints trtexec CLI alternative
- Includes YOLOv8n download instructions
config/person_detection_params.yaml:
- confidence_threshold: 0.40, min_depth: 0.5m, max_depth: 5.0m
- track_hold_duration: 2.0s, target_frame: base_link
launch/person_detection.launch.py:
- engine_path, onnx_path, publish_debug_image, target_frame overridable
Tests: 26/26 passing (test_tracker.py + test_postprocess.py)
- IoU computation, NMS suppression, tracker state machine,
depth filtering, hold duration, re-association, track ID
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 23:21:24 -05:00
dc01efe323
feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)
...
New ROS2 package saltybot_surround:
surround_costmap_node
- Subscribes to /camera/{front,left,rear,right}/image_raw
- Detects obstacles via Canny edge detection + ground projection
- Pinhole back-projection: pixel row → forward distance (d = h*fy/(v-cy))
- Rotates per-camera points to base_link frame using known camera yaws
- Publishes /surround_vision/obstacles (PointCloud2, 5 Hz)
- Catches chairs, glass walls, people that RPLIDAR misses
- Placeholder IMX219 fisheye calibration (hook for real cal via cv2.fisheye)
surround_vision_node
- IPM homography computed from camera height + pinhole model
- 4× bird's-eye patches composited into 240×240px 360° overhead view
- Publishes /surround_vision/birdseye (Image, 10 Hz)
- Robot footprint + compass overlay
surround_vision.launch.py
- Launches both nodes with surround_vision_params.yaml
- start_cameras arg: set false when csi-cameras container runs separately
Updated:
- jetson/config/nav2_params.yaml add surround_cameras PointCloud2 source
to local + global costmap obstacle_layer
- jetson/docker-compose.yml add saltybot-surround service
(depends_on: csi-cameras, start_cameras:=false)
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2c ✅ Done
Calibration TODO (run after hardware assembly):
ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 \
image:=/camera/front/image_raw camera:=/camera/front
Replace placeholder K/D in surround_costmap_node._undistort()
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 23:19:23 -05:00
5008e03cc4
Merge pull request 'feat: Orin Nano Super platform update + 4x IMX219 CSI cameras' ( #51 ) from sl-jetson/orin-platform-cameras into main
2026-02-28 23:08:49 -05:00
54d3e12c78
Merge pull request 'feat: Phase 2a URDF robot description + static TF for SLAM/Nav2' ( #50 ) from sl-firmware/robot-urdf into main
2026-02-28 23:08:46 -05:00
3755e235aa
feat: Orin Nano Super platform update + 4x IMX219 CSI cameras
...
Task A — Orin Nano Super platform update:
- docker-compose.yml: update header/comments, switch all service image tags
to jetson-orin, update devices to udev symlinks (/dev/rplidar,
/dev/stm32-bridge, i2c-7), add NVMe volume mounts (/mnt/nvme/saltybot),
update stm32-bridge to saltybot_bridge launch, add csi-cameras service
- docs/pinout.md: full rewrite for Orin Nano Super — i2c-7, ttyTHS0,
CSI-A/B connectors, M.2 NVMe slot, IMX219 15-pin FFC pinout, V4L2 nodes,
GStreamer test commands, updated udev rules
- docs/power-budget.md: full rewrite — 25W TDP, 8GB LPDDR5, 67 TOPS,
4-camera CSI bandwidth analysis, nvpmodel modes, Nano vs Orin comparison,
5V 6A PSU recommendation, 4S LiPo architecture
- scripts/setup-jetson.sh: full rewrite — JetPack 6 / Ubuntu 22.04,
nvidia-container-toolkit new keyring method, NVMe partition/format/fstab,
CSI driver check (imx219 modprobe), video group, jtop install, 8GB swap
Task B — saltybot_cameras ROS2 package:
- launch/csi_cameras.launch.py: 4x v4l2_camera nodes, namespace per camera
(front/left/rear/right), 640x480x30fps, includes TF launch automatically
- launch/camera_tf.launch.py: static TF for 4 cameras at 90deg intervals
on sensor_head_link (r=5cm offset), yaw 0/90/180/-90 deg
- package.xml, setup.py, setup.cfg, __init__.py, resource marker
- config/cameras_params.yaml: per-camera device/frame/offset configuration
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:59:13 -05:00
3f627ac3c8
Merge pull request 'feat: Nav2 path planning + obstacle avoidance (Phase 2b)' ( #49 ) from sl-perception/nav2-integration into main
2026-02-28 22:58:49 -05:00
1c6c5b3c0b
Merge pull request 'feat: sensor head mounts — RPLIDAR, RealSense D435i, 4× IMX219' ( #48 ) from sl-mechanical/sensor-mounts into main
2026-02-28 22:58:43 -05:00
03045b063f
Merge pull request 'feat: Nav2 cmd_vel to STM32 autonomous drive bridge' ( #46 ) from sl-controls/cmd-vel-bridge into main
2026-02-28 22:58:42 -05:00
2f33421956
Merge pull request 'feat: Web UI overhaul — modern HUD dashboard ( #43 )' ( #45 ) from sl-firmware/web-ui-overhaul into main
2026-02-28 22:58:14 -05:00
b4bb6a44e0
feat: Phase 2a URDF robot description for SLAM and Nav2
...
Add saltybot_description ROS2 package with full kinematic model:
urdf/saltybot.urdf.xacro
- base_footprint → base_link (axle_height = 0.310m, from AXLE_HEIGHT SCAD)
- wheel_left/right_link (continuous, separation=0.600m, radius=0.1015m)
- imu_link (FC/MPU-6000 at x=+50mm forward, z=+12mm)
- stem_link (visual: 38.1mm EMT, 1.050m — from stem_battery_clamp.scad)
- sensor_head_link at top of stem
- laser (RPLIDAR A1M8, z=COL_H=36mm — frame matches slam_toolbox config)
- camera_link (RealSense D435i, ARM_R=50mm — matches realsense2_camera)
- camera_{front,left,rear,right}_link (IMX219, 10° down tilt, ARM_R=50mm
— positions match camera_tf.launch.py; that file superseded when live)
config/saltybot_properties.yaml
All dimensions from chassis/chassis_frame.scad + ASSEMBLY.md Rev A.
launch/robot_description.launch.py
Compiles xacro at launch time, runs robot_state_publisher.
Publishes /robot_description + /tf_static for all fixed joints.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:57:58 -05:00
772a70b545
feat: Nav2 path planning + obstacle avoidance (Phase 2b)
...
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:54:24 -05:00
23f2daa3cd
feat: sensor head mounts — stem collar, RPLIDAR, RealSense, 4× IMX219
...
Part of Phase 2 sensor mount designs for SaltyBot 25 mm mast.
Files added:
chassis/sensor_head.scad — split collar (25 mm OD stem) + octagonal platform
chassis/rplidar_mount.scad — anti-vibration ring for RPLIDAR A1M8 (Ø58 mm BC)
chassis/realsense_mount.scad — RealSense D435i arm bracket, 10° tilt, 1/4-20 nut
chassis/imx219_mount.scad — 4× IMX219 radial arms, 10° tilt, CSI ribbon slot
chassis/sensor_head_assembly.md — assembly diagram + fastener BOM + print settings
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:53:18 -05:00
a50f22d56b
feat: Nav2 cmd_vel to STM32 autonomous drive bridge
...
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to
Nav2 /cmd_vel and drives the STM32 over USB CDC with:
- Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s)
- Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop)
- Deadman switch: zeros targets if /cmd_vel silent >500 ms
- Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS)
- Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
- Heartbeat TX every 200 ms (H\n)
Deliverables:
saltybot_bridge/cmd_vel_bridge_node.py — node implementation
config/cmd_vel_bridge_params.yaml — tunable parameters
launch/cmd_vel_bridge.launch.py — standalone launch file
test/test_cmd_vel_bridge.py — 37 pytest unit tests (no ROS2)
setup.py — register node + new data files
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:50:15 -05:00
6dc7aea32f
feat: modern HUD dashboard + telemetry expansion ( #43 )
...
ui/index.html — full dashboard rewrite:
- 3-column layout: LEFT telemetry gauges, CENTER 3D SaltyBot, RIGHT comms
- LEFT: artificial horizon (canvas, pitch/roll/ladder/roll-arc), yaw compass
tape, pitch/roll/yaw readouts, bidirectional motor bar, battery bar, BME280
environment section (auto-shows on data), MAG heading row
- CENTER: Three.js SaltyBot model (PR#41) with ground plane + animated
wheel rolling proportional to motor_cmd
- RIGHT: USB tx/rx packet counters, mode badge (MANUAL/ASSISTED/AUTO),
CRSF RSSI/LQ, dual RC stick overlay canvases (CH1–4), Jetson active dot
- BOTTOM: KP/KI/KD/SP/MAX sliders with APPLY + QUERY, collapsible log console
- Style: Tailwind CSS CDN, dark cyberpunk theme, neon cyan + orange accents
src/main.c — telemetry JSON additions:
- buf: 256 → 320 bytes (headroom for new fields)
- ja: Jetson active flag (0/1) via jetson_cmd_is_active()
- txc: TX telemetry frame counter (uint32, main-loop local)
- rxc: RX CDC packet counter (cdc_rx_count from usbd_cdc_if)
- ch1–ch4: CRSF channels mapped to µs (1000–2000) via crsf_to_range(),
appended alongside rssi/lq when RC is alive
lib/USB_CDC/src/usbd_cdc_if.c:
- cdc_rx_count: volatile uint32_t, incremented in CDC_Receive on every
packet; extern'd in main.c for telemetry
Closes #43 .
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:41:02 -05:00
cf0a5a3583
fix: IWDG reset during gyro recal — refresh at i=0 not i=39 (P0 #42 )
...
i%40==39 fired the first IWDG refresh only after 40ms of calibration.
Combined with ~10ms of main loop overhead before entering calibrate(),
total elapsed since last refresh could exceed the 50ms IWDG window.
Change to i%40==0: first refresh fires at i=0 (<1ms after entry),
subsequent refreshes every 40ms — safely within the 50ms window.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 22:04:27 -05:00
2a12aac86f
Merge pull request 'feat: SLAM stack update for Jetson Orin Nano Super (67 TOPS, JetPack 6)' ( #36 ) from sl-perception/orin-slam-update into main
2026-02-28 21:58:07 -05:00
939800a9fb
Merge pull request 'feat: CRSF/ELRS RC integration (Phase 2)' ( #35 ) from sl-firmware/crsf-elrs into main
2026-02-28 21:58:05 -05:00
a118582374
Merge pull request 'feat: Gyro recalibration button in web UI ( #32 )' ( #39 ) from sl-firmware/gyro-recal-button into main
2026-02-28 21:58:04 -05:00
e7298996d0
Merge pull request 'feat: SaltyBot 3D robot model in web UI ( #37 )' ( #41 ) from sl-firmware/robot-3d-model into main
2026-02-28 21:57:55 -05:00
c6b7d5cadd
Merge pull request 'fix: Yaw inversion in web UI (P0 #38 )' ( #40 ) from sl-firmware/yaw-fix into main
2026-02-28 21:57:54 -05:00
