fd7eddd44d
feat: Add Issue #213 - PID auto-tuner (Astrom-Hagglund relay oscillation)
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Implements PID auto-tuning ROS2 node using relay feedback (Astrom-Hagglund) method.
Service-triggered relay oscillation measures ultimate gain (Ku) and ultimate period
(Tu), then computes Ziegler-Nichols PD gains. Safety abort on >25deg tilt.
Features:
- Service /saltybot/autotune_pid (std_srvs/Trigger) starts tuning
- Relay oscillation method for accurate gain measurement
- Measures Ku (ultimate gain) and Tu (ultimate period)
- Computes Z-N PD gains: Kp=0.6*Ku, Kd=0.075*Ku*Tu
- Real-time safety abort >25° tilt angle
- JSON telemetry on /saltybot/autotune_info
- Relay commands on /saltybot/autotune_cmd_vel
Tuning Process:
1. Settle phase: zero command, allow oscillations to die
2. Relay oscillation: apply +/-relay_magnitude commands
3. Measure peaks: detect zero crossings, record extrema
4. Analysis: calculate Ku from peak amplitude, Tu from period
5. Gain computation: Ziegler-Nichols formulas
6. Publish results: Ku, Tu, Kp, Kd
Safety Features:
- IMU tilt monitoring (abort >25°)
- Max tuning duration timeout
- Configurable settle time and oscillation cycles
Published Topics:
- /saltybot/autotune_info (std_msgs/String) - JSON with Ku, Tu, Kp, Kd
- /saltybot/autotune_cmd_vel (geometry_msgs/Twist) - Relay control
Subscribed Topics:
- /imu/data (sensor_msgs/Imu) - IMU tilt safety check
- /saltybot/balance_feedback (std_msgs/Float32) - Balance feedback
Package: saltybot_pid_autotune
Entry point: pid_autotune_node
Service: /saltybot/autotune_pid
Tests: 20+ unit tests covering:
- IMU tilt extraction
- Relay oscillation analysis
- Ku/Tu measurement
- Ziegler-Nichols gain computation
- Peak detection and averaging
- Safety limits (tilt, timeout)
- State machine transitions
- JSON telemetry format
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:47:05 -05:00
aedb8771ad
feat(webui): robot event log viewer — emergency/docking/diagnostics (Issue #192 )
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- Add EventLog component with real-time event streaming
- Color-coded events: red=emergency, blue=docking, cyan=diagnostics
- Filter by event type with toggle buttons
- Auto-scroll to latest event
- Timestamped event cards with details display
- Max 200 event history (FIFO)
- Add MONITORING tab group with Events tab to App.jsx
- Supports /saltybot/emergency, /saltybot/docking_status, /diagnostics topics
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:04:53 -05:00
57420807ca
feat(webui): live camera viewer — multi-stream + detection overlays (Issue #177 )
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UI (src/hooks/useCamera.js, src/components/CameraViewer.jsx):
- 7 camera sources: front/left/rear/right CSI, D435i RGB/depth, panoramic
- Compressed image subscription via rosbridge (sensor_msgs/CompressedImage)
- Client-side 15fps gate (drops excess frames, reduces JS pressure)
- Per-camera FPS indicator with quality badge (FULL/GOOD/LOW/NO SIGNAL)
- Detection overlays: face boxes + names (/social/faces/detections),
gesture icons (/social/gestures), scene object labels + hazard colours
(/social/scene/objects); overlay mode selector (off/faces/gestures/objects/all)
- 360° panoramic equirect viewer with mouse/touch drag azimuth pan
- Picture-in-picture: up to 3 pinned cameras via ⊕ button
- One-click recording (MediaRecorder → MP4/WebM download)
- Snapshot to PNG with detection overlay composite + timestamp watermark
- Cameras tab added to TELEMETRY group in App.jsx
Jetson (rosbridge bringup):
- rosbridge_params.yaml: whitelist + /camera/depth/image_rect_raw/compressed,
/camera/panoramic/compressed, /social/faces/detections,
/social/gestures, /social/scene/objects
- rosbridge.launch.py: D435i colour republisher (JPEG 75%) +
depth republisher (compressedDepth/PNG16 preserving uint16 values)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:47:01 -05:00
da3ee19688
feat(webui): settings & configuration panel (Issue #160 )
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
- useSettings.js: PID parameter catalogue, step-response simulation,
ROS2 parameter apply via rcl_interfaces/srv/SetParameters, sensor
param management, firmware info extraction from /diagnostics,
diagnostics bundle export, JSON backup/restore, localStorage persist
- SettingsPanel.jsx: 6-view panel (PID, Sensors, Network, Firmware,
Diagnostics, Backup); StepResponseCanvas with stable/oscillating/
unstable colour-coding; GainSlider with range+number input; weight-
class tabs (empty/light/heavy); parameter validation badges
- App.jsx: CONFIG tab group (purple), settings tab render, FLEET_TABS
set to gate ConnectionBar and footer for fleet/missions/settings
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:26:42 -05:00
51dcc01bfa
feat(webui): mission planner — waypoint editor, routes, geofences, schedule (Issue #145 )
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useMissions.js:
- Waypoints: click-to-place, drag, dwell time, localStorage persistence
- Routes: loop/oneshot/pingpong, per-robot assignment, waypoint sequence
- Geofences: polygon draw (no-go / allowed zones)
- Templates: save/load profiles + JSON export/import
- Schedules: time+day triggers with client-side runner
- Executions: running/paused/aborted state per route
MissionPlanner.jsx:
- Canvas: waypoints, route lines + direction arrows, geofence fills,
robot position overlays, scale bar, zoom/pan, execution progress
- 7 sub-views: Map | Waypoints | Routes | Geofences | Templates | Schedule | Execute
- Execute: start/pause/resume/abort, waypoint-by-waypoint advance,
sends /goal_pose (single) and /outdoor/waypoints (patrol PoseArray)
- Integrates useFleet for robot selection and /goal_pose publishing
App.jsx: adds Missions tab to FLEET group
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:04:38 -05:00
b09f17b787
feat(webui): fleet management dashboard — Issue #139
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- useFleet.js: multi-robot ROSLIB.Ros multiplexer with localStorage
persistence; per-robot balance_state/control_mode/odom/diagnostics
subscriptions; sendGoal, sendPatrol, scanSubnet helpers
- FleetPanel.jsx: fleet sub-views (Robots/Map/Missions/Video/Alerts)
plus RobotDetail overlay reusing ImuPanel/BatteryPanel/MotorPanel/
ControlMode/SystemHealth via subscribeRobot adapter pattern
- App.jsx: adds FLEET tab group pointing to FleetPanel
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:37:10 -05:00
78374668bf
feat(ui): telemetry dashboard panels (issue #126 )
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Adds 6 telemetry tabs to the social-bot dashboard extending PR #112 .
IMU Panel (/saltybot/imu, /saltybot/balance_state):
- Canvas artificial horizon + compass tape
- Three.js 3D robot orientation cube with quaternion SLERP
- Angular velocity readouts, balance state detail
Battery Panel (/diagnostics):
- Voltage, SoC, estimated current, runtime estimate
- 120-point voltage history sparkline (2 min)
- Reads battery_voltage_v, battery_soc_pct KeyValues from DiagnosticArray
Motor Panel (/saltybot/balance_state, /saltybot/rover_pwm):
- Auto-detects balance vs rover mode
- Bidirectional duty bars for left/right motors
- Motor temp from /diagnostics, PID detail for balance bot
Map Viewer (/map, /odom, /outdoor/route):
- OccupancyGrid canvas renderer (unknown/free/occupied colour-coded)
- Robot position + heading arrow, Nav2/OSM path overlay (dashed)
- Pan (mouse/touch) + zoom, 2 m scale bar
Control Mode (/saltybot/control_mode):
- RC / RAMP_TO_AUTO / AUTO / RAMP_TO_RC state badge
- Blend alpha progress bar
- Safety flags: SLAM ok, RC link ok, stick override active
- State machine diagram
System Health (/diagnostics):
- CPU/GPU temperature gauges with colour-coded bars
- RAM, GPU memory, disk resource bars
- ROS2 node status list sorted by severity (ERROR → WARN → OK)
Also:
- Three.js vendor chunk split (471 kB separate lazy chunk)
- Updated App.jsx with grouped SOCIAL + TELEMETRY tab nav
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:18:39 -05:00
1cd8ebeb32
feat(ui): add social-bot dashboard (issue #107 )
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React + Vite + TailwindCSS dashboard served on port 8080.
Connects to ROS2 via rosbridge_server WebSocket (default ws://localhost:9090).
Panels:
- StatusPanel: pipeline state (idle/listening/thinking/speaking/throttled)
with animated pulse indicator, GPU memory bar, per-stage latency stats
- FaceGallery: enrolled persons grid with enroll/delete via
/social/enrollment/* services; live detection indicator
- ConversationLog: real-time transcript with human/bot bubbles,
streaming partial support, auto-scroll
- PersonalityTuner: sass/humor/verbosity sliders (0–10) writing to
personality_node via rcl_interfaces/srv/SetParameters; live
PersonalityState display
- NavModeSelector: shadow/lead/side/orbit/loose/tight mode buttons
publishing to /social/nav/mode; voice command reference table
Usage:
cd ui/social-bot && npm install && npm run dev # dev server port 8080
npm run build && npm run preview # production preview
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:36:51 -05:00
