jetson/ros2_ws/src/saltybot_bringup/BEHAVIOR_TREE_README.md

@@ -1,75 +0,0 @@
-# SaltyBot Autonomous Behavior Tree Coordinator (Issue #482)
-
-## Overview
-
-Autonomous mode state machine with 5 states:
-```
-idle → patrol → investigate → interact → return → idle
-```
-
-## States
-
-### IDLE: Waiting/Charging
-- Robot stationary, waiting for activation
-- Timeout: 60 seconds
-- Transition: Moves to PATROL when activated
-
-### PATROL: Autonomous Patrolling
-- Executes waypoint routes within geofence (#441)
-- Integrates curiosity (#470) for autonomous exploration
-- Monitors for person detection
-- Battery check: Returns to IDLE if <20%
-
-### INVESTIGATE: Person Investigation
-- Approaches and tracks detected person (#212)
-- Fallback: Navigate to last known position
-- Transition: → INTERACT when person approached
-
-### INTERACT: Social Interaction
-- Face recognition and greeting
-- Gesture detection and response (#454)
-- Timeout: 30 seconds
-- Transition: → RETURN
-
-### RETURN: Return to Home/Dock
-- Navigates back to home pose
-- Nav2 recovery behaviors with retries
-- Transition: → IDLE when complete
-
-## Blackboard Variables
-
-```python
-battery_level: float          # Battery percentage (0-100)
-person_detected: bool         # Person detection state
-obstacle_state: str          # 'clear' | 'near' | 'blocked'
-current_mode: str            # State: idle/patrol/investigate/interact/return
-home_pose: PoseStamped       # Home/dock location
-```
-
-## Safety Features
-
-- **E-Stop** (#459): Highest priority, halts operation immediately
-- **Battery protection**: Returns home if <20%
-- **Geofence** (#441): Keeps patrol within 5m boundary
-- **Obstacle avoidance**: LIDAR monitoring
-
-## Integration with Features
-
-- **Patrol** (#446): Waypoint routes
-- **Curiosity** (#470): Exploration during patrol
-- **Person Following**: Approach detected persons
-- **E-Stop** (#459): Emergency override
-- **Geofence** (#441): Boundary constraint
-
-## Launch
-
-```bash
-ros2 launch saltybot_bringup autonomous_mode.launch.py
-```
-
-## Files
-
-- `autonomous_coordinator.xml`: BehaviorTree definition
-- `launch/autonomous_mode.launch.py`: Full launch setup
-- `saltybot_bringup/bt_nodes.py`: Custom BT node plugins
-- `BEHAVIOR_TREE_README.md`: Documentation

jetson/ros2_ws/src/saltybot_bringup/behavior_trees/autonomous_coordinator.xml

@@ -1,34 +0,0 @@
-<?xml version="1.0"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="AutonomousCoordinator">
-    <ReactiveFallback name="RootFallback">
-      <Inverter><CheckEmergencyStop/></Inverter>
-      <Sequence name="AutonomousSequence">
-        <SetBlackboardVariable var_name="current_mode" var_value="idle"/>
-        <Sequence name="IdleState">
-          <StopRobot/>
-          <WaitForActivation timeout_ms="60000"/>
-        </Sequence>
-        <Sequence name="PatrolState">
-          <SetBlackboardVariable var_name="current_mode" var_value="patrol"/>
-          <CheckBatteryLevel threshold="20"/>
-          <PatrolWithCuriosity/>
-        </Sequence>
-        <Sequence name="InvestigateState">
-          <SetBlackboardVariable var_name="current_mode" var_value="investigate"/>
-          <FollowDetectedPerson/>
-        </Sequence>
-        <Sequence name="InteractState">
-          <SetBlackboardVariable var_name="current_mode" var_value="interact"/>
-          <RecognizeAndGreet/>
-          <Wait wait_duration="30"/>
-        </Sequence>
-        <Sequence name="ReturnState">
-          <SetBlackboardVariable var_name="current_mode" var_value="return"/>
-          <NavigateToHome retry_count="3"/>
-          <StopRobot/>
-        </Sequence>
-      </Sequence>
-    </ReactiveFallback>
-  </BehaviorTree>
-</root>

jetson/ros2_ws/src/saltybot_bringup/launch/autonomous_mode.launch.py

@@ -1,19 +0,0 @@
-"""Autonomous Mode Launcher (Issue #482)"""
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import PathJoinSubstitution
-
-def generate_launch_description():
-    saltybot_bringup_dir = FindPackageShare("saltybot_bringup")
-    bt_xml_dir = PathJoinSubstitution([saltybot_bringup_dir, "behavior_trees"])
-    return LaunchDescription([
-        Node(package="saltybot_bt_executor", executable="behavior_tree_executor", name="autonomous_coordinator",
-             parameters=[{"bt_xml_filename": PathJoinSubstitution([bt_xml_dir, "autonomous_coordinator.xml"])}]),
-        Node(package="saltybot_battery_monitor", executable="battery_monitor_node", name="battery_monitor"),
-        Node(package="saltybot_perception", executable="person_detector", name="person_detector"),
-        Node(package="saltybot_lidar_avoidance", executable="obstacle_monitor", name="obstacle_monitor"),
-        Node(package="saltybot_follower", executable="person_follower", name="person_follower"),
-        Node(package="saltybot_curiosity", executable="curiosity_explorer", name="curiosity_explorer"),
-        Node(package="saltybot_emergency_stop", executable="emergency_stop_monitor", name="emergency_stop_monitor"),
-    ])

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/bt_nodes.py

@@ -1,63 +0,0 @@
-"""Custom Behavior Tree Node Plugins (Issue #482)"""
-import rclpy
-from rclpy.node import Node
-from py_trees import behaviour, common
-from geometry_msgs.msg import Twist
-from sensor_msgs.msg import BatteryState
-from std_msgs.msg import Float32, Bool
-
-class GetBatteryLevel(behaviour.Behaviour):
-    def __init__(self, name, node: Node):
-        super().__init__(name)
-        self.node = node
-        self.battery_level = 100.0
-        self.subscription = node.create_subscription(BatteryState, '/battery_state', self._battery_callback, 10)
-    def _battery_callback(self, msg):
-        self.battery_level = msg.percentage * 100.0
-    def update(self) -> common.Status:
-        self.blackboard.set('battery_level', self.battery_level, overwrite=True)
-        return common.Status.SUCCESS
-
-class CheckBatteryLevel(behaviour.Behaviour):
-    def __init__(self, name, node: Node, threshold: float = 50.0):
-        super().__init__(name)
-        self.node = node
-        self.threshold = threshold
-        self.battery_level = 100.0
-        self.subscription = node.create_subscription(BatteryState, '/battery_state', self._battery_callback, 10)
-    def _battery_callback(self, msg):
-        self.battery_level = msg.percentage * 100.0
-    def update(self) -> common.Status:
-        return common.Status.SUCCESS if self.battery_level >= self.threshold else common.Status.FAILURE
-
-class CheckPersonDetected(behaviour.Behaviour):
-    def __init__(self, name, node: Node):
-        super().__init__(name)
-        self.node = node
-        self.person_detected = False
-        self.subscription = node.create_subscription(Bool, '/person_detection/detected', self._detection_callback, 10)
-    def _detection_callback(self, msg):
-        self.person_detected = msg.data
-    def update(self) -> common.Status:
-        self.blackboard.set('person_detected', self.person_detected, overwrite=True)
-        return common.Status.SUCCESS if self.person_detected else common.Status.FAILURE
-
-class StopRobot(behaviour.Behaviour):
-    def __init__(self, name, node: Node):
-        super().__init__(name)
-        self.node = node
-        self.cmd_vel_pub = node.create_publisher(Twist, '/cmd_vel', 10)
-    def update(self) -> common.Status:
-        msg = Twist()
-        self.cmd_vel_pub.publish(msg)
-        return common.Status.SUCCESS
-
-class SetBlackboardVariable(behaviour.Behaviour):
-    def __init__(self, name, node: Node, var_name: str, var_value):
-        super().__init__(name)
-        self.node = node
-        self.var_name = var_name
-        self.var_value = var_value
-    def update(self) -> common.Status:
-        self.blackboard.set(self.var_name, self.var_value, overwrite=True)
-        return common.Status.SUCCESS

jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro

@@ -283,32 +283,4 @@
     <origin xyz="0 ${-sensor_arm_r} 0" rpy="0 ${cam_tilt} ${-pi/2}"/>
   </joint>
 
-  <!-- Pan Servo Link -->
-  <link name="pan_servo">
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005"/>
-    </inertial>
-  </link>
-
-  <joint name="pan_servo_joint" type="fixed">
-    <parent link="sensor_head_link"/>
-    <child  link="pan_servo"/>
-    <origin xyz="${sensor_arm_r} 0 ${-0.020}" rpy="0 0 0"/>
-  </joint>
-
-  <!-- Tilt Servo Link -->
-  <link name="tilt_servo">
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005"/>
-    </inertial>
-  </link>
-
-  <joint name="tilt_servo_joint" type="fixed">
-    <parent link="pan_servo"/>
-    <child  link="tilt_servo"/>
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
 </robot>