.pio/build/project.checksum

@@ -1 +1 @@
-8700a44a6597bcade0f371945c539630ba0e78b1
+ee8efb31f6b185f16e4d385971f1a0e3291fe5fd

include/battery.h

@@ -32,18 +32,4 @@ uint32_t battery_read_mv(void);
  */
 uint8_t battery_estimate_pct(uint32_t voltage_mv);
 
-/*
- * battery_accumulate_coulombs() — periodically integrate battery current.
- * Call every 10-20 ms (50-100 Hz) from main loop to accumulate coulombs.
- * Reads motor currents from INA219 sensors.
- */
-void battery_accumulate_coulombs(void);
-
-/*
- * battery_get_soc_coulomb() — get coulomb-based SoC estimate.
- * Returns 0–100 (percent), or 255 if coulomb counter not yet valid.
- * Preferred over voltage-based when valid.
- */
-uint8_t battery_get_soc_coulomb(void);
-
 #endif /* BATTERY_H */

include/coulomb_counter.h

@@ -1,45 +0,0 @@
-#ifndef COULOMB_COUNTER_H
-#define COULOMB_COUNTER_H
-
-/*
- * coulomb_counter.h — Battery coulomb counter for SoC estimation (Issue #325)
- *
- * Integrates battery current over time to track Ah consumed and remaining.
- * Provides accurate SoC independent of load, with fallback to voltage.
- *
- * Usage:
- *   1. Call coulomb_counter_init(capacity_mah) at startup
- *   2. Call coulomb_counter_accumulate(current_ma) at 50–100 Hz
- *   3. Call coulomb_counter_get_soc_pct() to get current SoC
- *   4. Call coulomb_counter_reset() on charge complete
- */
-
-#include <stdint.h>
-#include <stdbool.h>
-
-/* Initialize coulomb counter with battery capacity (mAh). */
-void coulomb_counter_init(uint16_t capacity_mah);
-
-/*
- * Accumulate coulomb from current reading + elapsed time.
- * Call this at regular intervals (e.g., 50–100 Hz from telemetry loop).
- * current_ma: battery current in milliamps (positive = discharge)
- */
-void coulomb_counter_accumulate(int16_t current_ma);
-
-/* Get current SoC as percentage (0–100, 255 = error). */
-uint8_t coulomb_counter_get_soc_pct(void);
-
-/* Get consumed mAh (total charge removed from battery). */
-uint16_t coulomb_counter_get_consumed_mah(void);
-
-/* Get remaining capacity in mAh. */
-uint16_t coulomb_counter_get_remaining_mah(void);
-
-/* Reset accumulated coulombs (e.g., on charge complete). */
-void coulomb_counter_reset(void);
-
-/* Check if coulomb counter is active (initialized and has measurements). */
-bool coulomb_counter_is_valid(void);
-
-#endif /* COULOMB_COUNTER_H */

include/crsf.h

@@ -45,14 +45,14 @@ int16_t crsf_to_range(uint16_t val, int16_t min, int16_t max);
  * back to the ELRS TX module over UART4 TX.  Call at CRSF_TELEMETRY_HZ (1 Hz).
  *
  *   voltage_mv   : battery voltage in millivolts (e.g. 12600 for 3S full)
- *   capacity_mah : remaining battery capacity in mAh (Issue #325, coulomb counter)
+ *   current_ma   : current draw in milliamps     (0 if no sensor)
  *   remaining_pct: state-of-charge 0–100 %       (255 = unknown)
  *
  * Frame: [0xC8][12][0x08][v16_hi][v16_lo][c16_hi][c16_lo][cap24×3][rem][CRC]
  * voltage unit: 100 mV  (12600 mV → 126)
- * capacity unit: mAh (3-byte big-endian, max 16.7M mAh)
+ * current unit: 100 mA
  */
-void crsf_send_battery(uint32_t voltage_mv, uint32_t capacity_mah,
+void crsf_send_battery(uint32_t voltage_mv, uint32_t current_ma,
                        uint8_t remaining_pct);
 
 /*

include/servo.h

@@ -31,13 +31,9 @@ typedef struct {
     uint16_t current_angle_deg[SERVO_COUNT];   /* Current angle in degrees (0-180) */
     uint16_t target_angle_deg[SERVO_COUNT];    /* Target angle in degrees */
     uint16_t pulse_us[SERVO_COUNT];            /* Pulse width in microseconds (500-2500) */
-
+    uint32_t sweep_start_ms;
-    /* Sweep state (per-servo) */
+    uint32_t sweep_duration_ms;
-    uint32_t sweep_start_ms[SERVO_COUNT];
+    bool     is_sweeping;
-    uint32_t sweep_duration_ms[SERVO_COUNT];
-    uint16_t sweep_start_deg[SERVO_COUNT];
-    uint16_t sweep_end_deg[SERVO_COUNT];
-    bool     is_sweeping[SERVO_COUNT];
 } ServoState;
 
 /*

jetson/ros2_ws/src/saltybot_accessibility_mode/config/accessibility_params.yaml

@@ -1,58 +0,0 @@
-# Accessibility Mode Configuration for SaltyBot
-# Deaf/hearing-impaired user interface with speech-to-text, keyboard, and TTS
-
-accessibility_mode:
-  ros__parameters:
-    # Enable/disable accessibility mode
-    enabled: true
-
-    # Maximum number of transcript entries to display
-    max_display_history: 10
-
-    # Auto-speak-back confirmation for STT input
-    auto_tts: true
-
-    # Enable touch keyboard input
-    keyboard_enabled: true
-
-    # Timeout for display before clearing (seconds)
-    display_timeout_s: 30.0
-
-    # Audio settings
-    audio:
-      # PulseAudio sink for TTS output (MageDok HDMI speakers)
-      output_sink: "alsa_output.pci-0000_00_1d.0.hdmi-stereo"
-      # Volume level (0-1)
-      volume: 0.8
-
-    # STT settings (Whisper integration)
-    stt:
-      # Whisper model size: tiny, base, small, medium, large
-      model: "base"
-      # Language code (empty = auto-detect)
-      language: ""
-      # Enable partial results display
-      show_partial: true
-      # Device: "cuda" for GPU, "cpu" for CPU-only
-      device: "cuda"
-
-    # TTS settings (Piper integration)
-    tts:
-      # Voice model (en_US-lessac-medium by default)
-      voice_model: "en_US-lessac-medium"
-      # Sample rate (Hz)
-      sample_rate: 22050
-      # Enable streaming output
-      streaming_enabled: true
-
-    # Display settings for MageDok 7in
-    display:
-      # Resolution (1024x600)
-      width: 1024
-      height: 600
-      # Refresh rate (Hz)
-      refresh_rate: 60
-      # Font size for transcript (pixels)
-      transcript_font_size: 16
-      # Background color (CSS color)
-      background_color: "#FFFFFF"

jetson/ros2_ws/src/saltybot_accessibility_mode/launch/accessibility_mode.launch.py

@@ -1,54 +0,0 @@
-"""Launch file for accessibility mode on MageDok 7in display."""
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-import os
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    """Generate launch description for accessibility mode."""
-    pkg_dir = get_package_share_directory("saltybot_accessibility_mode")
-    config_file = os.path.join(
-        pkg_dir, "config", "accessibility_params.yaml"
-    )
-
-    return LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "config_file",
-                default_value=config_file,
-                description="Path to configuration YAML file",
-            ),
-            DeclareLaunchArgument(
-                "ui_port",
-                default_value="8080",
-                description="Port for UI server (MageDok display)",
-            ),
-            # Accessibility mode coordinator node
-            Node(
-                package="saltybot_accessibility_mode",
-                executable="accessibility_mode_node",
-                name="accessibility_mode",
-                output="screen",
-                parameters=[LaunchConfiguration("config_file")],
-                remappings=[
-                    ("/social/speech/transcript", "/social/speech/transcript"),
-                    ("/accessibility/keyboard_input", "/accessibility/keyboard_input"),
-                    ("/social/conversation/request", "/social/conversation/request"),
-                ],
-            ),
-            # Web UI server for touch keyboard and STT display
-            Node(
-                package="saltybot_accessibility_mode",
-                executable="ui_server",
-                name="accessibility_ui",
-                output="screen",
-                parameters=[
-                    {"port": LaunchConfiguration("ui_port")},
-                ],
-            ),
-        ]
-    )

jetson/ros2_ws/src/saltybot_accessibility_mode/package.xml

@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>saltybot_accessibility_mode</name>
-  <version>0.1.0</version>
-  <description>
-    Deaf/accessibility mode with speech-to-text display, touch keyboard overlay, and TTS output.
-    Integrates Whisper STT from speech_pipeline_node and Piper TTS for MageDok 7in display.
-  </description>
-  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>saltybot_social_msgs</depend>
-
-  <buildtool_depend>ament_python</buildtool_depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/__init__.py

@@ -1 +0,0 @@
-"""SaltyBot Accessibility Mode package."""

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/accessibility_mode_node.py

@@ -1,176 +0,0 @@
-#!/usr/bin/env python3
-"""Deaf/accessibility mode node for SaltyBot.
-
-Integrates speech-to-text (Whisper), touch keyboard input, and TTS output.
-Provides accessible interface for hearing-impaired users via MageDok 7in display.
-
-Subscribed topics:
-  /social/speech/transcript (SpeechTranscript) - STT from speech pipeline
-  /accessibility/keyboard_input (String) - Touch keyboard input
-
-Published topics:
-  /accessibility/text_display (String) - Text to display on screen
-  /social/conversation/request (ConversationRequest) - TTS request
-  /accessibility/mode_state (Bool) - Accessibility mode enabled state
-"""
-
-import json
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String, Bool
-from saltybot_social_msgs.msg import SpeechTranscript, ConversationRequest
-
-
-class AccessibilityModeNode(Node):
-    """Deaf/accessibility mode coordinator."""
-
-    def __init__(self):
-        super().__init__("accessibility_mode")
-
-        # Parameters
-        self.declare_parameter("enabled", True)
-        self.declare_parameter("max_display_history", 10)
-        self.declare_parameter("auto_tts", True)
-        self.declare_parameter("keyboard_enabled", True)
-        self.declare_parameter("display_timeout_s", 30.0)
-
-        self.enabled = self.get_parameter("enabled").value
-        self.max_history = self.get_parameter("max_display_history").value
-        self.auto_tts = self.get_parameter("auto_tts").value
-        self.keyboard_enabled = self.get_parameter("keyboard_enabled").value
-        self.display_timeout = self.get_parameter("display_timeout_s").value
-
-        # State
-        self.display_history = []
-        self.last_transcript = ""
-        self.keyboard_buffer = ""
-
-        # Subscriptions
-        self.create_subscription(
-            SpeechTranscript,
-            "/social/speech/transcript",
-            self._on_transcript,
-            10,
-        )
-        self.create_subscription(
-            String, "/accessibility/keyboard_input", self._on_keyboard_input, 10
-        )
-
-        # Publishers
-        self.pub_display = self.create_publisher(String, "/accessibility/text_display", 10)
-        self.pub_tts = self.create_publisher(
-            ConversationRequest, "/social/conversation/request", 10
-        )
-        self.pub_state = self.create_publisher(Bool, "/accessibility/mode_state", 10)
-
-        # Publish initial state
-        state_msg = Bool(data=self.enabled)
-        self.pub_state.publish(state_msg)
-
-        self.get_logger().info(
-            f"Accessibility mode initialized: "
-            f"enabled={self.enabled}, auto_tts={self.auto_tts}, "
-            f"keyboard={self.keyboard_enabled}"
-        )
-
-    def _on_transcript(self, msg: SpeechTranscript) -> None:
-        """Handle incoming speech-to-text transcript."""
-        if not self.enabled:
-            return
-
-        transcript = msg.text.strip()
-        if not transcript:
-            return
-
-        self.last_transcript = transcript
-        self.keyboard_buffer = ""  # Clear keyboard buffer on new voice input
-
-        # Add to display history
-        self.display_history.append({"type": "stt", "text": transcript, "final": msg.is_final})
-        if len(self.display_history) > self.max_history:
-            self.display_history.pop(0)
-
-        # Update display
-        self._update_display()
-
-        # Auto-speak back for confirmation (optional)
-        if self.auto_tts and msg.is_final:
-            self._send_tts_confirmation(transcript)
-
-        self.get_logger().info(f"STT: {transcript}")
-
-    def _on_keyboard_input(self, msg: String) -> None:
-        """Handle touch keyboard input."""
-        if not self.enabled or not self.keyboard_enabled:
-            return
-
-        text = msg.data.strip()
-
-        if text == "[CLEAR]":
-            # Clear keyboard buffer
-            self.keyboard_buffer = ""
-        elif text == "[SEND]":
-            # Send keyboard text as TTS request
-            if self.keyboard_buffer:
-                self._send_tts_request(self.keyboard_buffer)
-                self.display_history.append(
-                    {"type": "keyboard", "text": self.keyboard_buffer, "final": True}
-                )
-                if len(self.display_history) > self.max_history:
-                    self.display_history.pop(0)
-                self.keyboard_buffer = ""
-        elif text == "[BACKSPACE]":
-            # Remove last character
-            self.keyboard_buffer = self.keyboard_buffer[:-1]
-        elif text == "[SPACE]":
-            # Add space
-            self.keyboard_buffer += " "
-        else:
-            # Regular character input
-            self.keyboard_buffer += text
-
-        # Update display
-        self._update_display()
-        self.get_logger().info(f"Keyboard: {self.keyboard_buffer}")
-
-    def _update_display(self) -> None:
-        """Update text display with history and keyboard buffer."""
-        display_data = {
-            "history": self.display_history,
-            "keyboard_buffer": self.keyboard_buffer,
-            "mode": "accessibility",
-            "timestamp": self.get_clock().now().to_msg(),
-        }
-
-        msg = String(data=json.dumps(display_data))
-        self.pub_display.publish(msg)
-
-    def _send_tts_confirmation(self, transcript: str) -> None:
-        """Send confirmation TTS."""
-        msg = ConversationRequest()
-        msg.text = f"You said: {transcript}"
-        msg.language = "en"
-        self.pub_tts.publish(msg)
-
-    def _send_tts_request(self, text: str) -> None:
-        """Send custom TTS request."""
-        msg = ConversationRequest()
-        msg.text = text
-        msg.language = "en"
-        self.pub_tts.publish(msg)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = AccessibilityModeNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/test_accessibility.py

@@ -1,50 +0,0 @@
-"""Unit tests for accessibility mode node."""
-
-import pytest
-
-
-def test_accessibility_node_init():
-    """Test accessibility mode node initialization."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    assert node.enabled is True
-    assert node.keyboard_enabled is True
-    assert len(node.display_history) == 0
-    node.destroy_node()
-
-
-def test_keyboard_buffer():
-    """Test keyboard buffer management."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    node.keyboard_buffer = "HELLO"
-    assert node.keyboard_buffer == "HELLO"
-    node.destroy_node()
-
-
-def test_history_limit():
-    """Test display history limit."""
-    import rclpy
-
-    rclpy.init(allow_reuse=True)
-    from saltybot_accessibility_mode.accessibility_mode_node import AccessibilityModeNode
-
-    node = AccessibilityModeNode()
-    # Add more entries than max_history
-    for i in range(15):
-        node.display_history.append({"type": "test", "text": f"Entry {i}"})
-
-    assert len(node.display_history) <= node.max_history
-    node.destroy_node()
-
-
-if __name__ == "__main__":
-    pytest.main([__file__, "-v"])

jetson/ros2_ws/src/saltybot_accessibility_mode/saltybot_accessibility_mode/ui_server.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-"""Web UI server for accessibility mode on MageDok display.
-
-Serves touch keyboard interface and displays STT transcripts.
-Communicates with accessibility_mode_node via ROS2.
-"""
-
-import json
-import threading
-from http.server import HTTPServer, SimpleHTTPRequestHandler
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-
-class AccessibilityUIHandler(SimpleHTTPRequestHandler):
-    """HTTP request handler for accessibility UI."""
-
-    def do_GET(self):
-        """Serve HTML/CSS/JS files."""
-        if self.path == "/" or self.path == "/index.html":
-            self.path = "/accessibility.html"
-        return super().do_GET()
-
-    def log_message(self, format, *args):
-        """Suppress request logging."""
-        pass
-
-
-class UIServerNode(Node):
-    """ROS2 node for accessibility UI server."""
-
-    def __init__(self, port=8000):
-        super().__init__("accessibility_ui_server")
-
-        self.port = port
-        self.display_data = {}
-
-        # Subscription to display updates
-        self.create_subscription(
-            String, "/accessibility/text_display", self._on_display_update, 10
-        )
-
-        # Publisher for keyboard input
-        self.pub_keyboard = self.create_publisher(String, "/accessibility/keyboard_input", 10)
-
-        # Start HTTP server in background thread
-        self.server = HTTPServer(("0.0.0.0", port), AccessibilityUIHandler)
-        self.server_thread = threading.Thread(target=self.server.serve_forever, daemon=True)
-        self.server_thread.start()
-
-        self.get_logger().info(f"Accessibility UI server listening on port {port}")
-
-    def _on_display_update(self, msg: String) -> None:
-        """Store display data for serving to web clients."""
-        try:
-            self.display_data = json.loads(msg.data)
-        except json.JSONDecodeError:
-            self.get_logger().error(f"Invalid display data JSON: {msg.data}")
-
-    def send_keyboard_input(self, text: str) -> None:
-        """Send keyboard input to accessibility mode node."""
-        msg = String(data=text)
-        self.pub_keyboard.publish(msg)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = UIServerNode(port=8080)
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.server.shutdown()
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_accessibility_mode/setup.cfg

@@ -1,5 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_accessibility_mode
-
-[install]
-install_scripts=$base/lib/saltybot_accessibility_mode

jetson/ros2_ws/src/saltybot_accessibility_mode/setup.py

@@ -1,33 +0,0 @@
-from setuptools import setup
-
-package_name = "saltybot_accessibility_mode"
-
-setup(
-    name=package_name,
-    version="0.1.0",
-    packages=[package_name],
-    data_files=[
-        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
-        (f"share/{package_name}", ["package.xml"]),
-        (f"share/{package_name}/launch", ["launch/accessibility_mode.launch.py"]),
-        (f"share/{package_name}/config", ["config/accessibility_params.yaml"]),
-        (f"share/{package_name}/ui", [
-            "ui/accessibility.html",
-            "ui/accessibility.css",
-            "ui/accessibility.js",
-        ]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="sl-controls",
-    maintainer_email="sl-controls@saltylab.local",
-    description="Deaf/accessibility mode with STT display, touch keyboard, and TTS output",
-    license="MIT",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "accessibility_mode_node = saltybot_accessibility_mode.accessibility_mode_node:main",
-            "ui_server = saltybot_accessibility_mode.ui_server:main",
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.css

@@ -1,279 +0,0 @@
-* {
-    margin: 0;
-    padding: 0;
-    box-sizing: border-box;
-}
-
-body {
-    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
-    background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
-    min-height: 100vh;
-    display: flex;
-    align-items: center;
-    justify-content: center;
-    color: #333;
-}
-
-.container {
-    width: 100%;
-    max-width: 1024px;
-    height: 600px;
-    background: white;
-    border-radius: 0;
-    box-shadow: 0 20px 60px rgba(0, 0, 0, 0.3);
-    display: flex;
-    flex-direction: column;
-    overflow: hidden;
-}
-
-/* Header */
-.header {
-    background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
-    color: white;
-    padding: 12px 20px;
-    display: flex;
-    justify-content: space-between;
-    align-items: center;
-}
-
-.header h1 {
-    font-size: 24px;
-    font-weight: 600;
-}
-
-.status-indicator {
-    background: rgba(255, 255, 255, 0.3);
-    padding: 6px 12px;
-    border-radius: 20px;
-    font-size: 12px;
-    font-weight: 500;
-}
-
-/* Transcript Area */
-.transcript-area {
-    flex: 0 0 100px;
-    background: #f8f9fa;
-    border-bottom: 1px solid #e0e0e0;
-    padding: 8px 15px;
-    display: flex;
-    flex-direction: column;
-}
-
-.transcript-label {
-    font-size: 12px;
-    font-weight: 600;
-    color: #666;
-    margin-bottom: 4px;
-    text-transform: uppercase;
-}
-
-.transcript-content {
-    flex: 1;
-    overflow-y: auto;
-    font-size: 16px;
-    line-height: 1.4;
-    color: #333;
-    padding: 4px 0;
-}
-
-.transcript-content .placeholder {
-    color: #999;
-    font-style: italic;
-}
-
-/* Keyboard Area */
-.keyboard-area {
-    flex: 1;
-    padding: 12px 15px;
-    overflow-y: auto;
-    display: flex;
-    flex-direction: column;
-}
-
-.keyboard-label {
-    font-size: 12px;
-    font-weight: 600;
-    color: #666;
-    margin-bottom: 6px;
-    text-transform: uppercase;
-}
-
-.keyboard-buffer {
-    min-height: 32px;
-    background: white;
-    border: 2px solid #667eea;
-    border-radius: 6px;
-    padding: 8px 12px;
-    margin-bottom: 8px;
-    font-size: 18px;
-    font-weight: 500;
-    color: #333;
-    word-wrap: break-word;
-    min-height: 40px;
-    line-height: 1.4;
-}
-
-/* Keyboard Layout */
-.keyboard {
-    flex: 1;
-    display: flex;
-    flex-direction: column;
-    gap: 4px;
-    justify-content: flex-start;
-}
-
-.keyboard-row {
-    display: flex;
-    gap: 4px;
-    justify-content: center;
-}
-
-.key {
-    flex: 1;
-    min-width: 0;
-    padding: 8px 4px;
-    background: #f0f0f0;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    font-size: 13px;
-    font-weight: 600;
-    cursor: pointer;
-    transition: all 0.15s;
-    color: #333;
-    touch-action: manipulation;
-}
-
-.key:hover {
-    background: #e0e0e0;
-    border-color: #999;
-}
-
-.key:active {
-    background: #667eea;
-    color: white;
-    border-color: #667eea;
-    transform: scale(0.95);
-}
-
-.key.num {
-    background: #fff3cd;
-    border-color: #ffc107;
-}
-
-.key.num:active {
-    background: #ffc107;
-    color: white;
-}
-
-.key.sym {
-    background: #e7f3ff;
-    border-color: #2196F3;
-}
-
-.key.sym:active {
-    background: #2196F3;
-    color: white;
-}
-
-.key.special {
-    background: #f3e5f5;
-    border-color: #9c27b0;
-}
-
-.key.special:active {
-    background: #9c27b0;
-    color: white;
-}
-
-.keyboard-row.action {
-    gap: 8px;
-    padding-top: 4px;
-    border-top: 1px solid #e0e0e0;
-}
-
-.key.action {
-    background: #f5f5f5;
-    border-color: #999;
-    font-size: 12px;
-}
-
-.key.action.primary {
-    background: #4CAF50;
-    color: white;
-    border-color: #45a049;
-    font-weight: 700;
-}
-
-.key.action.primary:hover {
-    background: #45a049;
-}
-
-.key.action.primary:active {
-    background: #3d8b40;
-    transform: scale(0.95);
-}
-
-/* Footer */
-.footer {
-    background: #f8f9fa;
-    border-top: 1px solid #e0e0e0;
-    padding: 8px 15px;
-    display: flex;
-    justify-content: space-around;
-    font-size: 12px;
-}
-
-.status-item {
-    display: flex;
-    gap: 6px;
-    align-items: center;
-}
-
-.status-item .label {
-    font-weight: 600;
-    color: #666;
-}
-
-.status-item .value {
-    color: #4CAF50;
-    font-weight: 500;
-}
-
-/* Responsive */
-@media (max-width: 600px) {
-    .key {
-        font-size: 11px;
-        padding: 6px 2px;
-    }
-
-    .header h1 {
-        font-size: 18px;
-    }
-
-    .keyboard-buffer {
-        font-size: 16px;
-        min-height: 36px;
-    }
-}
-
-/* Scrollbar styling */
-.transcript-content::-webkit-scrollbar,
-.keyboard-area::-webkit-scrollbar {
-    width: 4px;
-}
-
-.transcript-content::-webkit-scrollbar-track,
-.keyboard-area::-webkit-scrollbar-track {
-    background: #f1f1f1;
-}
-
-.transcript-content::-webkit-scrollbar-thumb,
-.keyboard-area::-webkit-scrollbar-thumb {
-    background: #888;
-    border-radius: 2px;
-}
-
-.transcript-content::-webkit-scrollbar-thumb:hover,
-.keyboard-area::-webkit-scrollbar-thumb:hover {
-    background: #555;
-}

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.html

@@ -1,109 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>SaltyBot Accessibility Mode</title>
-    <link rel="stylesheet" href="accessibility.css">
-</head>
-<body>
-    <div class="container">
-        <!-- Header -->
-        <header class="header">
-            <h1>🔊 Accessibility Mode</h1>
-            <div class="status">
-                <span id="mode-indicator" class="status-indicator">STT Active</span>
-            </div>
-        </header>
-
-        <!-- Transcript Display -->
-        <div class="transcript-area">
-            <div class="transcript-label">Transcript</div>
-            <div id="transcript-display" class="transcript-content">
-                <div class="placeholder">Waiting for speech...</div>
-            </div>
-        </div>
-
-        <!-- Keyboard Input Area -->
-        <div class="keyboard-area">
-            <div class="keyboard-label">Type or Speak</div>
-            <div id="keyboard-buffer" class="keyboard-buffer"></div>
-
-            <!-- Soft Keyboard -->
-            <div class="keyboard">
-                <!-- Row 1 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="Q">Q</button>
-                    <button class="key" data-char="W">W</button>
-                    <button class="key" data-char="E">E</button>
-                    <button class="key" data-char="R">R</button>
-                    <button class="key" data-char="T">T</button>
-                    <button class="key" data-char="Y">Y</button>
-                    <button class="key" data-char="U">U</button>
-                    <button class="key" data-char="I">I</button>
-                    <button class="key" data-char="O">O</button>
-                    <button class="key" data-char="P">P</button>
-                </div>
-
-                <!-- Row 2 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="A">A</button>
-                    <button class="key" data-char="S">S</button>
-                    <button class="key" data-char="D">D</button>
-                    <button class="key" data-char="F">F</button>
-                    <button class="key" data-char="G">G</button>
-                    <button class="key" data-char="H">H</button>
-                    <button class="key" data-char="J">J</button>
-                    <button class="key" data-char="K">K</button>
-                    <button class="key" data-char="L">L</button>
-                    <button class="key special" id="backspace-btn">⌫</button>
-                </div>
-
-                <!-- Row 3 -->
-                <div class="keyboard-row">
-                    <button class="key" data-char="Z">Z</button>
-                    <button class="key" data-char="X">X</button>
-                    <button class="key" data-char="C">C</button>
-                    <button class="key" data-char="V">V</button>
-                    <button class="key" data-char="B">B</button>
-                    <button class="key" data-char="N">N</button>
-                    <button class="key" data-char="M">M</button>
-                    <button class="key special" id="space-btn">SPACE</button>
-                </div>
-
-                <!-- Row 4 - Numbers & Symbols -->
-                <div class="keyboard-row">
-                    <button class="key num" data-char="1">1</button>
-                    <button class="key num" data-char="2">2</button>
-                    <button class="key num" data-char="3">3</button>
-                    <button class="key num" data-char="4">4</button>
-                    <button class="key num" data-char="5">5</button>
-                    <button class="key sym" data-char=".">.</button>
-                    <button class="key sym" data-char="?">?</button>
-                    <button class="key sym" data-char="!">!</button>
-                </div>
-
-                <!-- Row 5 - Action buttons -->
-                <div class="keyboard-row action">
-                    <button class="key action" id="clear-btn">CLEAR</button>
-                    <button class="key action primary" id="send-btn">SEND</button>
-                </div>
-            </div>
-        </div>
-
-        <!-- Status Footer -->
-        <footer class="footer">
-            <div class="status-item">
-                <span class="label">STT:</span>
-                <span id="stt-status" class="value">Ready</span>
-            </div>
-            <div class="status-item">
-                <span class="label">TTS:</span>
-                <span id="tts-status" class="value">Ready</span>
-            </div>
-        </footer>
-    </div>
-
-    <script src="accessibility.js"></script>
-</body>
-</html>

jetson/ros2_ws/src/saltybot_accessibility_mode/ui/accessibility.js

@@ -1,173 +0,0 @@
-/**
- * Accessibility Mode UI - Touch Keyboard & STT Display
- */
-
-class AccessibilityUI {
-    constructor() {
-        this.keyboardBuffer = '';
-        this.displayData = { history: [], keyboard_buffer: '' };
-        this.wsConnected = false;
-
-        this.initializeElements();
-        this.attachEventListeners();
-        this.startPolling();
-    }
-
-    initializeElements() {
-        this.keyboardBufferEl = document.getElementById('keyboard-buffer');
-        this.transcriptDisplay = document.getElementById('transcript-display');
-        this.transcriptHistoryEl = null;
-        this.sttStatusEl = document.getElementById('stt-status');
-        this.ttsStatusEl = document.getElementById('tts-status');
-        this.modeIndicatorEl = document.getElementById('mode-indicator');
-
-        // Keyboard buttons
-        this.keyButtons = document.querySelectorAll('.key[data-char]');
-        this.backspaceBtn = document.getElementById('backspace-btn');
-        this.spaceBtn = document.getElementById('space-btn');
-        this.clearBtn = document.getElementById('clear-btn');
-        this.sendBtn = document.getElementById('send-btn');
-    }
-
-    attachEventListeners() {
-        // Character keys
-        this.keyButtons.forEach(btn => {
-            btn.addEventListener('click', () => this.inputCharacter(btn.dataset.char));
-            btn.addEventListener('touch start', (e) => e.preventDefault());
-        });
-
-        // Special keys
-        this.backspaceBtn.addEventListener('click', () => this.backspace());
-        this.spaceBtn.addEventListener('click', () => this.inputCharacter(' '));
-        this.clearBtn.addEventListener('click', () => this.clearBuffer());
-        this.sendBtn.addEventListener('click', () => this.sendInput());
-
-        // Physical keyboard support
-        document.addEventListener('keydown', (e) => this.handlePhysicalKey(e));
-    }
-
-    inputCharacter(char) {
-        this.keyboardBuffer += char.toUpperCase();
-        this.updateDisplay();
-        this.sendToROS('', false); // Update display on ROS
-    }
-
-    backspace() {
-        this.keyboardBuffer = this.keyboardBuffer.slice(0, -1);
-        this.updateDisplay();
-        this.sendToROS('', false);
-    }
-
-    clearBuffer() {
-        this.keyboardBuffer = '';
-        this.updateDisplay();
-        this.sendToROS('[CLEAR]', false);
-    }
-
-    sendInput() {
-        if (this.keyboardBuffer.trim()) {
-            this.sendToROS('[SEND]', true);
-            this.keyboardBuffer = '';
-            this.updateDisplay();
-        }
-    }
-
-    handlePhysicalKey(e) {
-        if (e.target !== document.body) return;
-
-        const char = e.key.toUpperCase();
-
-        if (e.key === 'Backspace') {
-            e.preventDefault();
-            this.backspace();
-        } else if (e.key === 'Enter') {
-            e.preventDefault();
-            this.sendInput();
-        } else if (char.match(/^[A-Z0-9 .,!?]$/)) {
-            this.inputCharacter(char);
-        }
-    }
-
-    updateDisplay() {
-        this.keyboardBufferEl.textContent = this.keyboardBuffer || '(empty)';
-        this.renderTranscriptHistory();
-    }
-
-    renderTranscriptHistory() {
-        if (!this.displayData.history) return;
-
-        let html = '';
-        this.displayData.history.forEach(entry => {
-            const cls = entry.type === 'stt' ? 'transcript-stt' : 'transcript-keyboard';
-            const icon = entry.type === 'stt' ? '🎤' : '⌨️';
-            const text = entry.text || '';
-            html += `<div class="transcript-entry ${cls}">${icon} ${this.escapeHtml(text)}</div>`;
-        });
-
-        if (!html) {
-            html = '<div class="placeholder">Waiting for speech...</div>';
-        }
-
-        this.transcriptDisplay.innerHTML = html;
-        // Auto-scroll to bottom
-        this.transcriptDisplay.scrollTop = this.transcriptDisplay.scrollHeight;
-    }
-
-    sendToROS(command, isFinal) {
-        // This will be called when we have a WebSocket connection to the ROS2 bridge
-        const data = {
-            command: command,
-            buffer: this.keyboardBuffer,
-            timestamp: Date.now(),
-            final: isFinal
-        };
-
-        console.log('Sending to ROS:', data);
-
-        // Send via fetch API to UI server
-        fetch('/api/keyboard', {
-            method: 'POST',
-            headers: { 'Content-Type': 'application/json' },
-            body: JSON.stringify(data)
-        }).catch(err => console.error('ROS send error:', err));
-    }
-
-    startPolling() {
-        // Poll for display updates from ROS2
-        setInterval(() => this.pollDisplayUpdate(), 500);
-    }
-
-    pollDisplayUpdate() {
-        fetch('/api/display')
-            .then(res => res.json())
-            .then(data => {
-                if (data && data.history) {
-                    this.displayData = data;
-                    this.renderTranscriptHistory();
-                    this.updateStatusIndicators();
-                }
-            })
-            .catch(err => console.error('Display poll error:', err));
-    }
-
-    updateStatusIndicators() {
-        // Update STT/TTS status based on display data
-        if (this.displayData.history && this.displayData.history.length > 0) {
-            const lastEntry = this.displayData.history[this.displayData.history.length - 1];
-            if (lastEntry.type === 'stt') {
-                this.sttStatusEl.textContent = lastEntry.final ? 'Complete' : 'Listening...';
-            }
-        }
-    }
-
-    escapeHtml(text) {
-        const div = document.createElement('div');
-        div.textContent = text;
-        return div.innerHTML;
-    }
-}
-
-// Initialize when DOM is ready
-document.addEventListener('DOMContentLoaded', () => {
-    window.accessibilityUI = new AccessibilityUI();
-});

jetson/ros2_ws/src/saltybot_bringup/config/cage-magedok.ini

@@ -1,23 +0,0 @@
-# Cage configuration for MageDok 7" display kiosk
-# Lightweight Wayland compositor replacing GNOME (~650MB RAM savings)
-# Runs Chromium in fullscreen kiosk mode for SaltyFace web UI
-
-[output]
-# MageDok output configuration
-# 1024x600 native resolution
-scale=1.0
-# Position on primary display
-position=0,0
-
-[keyboard]
-# Keyboard layout
-layout=us
-variant=
-
-[cursor]
-# Hide cursor when idle (fullscreen kiosk)
-hide-cursor-timeout=3000
-
-# Note: Cage is explicitly designed as a minimal fullscreen launcher
-# It handles Wayland display protocol, input handling, and window management
-# Chromium will run fullscreen without window decorations

jetson/ros2_ws/src/saltybot_bringup/config/wayland-magedok.conf

@@ -1,31 +0,0 @@
-# Wayland configuration for MageDok 7" touchscreen display
-# Used by Cage Wayland compositor for lightweight kiosk mode
-# Replaces X11 xorg-magedok.conf (used in Issue #369 legacy mode)
-
-# Monitor configuration
-[output "HDMI-1"]
-# Native MageDok resolution
-mode=1024x600@60
-# Position (primary display)
-position=0,0
-# Scaling (no scaling needed, 1024x600 is native)
-scale=1
-
-# Touchscreen input configuration
-[input "magedok-touch"]
-# Calibration not needed for HID devices (driver-handled)
-# Event device will be /dev/input/event* matching USB VID:PID
-# Udev rule creates symlink: /dev/magedok-touch
-
-# Performance tuning for Orin Nano
-[performance]
-# Wayland buffer swaps (minimize latency)
-immediate-mode-rendering=false
-# Double-buffering for smooth animation
-buffer-count=2
-
-# Notes:
-# - Cage handles Wayland protocol natively
-# - No X11 server needed (saves ~100MB RAM vs Xvfb)
-# - Touch input passes through kernel HID layer
-# - Resolution scaling handled by Chromium/browser

jetson/ros2_ws/src/saltybot_bringup/docs/CAGE_CHROMIUM_KIOSK.md

@@ -1,319 +0,0 @@
-# Cage + Chromium Kiosk for MageDok 7" Display
-
-**Issue #374**: Replace GNOME with Cage + Chromium kiosk to save ~650MB RAM.
-
-Lightweight Wayland-based fullscreen kiosk for SaltyFace web UI on MageDok 7" IPS touchscreen.
-
-## Architecture
-
-```
-┌─────────────────────────────────────────────────────────┐
-│ Jetson Orin Nano (Saltybot)                             │
-├─────────────────────────────────────────────────────────┤
-│ Cage Wayland Compositor                                 │
-│ ├─ GNOME replaced (~650MB RAM freed)                   │
-│ ├─ Minimal fullscreen window manager                   │
-│ └─ Native Wayland protocol (no X11)                    │
-│    └─ Chromium Kiosk                                   │
-│       ├─ SaltyFace web UI (http://localhost:3000)      │
-│       ├─ Fullscreen (--kiosk)                          │
-│       ├─ No UI chrome (no address bar, tabs, etc)      │
-│       └─ Touch input via HID                           │
-│          └─ MageDok USB Touchscreen                    │
-│             ├─ 1024×600 @ 60Hz (HDMI)                  │
-│             └─ Touch via /dev/magedok-touch            │
-│    └─ PulseAudio                                       │
-│       └─ HDMI audio routing to speakers                │
-├─────────────────────────────────────────────────────────┤
-│ ROS2 Workloads (extra 450MB RAM available)              │
-│ ├─ Perception (vision, tracking)                       │
-│ ├─ Navigation (SLAM, path planning)                    │
-│ └─ Control (motor, servo, gripper)                     │
-└─────────────────────────────────────────────────────────┘
-```
-
-## Memory Comparison
-
-### GNOME Desktop (Legacy)
-- GNOME Shell: ~300MB
-- Mutter (Wayland compositor): ~150MB
-- Xvfb (X11 fallback): ~100MB
-- GTK Libraries: ~100MB
-- **Total: ~650MB**
-
-### Cage + Chromium Kiosk (New)
-- Cage compositor: ~30MB
-- Chromium (headless mode disabled): ~150MB
-- Wayland libraries: ~20MB
-- **Total: ~200MB**
-
-**Savings: ~450MB RAM** → available for ROS2 perception, navigation, control workloads
-
-## Installation
-
-### 1. Install Cage and Chromium
-
-```bash
-# Update package list
-sudo apt update
-
-# Install Cage (Wayland compositor)
-sudo apt install -y cage
-
-# Install Chromium (or Chromium-browser on some systems)
-sudo apt install -y chromium
-```
-
-### 2. Install Configuration Files
-
-```bash
-# Copy Cage/Wayland config
-sudo mkdir -p /opt/saltybot/config
-sudo cp config/cage-magedok.ini /opt/saltybot/config/
-sudo cp config/wayland-magedok.conf /opt/saltybot/config/
-
-# Copy launch scripts
-sudo mkdir -p /opt/saltybot/scripts
-sudo cp scripts/chromium_kiosk.sh /opt/saltybot/scripts/
-sudo chmod +x /opt/saltybot/scripts/chromium_kiosk.sh
-
-# Create logs directory
-sudo mkdir -p /opt/saltybot/logs
-sudo chown orin:orin /opt/saltybot/logs
-```
-
-### 3. Disable GNOME (if installed)
-
-```bash
-# Disable GNOME display manager
-sudo systemctl disable gdm.service
-sudo systemctl disable gnome-shell.target
-
-# Verify disabled
-sudo systemctl is-enabled gdm.service  # Should output: disabled
-```
-
-### 4. Install Systemd Service
-
-```bash
-# Copy systemd service
-sudo cp systemd/chromium-kiosk.service /etc/systemd/system/
-
-# Reload systemd daemon
-sudo systemctl daemon-reload
-
-# Enable auto-start on boot
-sudo systemctl enable chromium-kiosk.service
-
-# Verify enabled
-sudo systemctl is-enabled chromium-kiosk.service  # Should output: enabled
-```
-
-### 5. Verify Udev Rules (from Issue #369)
-
-The MageDok touch device needs proper permissions. Verify udev rule is installed:
-
-```bash
-sudo cat /etc/udev/rules.d/90-magedok-touch.rules
-```
-
-Should contain:
-```
-ACTION=="add", SUBSYSTEM=="usb", ATTRS{idVendor}=="0eef", ATTRS{idProduct}=="0001", SYMLINK+="magedok-touch", MODE="0666"
-```
-
-### 6. Configure PulseAudio (from Issue #369)
-
-Verify PulseAudio HDMI routing is configured:
-
-```bash
-# Check running PulseAudio sink
-pactl list short sinks
-
-# Should show HDMI output device
-```
-
-## Testing
-
-### Manual Start (Development)
-
-```bash
-# Start Cage + Chromium manually
-/opt/saltybot/scripts/chromium_kiosk.sh --url http://localhost:3000 --debug
-
-# Should see:
-# [timestamp] Starting Chromium kiosk on Cage Wayland compositor
-# [timestamp] URL: http://localhost:3000
-# [timestamp] Launching Cage with Chromium...
-```
-
-### Systemd Service Start
-
-```bash
-# Start service
-sudo systemctl start chromium-kiosk.service
-
-# Check status
-sudo systemctl status chromium-kiosk.service
-
-# View logs
-sudo journalctl -u chromium-kiosk.service -f
-```
-
-### Auto-Start on Boot
-
-```bash
-# Reboot to verify auto-start
-sudo reboot
-
-# After boot, check service
-sudo systemctl status chromium-kiosk.service
-
-# Check if Chromium is running
-ps aux | grep chromium  # Should show cage and chromium processes
-```
-
-## Troubleshooting
-
-### Chromium won't start
-
-**Symptom**: Service fails with "WAYLAND_DISPLAY not set" or "Cannot connect to Wayland server"
-
-**Solutions**:
-1. Verify XDG_RUNTIME_DIR exists:
-   ```bash
-   ls -la /run/user/1000
-   chmod 700 /run/user/1000
-   ```
-
-2. Verify WAYLAND_DISPLAY is set in service:
-   ```bash
-   sudo systemctl show chromium-kiosk.service -p Environment
-   # Should show: WAYLAND_DISPLAY=wayland-0
-   ```
-
-3. Check Wayland availability:
-   ```bash
-   echo $WAYLAND_DISPLAY
-   ls -la /run/user/1000/wayland-0
-   ```
-
-### MageDok touchscreen not responding
-
-**Symptom**: Touch input doesn't work in Chromium
-
-**Solutions**:
-1. Verify touch device is present:
-   ```bash
-   ls -la /dev/magedok-touch
-   lsusb | grep -i eGTouch  # Should show eGTouch device
-   ```
-
-2. Check udev rule was applied:
-   ```bash
-   sudo udevadm control --reload
-   sudo udevadm trigger
-   lsusb  # Verify eGTouch device still present
-   ```
-
-3. Verify touch input reaches Cage:
-   ```bash
-   sudo strace -e ioctl -p $(pgrep cage) 2>&1 | grep -i input
-   # Should show input device activity
-   ```
-
-### HDMI audio not working
-
-**Symptom**: No sound from MageDok speakers
-
-**Solutions**:
-1. Check HDMI sink is active:
-   ```bash
-   pactl list short sinks
-   pactl get-default-sink
-   ```
-
-2. Set HDMI sink as default:
-   ```bash
-   pactl set-default-sink <hdmi-sink-name>
-   ```
-
-3. Verify audio router is running:
-   ```bash
-   ps aux | grep audio_router
-   ```
-
-### High CPU usage with Chromium
-
-**Symptom**: Chromium using 80%+ CPU
-
-**Solutions**:
-1. Reduce animation frame rate in SaltyFace web app
-2. Disable hardware video acceleration if unstable:
-   ```bash
-   # In chromium_kiosk.sh, add:
-   # --disable-gpu
-   # --disable-extensions
-   ```
-
-3. Monitor GPU memory:
-   ```bash
-   tegrastats  # Observe GPU load
-   ```
-
-### Cage compositor crashes
-
-**Symptom**: Screen goes black, Chromium closes
-
-**Solutions**:
-1. Check Cage logs:
-   ```bash
-   sudo journalctl -u chromium-kiosk.service -n 50
-   ```
-
-2. Verify video driver:
-   ```bash
-   ls -la /dev/nvhost*
-   nvidia-smi  # Should work on Orin
-   ```
-
-3. Try X11 fallback (temporary):
-   ```bash
-   # Use Issue #369 magedok_display.launch.py instead
-   ros2 launch saltybot_bringup magedok_display.launch.py
-   ```
-
-## Performance Metrics
-
-### Boot Time
-- GNOME boot: ~30-40 seconds
-- Cage boot: ~8-12 seconds
-- **Improvement: 70% faster to interactive display**
-
-### First Paint (SaltyFace loads)
-- GNOME: 15-20 seconds (desktop fully loaded)
-- Cage: 3-5 seconds (Chromium + web app loads)
-- **Improvement: 4x faster**
-
-### Memory Usage
-- GNOME idle: ~650MB consumed
-- Cage idle: ~200MB consumed
-- **Improvement: 450MB available for workloads**
-
-### Frame Rate (MageDok display)
-- X11 + GNOME: ~30fps (variable, desktop compositing)
-- Cage + Chromium: ~60fps (native Wayland, locked to display)
-- **Improvement: 2x frame rate consistency**
-
-## Related Issues
-
-- **Issue #369**: MageDok display setup (X11 + GNOME legacy mode)
-- **Issue #370**: SaltyFace web app UI (runs in Chromium kiosk)
-- **Issue #371**: Accessibility mode (keyboard/voice input to web app)
-
-## References
-
-- [Cage Compositor](https://github.com/Gr3yR0ot/cage) - Minimal Wayland launcher
-- [Chromium Kiosk Mode](https://chromium.googlesource.com/chromium/src/+/refs/heads/main/docs/kiosk_mode.md)
-- [Wayland Protocol](https://wayland.freedesktop.org/)
-- [Jetson Orin Nano](https://developer.nvidia.com/jetson-orin-nano-developer-kit) - ARM CPU/GPU details

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

@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-"""
-Cage Wayland + Chromium kiosk launch configuration for MageDok 7" display.
-
-Lightweight alternative to X11 desktop environment:
-- Cage: Minimal Wayland compositor (replaces GNOME/Mutter)
-- Chromium: Fullscreen kiosk browser for SaltyFace web UI
-- PulseAudio: HDMI audio routing
-
-Memory savings vs GNOME:
-- GNOME + Mutter: ~650MB RAM
-- Cage + Chromium: ~200MB RAM
-- Savings: ~450MB RAM for other ROS2 workloads
-
-Issue #374: Replace GNOME with Cage + Chromium kiosk
-"""
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import LaunchConfiguration
-
-def generate_launch_description():
-    """Generate ROS2 launch description for Cage + Chromium kiosk."""
-
-    # Launch arguments
-    url_arg = DeclareLaunchArgument(
-        'kiosk_url',
-        default_value='http://localhost:3000',
-        description='URL for Chromium kiosk (SaltyFace web app)'
-    )
-
-    debug_arg = DeclareLaunchArgument(
-        'debug',
-        default_value='false',
-        description='Enable debug logging'
-    )
-
-    ld = LaunchDescription([url_arg, debug_arg])
-
-    # Start touch monitor (from Issue #369 - reused)
-    # Monitors MageDok USB touch device availability
-    touch_monitor = Node(
-        package='saltybot_bringup',
-        executable='touch_monitor.py',
-        name='touch_monitor',
-        output='screen',
-    )
-    ld.add_action(touch_monitor)
-
-    # Start audio router (from Issue #369 - reused)
-    # Routes HDMI audio to built-in speakers via PulseAudio
-    audio_router = Node(
-        package='saltybot_bringup',
-        executable='audio_router.py',
-        name='audio_router',
-        output='screen',
-    )
-    ld.add_action(audio_router)
-
-    # Start Cage Wayland compositor with Chromium kiosk
-    # Replaces X11 server + GNOME desktop environment
-    cage_chromium = ExecuteProcess(
-        cmd=[
-            '/opt/saltybot/scripts/chromium_kiosk.sh',
-            '--url', LaunchConfiguration('kiosk_url'),
-        ],
-        condition_condition=None,  # Always start
-        name='cage_chromium',
-        shell=True,
-    )
-    ld.add_action(cage_chromium)
-
-    return ld
-
-
-if __name__ == '__main__':
-    print(generate_launch_description())

jetson/ros2_ws/src/saltybot_bringup/scripts/chromium_kiosk.sh

@@ -1,91 +0,0 @@
-#!/bin/bash
-# Chromium kiosk launcher for MageDok 7" display via Cage Wayland compositor
-# Lightweight fullscreen web app display (SaltyFace web UI)
-# Replaces GNOME desktop environment (~650MB RAM savings)
-#
-# Usage:
-#   chromium_kiosk.sh [--url URL] [--debug]
-#
-# Environment:
-#   SALTYBOT_KIOSK_URL     Default URL if not specified (localhost:3000)
-#   DISPLAY                Not used (Wayland native)
-#   XDG_RUNTIME_DIR        Must be set for Wayland
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-LOG_FILE="${SCRIPT_DIR}/../../logs/chromium_kiosk.log"
-mkdir -p "$(dirname "$LOG_FILE")"
-
-# Logging
-log() {
-  echo "[$(date '+%Y-%m-%d %H:%M:%S')] $*" | tee -a "$LOG_FILE"
-}
-
-# Configuration
-KIOSK_URL="${SALTYBOT_KIOSK_URL:-http://localhost:3000}"
-DEBUG_MODE=false
-CAGE_CONFIG="/opt/saltybot/config/cage-magedok.ini"
-
-# Parse arguments
-while [[ $# -gt 0 ]]; do
-  case $1 in
-    --url)
-      KIOSK_URL="$2"
-      shift 2
-      ;;
-    --debug)
-      DEBUG_MODE=true
-      shift
-      ;;
-    *)
-      log "Unknown option: $1"
-      exit 1
-      ;;
-  esac
-done
-
-# Setup environment
-export WAYLAND_DISPLAY=wayland-0
-export XDG_RUNTIME_DIR=/run/user/$(id -u)
-export XDG_SESSION_TYPE=wayland
-export QT_QPA_PLATFORM=wayland
-
-# Ensure Wayland runtime directory exists
-mkdir -p "$XDG_RUNTIME_DIR"
-chmod 700 "$XDG_RUNTIME_DIR"
-
-log "Starting Chromium kiosk on Cage Wayland compositor"
-log "URL: $KIOSK_URL"
-
-# Chromium kiosk flags
-CHROMIUM_FLAGS=(
-  --kiosk                           # Fullscreen kiosk mode (no UI chrome)
-  --disable-session-crashed-bubble # No crash recovery UI
-  --disable-infobars               # No info bars
-  --no-first-run                   # Skip first-run wizard
-  --no-default-browser-check       # Skip browser check
-  --disable-sync                   # Disable Google Sync
-  --disable-translate              # Disable translate prompts
-  --disable-plugins-power-saver    # Don't power-save plugins
-  --autoplay-policy=user-gesture-required
-  --app="$KIOSK_URL"               # Run as web app in fullscreen
-)
-
-# Optional debug flags
-if $DEBUG_MODE; then
-  CHROMIUM_FLAGS+=(
-    --enable-logging=stderr
-    --log-level=0
-  )
-fi
-
-# Launch Cage with Chromium as client
-log "Launching Cage with Chromium..."
-if [ -f "$CAGE_CONFIG" ]; then
-  log "Using Cage config: $CAGE_CONFIG"
-  exec cage -s chromium "${CHROMIUM_FLAGS[@]}" 2>&1 | tee -a "$LOG_FILE"
-else
-  log "Cage config not found, using defaults: $CAGE_CONFIG"
-  exec cage -s chromium "${CHROMIUM_FLAGS[@]}" 2>&1 | tee -a "$LOG_FILE"
-fi

jetson/ros2_ws/src/saltybot_bringup/systemd/chromium-kiosk.service

@@ -1,50 +0,0 @@
-[Unit]
-Description=Chromium Fullscreen Kiosk (Cage + MageDok 7" display)
-Documentation=https://github.com/saltytech/saltylab-firmware/wiki/Cage-Chromium-Kiosk
-Documentation=https://github.com/saltytech/saltylab-firmware/issues/374
-After=network.target display-target.service
-Before=graphical.target
-Wants=display-target.service
-
-# Disable GNOME if running
-Conflicts=gdm.service gnome-shell.target
-
-[Service]
-Type=simple
-User=orin
-Group=video
-
-# Environment
-Environment="WAYLAND_DISPLAY=wayland-0"
-Environment="XDG_RUNTIME_DIR=/run/user/1000"
-Environment="XDG_SESSION_TYPE=wayland"
-Environment="QT_QPA_PLATFORM=wayland"
-Environment="SALTYBOT_KIOSK_URL=http://localhost:3000"
-
-# Pre-start checks
-ExecStartPre=/usr/bin/install -d /run/user/1000
-ExecStartPre=/usr/bin/chown orin:orin /run/user/1000
-ExecStartPre=/usr/bin/chmod 700 /run/user/1000
-
-# Verify MageDok display is available
-ExecStartPre=/usr/bin/test -c /dev/magedok-touch || /bin/true
-
-# Start Chromium kiosk via Cage
-ExecStart=/opt/saltybot/scripts/chromium_kiosk.sh --url http://localhost:3000
-
-# Restart on failure
-Restart=on-failure
-RestartSec=5s
-
-# Resource limits (Cage + Chromium is lightweight)
-MemoryMax=512M
-CPUQuota=80%
-CPUAffinity=0 1 2 3
-
-# Logging
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=chromium-kiosk
-
-[Install]
-WantedBy=graphical.target

jetson/ros2_ws/src/saltybot_bringup/systemd/salty-face-server.service

@@ -1,42 +0,0 @@
-[Unit]
-Description=SaltyFace Web App Server (Node.js)
-Documentation=https://github.com/saltytech/saltylab-firmware/issues/370
-After=network.target
-Before=chromium-kiosk.service
-Requires=chromium-kiosk.service
-
-[Service]
-Type=simple
-User=orin
-Group=nogroup
-WorkingDirectory=/opt/saltybot/app
-
-# Node.js server
-ExecStart=/usr/bin/node server.js --port 3000 --host 0.0.0.0
-
-# Environment
-Environment="NODE_ENV=production"
-Environment="NODE_OPTIONS=--max-old-space-size=256"
-
-# Restart policy
-Restart=on-failure
-RestartSec=3s
-
-# Resource limits
-MemoryMax=256M
-CPUQuota=50%
-
-# Logging
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=salty-face-server
-
-# Security
-NoNewPrivileges=true
-PrivateTmp=true
-ProtectSystem=strict
-ProtectHome=yes
-ReadWritePaths=/opt/saltybot/logs
-
-[Install]
-WantedBy=multi-user.target

jetson/ros2_ws/src/saltybot_lidar_avoidance/config/lidar_avoidance_params.yaml

@@ -1,31 +0,0 @@
-# LIDAR Avoidance Configuration for SaltyBot
-# 360° obstacle detection with RPLIDAR A1M8
-
-lidar_avoidance:
-  ros__parameters:
-    # Emergency stop distance threshold (meters)
-    # Robot will trigger hard stop if obstacle closer than this
-    emergency_stop_distance: 0.5
-
-    # Reference speed for safety zone calculation (m/s)
-    # 5.56 m/s = 20 km/h
-    max_speed_reference: 5.56
-
-    # Safety zone distance at maximum reference speed (meters)
-    # At 20 km/h, robot maintains 3m clearance before reducing speed
-    safety_zone_at_max_speed: 3.0
-
-    # Minimum safety zone distance (meters)
-    # At zero speed, robot maintains this clearance
-    # Must be >= emergency_stop_distance for smooth operation
-    min_safety_zone: 0.6
-
-    # Forward scanning window (degrees)
-    # ±30° forward cone = 60° total forward scan window
-    # RPLIDAR A1M8 provides full 360° data, but we focus on forward obstacles
-    angle_window_degrees: 60
-
-    # Debounce frames for obstacle detection
-    # Number of consecutive scans with obstacle before triggering alert
-    # Reduces false positives from noise/reflections
-    debounce_frames: 2

jetson/ros2_ws/src/saltybot_lidar_avoidance/launch/lidar_avoidance.launch.py

@@ -1,33 +0,0 @@
-"""Launch file for LIDAR avoidance node."""
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-import os
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    """Generate launch description for LIDAR avoidance."""
-    pkg_dir = get_package_share_directory("saltybot_lidar_avoidance")
-    config_file = os.path.join(
-        pkg_dir, "config", "lidar_avoidance_params.yaml"
-    )
-
-    return LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "config_file",
-                default_value=config_file,
-                description="Path to configuration YAML file",
-            ),
-            Node(
-                package="saltybot_lidar_avoidance",
-                executable="lidar_avoidance_node",
-                name="lidar_avoidance",
-                output="screen",
-                parameters=[LaunchConfiguration("config_file")],
-            ),
-        ]
-    )

jetson/ros2_ws/src/saltybot_lidar_avoidance/package.xml

@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>saltybot_lidar_avoidance</name>
-  <version>0.1.0</version>
-  <description>
-    360° LIDAR obstacle avoidance for SaltyBot using RPLIDAR A1M8.
-    Publishes local costmap, obstacle alerts, and filtered cmd_vel with emergency stop.
-  </description>
-  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>nav_msgs</depend>
-
-  <buildtool_depend>ament_python</buildtool_depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

jetson/ros2_ws/src/saltybot_lidar_avoidance/saltybot_lidar_avoidance/__init__.py

@@ -1 +0,0 @@
-"""SaltyBot LIDAR obstacle avoidance package."""

jetson/ros2_ws/src/saltybot_lidar_avoidance/saltybot_lidar_avoidance/lidar_avoidance_node.py

@@ -1,239 +0,0 @@
-#!/usr/bin/env python3
-"""360° LIDAR obstacle avoidance node for SaltyBot.
-
-Uses RPLIDAR A1M8 for 360° scanning with speed-dependent safety zones.
-Publishes emergency alerts and filtered cmd_vel with obstacle avoidance.
-
-Subscribed topics:
-  /scan (sensor_msgs/LaserScan) - RPLIDAR A1M8 scan data
-  /cmd_vel (geometry_msgs/Twist) - Input velocity command
-
-Published topics:
-  /saltybot/obstacle_alert (std_msgs/Bool) - Obstacle detected alert
-  /cmd_vel_safe (geometry_msgs/Twist) - Filtered velocity (avoidance applied)
-  /saltybot/lidar_avoidance_status (std_msgs/String) - Debug status JSON
-"""
-
-import json
-import math
-from typing import Tuple
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import LaserScan
-from geometry_msgs.msg import Twist
-from std_msgs.msg import Bool, String
-
-
-class LidarAvoidanceNode(Node):
-    """360° LIDAR obstacle avoidance with speed-dependent safety zones."""
-
-    def __init__(self):
-        super().__init__("lidar_avoidance")
-
-        # Safety parameters
-        self.declare_parameter("emergency_stop_distance", 0.5)  # m
-        self.declare_parameter("max_speed_reference", 5.56)  # m/s (20 km/h)
-        self.declare_parameter("safety_zone_at_max_speed", 3.0)  # m
-        self.declare_parameter("min_safety_zone", 0.6)  # m (below emergency stop)
-        self.declare_parameter("angle_window_degrees", 60)  # ±30° forward cone
-        self.declare_parameter("debounce_frames", 2)
-
-        self.emergency_stop_distance = self.get_parameter("emergency_stop_distance").value
-        self.max_speed_reference = self.get_parameter("max_speed_reference").value
-        self.safety_zone_at_max_speed = self.get_parameter("safety_zone_at_max_speed").value
-        self.min_safety_zone = self.get_parameter("min_safety_zone").value
-        self.angle_window_degrees = self.get_parameter("angle_window_degrees").value
-        self.debounce_frames = self.get_parameter("debounce_frames").value
-
-        # State tracking
-        self.obstacle_detected = False
-        self.consecutive_obstacles = 0
-        self.current_speed = 0.0
-        self.last_scan_ranges = None
-        self.emergency_stop_triggered = False
-
-        # Subscriptions
-        self.create_subscription(LaserScan, "/scan", self._on_scan, 10)
-        self.create_subscription(Twist, "/cmd_vel", self._on_cmd_vel, 10)
-
-        # Publishers
-        self.pub_alert = self.create_publisher(Bool, "/saltybot/obstacle_alert", 10)
-        self.pub_safe_vel = self.create_publisher(Twist, "/cmd_vel_safe", 10)
-        self.pub_status = self.create_publisher(
-            String, "/saltybot/lidar_avoidance_status", 10
-        )
-
-        self.get_logger().info(
-            f"LIDAR avoidance initialized:\n"
-            f"  Emergency stop: {self.emergency_stop_distance}m\n"
-            f"  Speed-dependent zone: {self.safety_zone_at_max_speed}m @ {self.max_speed_reference}m/s\n"
-            f"  Forward angle window: ±{self.angle_window_degrees / 2}°\n"
-            f"  Min safety zone: {self.min_safety_zone}m"
-        )
-
-    def _on_scan(self, msg: LaserScan) -> None:
-        """Process LIDAR scan data and check for obstacles."""
-        self.last_scan_ranges = msg.ranges
-
-        # Calculate safety threshold based on current speed
-        safety_distance = self._get_safety_distance(self.current_speed)
-
-        # Get minimum distance in forward cone
-        min_distance, angle_deg = self._get_min_distance_forward(msg)
-
-        # Check for obstacles
-        obstacle_now = min_distance < safety_distance
-        emergency_stop_now = min_distance < self.emergency_stop_distance
-
-        # Debounce obstacle detection
-        if obstacle_now:
-            self.consecutive_obstacles += 1
-        else:
-            self.consecutive_obstacles = 0
-
-        obstacle_detected_debounced = (
-            self.consecutive_obstacles >= self.debounce_frames
-        )
-
-        # Handle state changes
-        if emergency_stop_now and not self.emergency_stop_triggered:
-            self.get_logger().error(
-                f"EMERGENCY STOP! Obstacle at {min_distance:.2f}m, {angle_deg:.1f}°"
-            )
-            self.emergency_stop_triggered = True
-        elif not emergency_stop_now:
-            self.emergency_stop_triggered = False
-
-        if obstacle_detected_debounced != self.obstacle_detected:
-            self.obstacle_detected = obstacle_detected_debounced
-            if self.obstacle_detected:
-                self.get_logger().warn(
-                    f"Obstacle detected: {min_distance:.2f}m @ {angle_deg:.1f}°"
-                )
-            else:
-                self.get_logger().info("Obstacle cleared")
-
-        # Publish alert
-        alert_msg = Bool(data=self.obstacle_detected)
-        self.pub_alert.publish(alert_msg)
-
-        # Publish status
-        status = {
-            "min_distance": round(min_distance, 3),
-            "angle_deg": round(angle_deg, 1),
-            "safety_distance": round(safety_distance, 3),
-            "obstacle_detected": self.obstacle_detected,
-            "emergency_stop": self.emergency_stop_triggered,
-            "current_speed": round(self.current_speed, 3),
-        }
-        status_msg = String(data=json.dumps(status))
-        self.pub_status.publish(status_msg)
-
-    def _on_cmd_vel(self, msg: Twist) -> None:
-        """Process incoming velocity command and apply obstacle avoidance."""
-        self.current_speed = math.sqrt(msg.linear.x**2 + msg.linear.y**2)
-
-        # Apply safety filtering
-        if self.emergency_stop_triggered:
-            # Emergency stop: zero out all motion
-            safe_vel = Twist()
-        elif self.obstacle_detected:
-            # Obstacle in path: reduce speed
-            safe_vel = Twist()
-            safety_distance = self._get_safety_distance(self.current_speed)
-            min_distance, _ = self._get_min_distance_forward(self.last_scan_ranges)
-
-            if self.last_scan_ranges is not None and min_distance > 0:
-                # Linear interpolation of allowed speed based on distance to obstacle
-                if min_distance < safety_distance:
-                    # Scale velocity from 0 to current based on distance
-                    scale_factor = (min_distance - self.emergency_stop_distance) / (
-                        safety_distance - self.emergency_stop_distance
-                    )
-                    scale_factor = max(0.0, min(1.0, scale_factor))
-
-                    safe_vel.linear.x = msg.linear.x * scale_factor
-                    safe_vel.linear.y = msg.linear.y * scale_factor
-                    safe_vel.angular.z = msg.angular.z * scale_factor
-                else:
-                    safe_vel = msg
-            else:
-                safe_vel = msg
-        else:
-            # No obstacle: pass through command
-            safe_vel = msg
-
-        self.pub_safe_vel.publish(safe_vel)
-
-    def _get_safety_distance(self, speed: float) -> float:
-        """Calculate speed-dependent safety zone distance.
-
-        Linear interpolation: 0 m/s → min_safety_zone, max_speed → safety_zone_at_max_speed
-        """
-        if speed <= 0:
-            return self.min_safety_zone
-
-        if speed >= self.max_speed_reference:
-            return self.safety_zone_at_max_speed
-
-        # Linear interpolation
-        ratio = speed / self.max_speed_reference
-        safety = self.min_safety_zone + ratio * (
-            self.safety_zone_at_max_speed - self.min_safety_zone
-        )
-        return safety
-
-    def _get_min_distance_forward(self, scan_data) -> Tuple[float, float]:
-        """Get minimum distance in forward cone."""
-        if isinstance(scan_data, LaserScan):
-            ranges = scan_data.ranges
-            angle_min = scan_data.angle_min
-            angle_increment = scan_data.angle_increment
-        else:
-            # scan_data is a tuple of (ranges, angle_min, angle_increment) or list
-            if not scan_data:
-                return float('inf'), 0.0
-            ranges = scan_data
-            angle_min = -math.pi  # Assume standard LIDAR orientation
-            angle_increment = 2 * math.pi / len(ranges)
-
-        half_window = self.angle_window_degrees / 2.0 * math.pi / 180.0
-        min_distance = float('inf')
-        min_angle = 0.0
-
-        for i, distance in enumerate(ranges):
-            if distance <= 0 or math.isnan(distance) or math.isinf(distance):
-                continue
-
-            angle_rad = angle_min + i * angle_increment
-
-            # Normalize to -π to π
-            while angle_rad > math.pi:
-                angle_rad -= 2 * math.pi
-            while angle_rad < -math.pi:
-                angle_rad += 2 * math.pi
-
-            # Check forward window
-            if abs(angle_rad) <= half_window:
-                if distance < min_distance:
-                    min_distance = distance
-                    min_angle = angle_rad
-
-        return min_distance, math.degrees(min_angle)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = LidarAvoidanceNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_lidar_avoidance/setup.cfg

@@ -1,5 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_lidar_avoidance
-
-[install]
-install_scripts=$base/lib/saltybot_lidar_avoidance

jetson/ros2_ws/src/saltybot_lidar_avoidance/setup.py

@@ -1,27 +0,0 @@
-from setuptools import setup
-
-package_name = "saltybot_lidar_avoidance"
-
-setup(
-    name=package_name,
-    version="0.1.0",
-    packages=[package_name],
-    data_files=[
-        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
-        (f"share/{package_name}", ["package.xml"]),
-        (f"share/{package_name}/launch", ["launch/lidar_avoidance.launch.py"]),
-        (f"share/{package_name}/config", ["config/lidar_avoidance_params.yaml"]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="sl-controls",
-    maintainer_email="sl-controls@saltylab.local",
-    description="360° LIDAR obstacle avoidance with emergency stop and speed-dependent safety zones",
-    license="MIT",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "lidar_avoidance_node = saltybot_lidar_avoidance.lidar_avoidance_node:main",
-        ],
-    },
-)