feat(controls): Wheel slip detector (Issue #262)

Detect wheel slip by comparing commanded velocity vs actual encoder velocity.
Publishes Bool flag on /saltybot/wheel_slip_detected when slip detected >0.5s.

Features:
- Subscribe to /cmd_vel (commanded) and /odom (actual velocity)
- Compare velocity magnitudes with 0.1 m/s threshold
- Persistence: slip must persist >0.5s to trigger (debounces transients)
- Publish Bool on /saltybot/wheel_slip_detected with detection status
- 10Hz monitoring frequency, configurable parameters

Algorithm:
- Compute linear speed from x,y components
- Calculate velocity difference
- If exceeds threshold: increment slip duration
- If duration > timeout: declare slip detected

Benefits:
- Detects environmental slip (ice, mud, wet surfaces)
- Triggers speed reduction to maintain traction
- Prevents wheel spinning/rut digging
- Safety response for loss of grip

Topics:
- Subscribed: /cmd_vel (Twist), /odom (Odometry)
- Published: /saltybot/wheel_slip_detected (Bool)

Config: frequency=10Hz, slip_threshold=0.1 m/s, slip_timeout=0.5s

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

.claude/plans/floofy-forging-hellman.md

@@ -1,208 +0,0 @@
-# Issue #194 — Speed Limiter Node Implementation Plan
-
-## Context
-
-The SaltyBot control stack currently lacks a dedicated speed limiting aggregator. Individual subsystems publish speed scale factors:
-- **TerrainAdaptationNode** → `/saltybot/terrain_speed_scale` (Float32, 0.15–1.0)
-- **EmergencyNode** → `/saltybot/emergency` (EmergencyEvent with severity level)
-- Hypothetical external source → `/saltybot/speed_limit` (to be determined)
-
-These must be unified into a single authoritative speed scale and applied to `/cmd_vel` before forwarding to the drive system. Currently, each subsystem is independent, creating potential conflicts and inconsistent behavior.
-
-## Goal
-
-Create `saltybot_speed_limiter` ROS2 package that:
-1. Subscribes to terrain_speed_scale, speed_limit, and emergency signals
-2. Computes effective minimum speed scale from all three inputs
-3. Applies scale to /cmd_vel messages → /saltybot/cmd_vel_limited
-4. Publishes diagnostic JSON on /saltybot/speed_limit_info
-5. Operates at 50 Hz with proper message synchronization
-
-## Architecture
-
-### Subscriptions
-
-| Topic | Type | Source | Frequency | Use |
-|-------|------|--------|-----------|-----|
-| `/saltybot/terrain_speed_scale` | Float32 | TerrainAdaptationNode | 50Hz | Terrain-based scaling (0.15–1.0) |
-| `/saltybot/speed_limit` | Float32 | External (TBD) | ≥10Hz | Global speed limit (0.0–1.0) |
-| `/saltybot/emergency` | EmergencyEvent | EmergencyNode | 20Hz | Emergency severity level |
-| `/cmd_vel` | Twist | SpeedControllerNode | ≥20Hz | Raw commanded velocity |
-
-### Outputs
-
-| Topic | Type | Frequency | Content |
-|-------|------|-----------|---------|
-| `/saltybot/cmd_vel_limited` | Twist | 50Hz | Scaled cmd_vel |
-| `/saltybot/speed_limit_info` | String (JSON) | 50Hz | Diagnostic state |
-
-### Message Types
-
-**EmergencyEvent** (from saltybot_emergency_msgs):
-```
-string severity  # "CLEAR"|"MINOR"|"MAJOR"|"CRITICAL"
-```
-
-**speed_limit_info JSON**:
-```json
-{
-  "terrain_scale": 0.638,
-  "speed_limit": 1.0,
-  "emergency_scale": 1.0,
-  "effective_scale": 0.638,
-  "cmd_vel_input": {"linear": 1.0, "angular": 0.5},
-  "cmd_vel_limited": {"linear": 0.638, "angular": 0.319},
-  "timestamp": 1740000000.123456
-}
-```
-
-### Control Logic
-
-```python
-# Emergency severity → speed scale mapping
-emergency_scale = {
-    "CLEAR": 1.0,
-    "MINOR": 0.95,      # Yellow alert: slight caution
-    "MAJOR": 0.7,       # Orange alert: significant slowdown
-    "CRITICAL": 0.3,    # Red alert: severe limitation
-}
-
-# Effective scale = minimum of all sources
-effective_scale = min(
-    terrain_scale,           # From /saltybot/terrain_speed_scale
-    speed_limit,             # From /saltybot/speed_limit
-    emergency_scale,         # From /saltybot/emergency severity
-)
-
-# Apply to all cmd_vel components
-cmd_vel_limited.linear.x *= effective_scale
-cmd_vel_limited.linear.y *= effective_scale
-cmd_vel_limited.linear.z *= effective_scale
-cmd_vel_limited.angular.x *= effective_scale
-cmd_vel_limited.angular.y *= effective_scale
-cmd_vel_limited.angular.z *= effective_scale
-```
-
-## Implementation Details
-
-### Package Structure
-
-```
-saltybot_speed_limiter/
-├── CMakeLists.txt
-├── package.xml
-├── setup.py
-├── README.md
-├── launch/
-│   └── speed_limiter.launch.py
-├── resource/
-│   └── saltybot_speed_limiter
-├── saltybot_speed_limiter/
-│   ├── __init__.py
-│   └── speed_limiter_node.py
-├── config/
-│   └── speed_limiter_params.yaml
-└── test/
-    ├── __init__.py
-    └── test_speed_limiter.py
-```
-
-### Key Implementation Points
-
-1. **Message Synchronization**: Use `message_filters.ApproximateTimeSynchronizer` to align terrain_scale, speed_limit, emergency, and cmd_vel with small slop tolerance (50–100ms @ 50Hz)
-
-2. **State Management**:
-   - Store latest values for each input (timeout handling if stale)
-   - Fallback to safe defaults if messages stop arriving:
-     - terrain_scale → 1.0 (no scaling)
-     - speed_limit → 1.0 (no limit)
-     - emergency → "CLEAR" (no threat)
-
-3. **Parameters**:
-   - `publish_hz`: 50.0 (fixed, not tunable)
-   - `sync_slop_ms`: 100 (ApproximateTimeSynchronizer slop)
-   - `timeout_s`: 2.0 (signal timeout)
-   - `frame_id`: 'base_link'
-   - Emergency scale map (tunable per severity)
-
-4. **Performance**:
-   - Small package, minimal computation (3 float comparisons + geometry scaling)
-   - No heavy libraries (just numpy for Twist scaling)
-
-### Unit Tests
-
-Test file: `test/test_speed_limiter.py`
-
-Coverage:
-- Min-of-three logic (all combinations)
-- Twist scaling on all 6 components
-- Emergency severity mapping (CLEAR, MINOR, MAJOR, CRITICAL)
-- Timeout/stale handling (graceful fallback)
-- JSON output structure and values
-- Message synchronization edge cases
-
-### Integration Points
-
-**Upstream** (inputs):
-- SpeedControllerNode → `/cmd_vel`
-- TerrainAdaptationNode → `/saltybot/terrain_speed_scale`
-- EmergencyNode → `/saltybot/emergency`
-
-**Downstream** (outputs):
-- CmdVelBridgeNode ← `/saltybot/cmd_vel_limited` (replaces `/cmd_vel`)
-
-**Migration Path**:
-1. CmdVelBridgeNode currently reads `/cmd_vel`
-2. After speed_limiter is ready: modify CmdVelBridgeNode to read `/saltybot/cmd_vel_limited` instead
-3. Or: use ROS2 topic remapping in launch files during transition
-
-## Files to Create
-
-1. **saltybot_speed_limiter/speed_limiter_node.py** (~200 lines)
-   - SpeedLimiterNode class
-   - Message synchronization with fallback logic
-   - Scale computation and Twist application
-   - JSON diagnostic publishing
-
-2. **test/test_speed_limiter.py** (~150 lines)
-   - Min-of-three logic tests
-   - Twist scaling verification
-   - Emergency map tests
-   - Timeout/stale handling tests
-
-3. **launch/speed_limiter.launch.py** (~40 lines)
-   - Configurable parameters
-   - QoS setup
-
-4. **config/speed_limiter_params.yaml** (~20 lines)
-   - Emergency severity scales
-   - Timeout and sync parameters
-
-5. **package.xml, setup.py, CMakeLists.txt, README.md, resource/** (~150 lines total)
-   - Standard ROS2 package boilerplate
-
-## Verification Plan
-
-1. **Unit Tests**: Run pytest on test_speed_limiter.py (expect 15+ tests, all pass)
-2. **Package Build**: `colcon build --packages-select saltybot_speed_limiter`
-3. **Node Launch**: `ros2 launch saltybot_speed_limiter speed_limiter.launch.py`
-4. **Manual Testing** (hardware):
-   - Subscribe to /saltybot/cmd_vel_limited and verify scaling
-   - Inject different terrain_scale, speed_limit, emergency values
-   - Confirm effective_scale = min(all three)
-   - Verify JSON diagnostic content
-
-## Branch & Commit Strategy
-
-1. Branch: `sl-controls/issue-194-speed-limiter` from main
-2. Commit: Single commit with all 10 files
-3. PR: To main branch with detailed description
-4. MQTT Report: Send status to max after merge
-
-## Key Decisions
-
-- **Min-of-three logic** (not weighted average): Ensures safety — most conservative limit wins
-- **Separate topic output** (`/saltybot/cmd_vel_limited`): Preserves original /cmd_vel for debugging
-- **Emergency severity levels** (CLEAR/MINOR/MAJOR/CRITICAL): Map to scales 1.0/0.95/0.7/0.3 (can tune)
-- **ApproximateTimeSynchronizer**: Handles async inputs at different rates
-- **JSON string output** (not typed message): Easy to parse in logging/MQTT system

.claude/plans/humming-watching-toast.md

@@ -1,140 +0,0 @@
-# Plan: SaltyRover STM32 Firmware Variant
-
-## Context
-SaltyRover is the 4-wheel-drive variant of SaltyBot. It uses the same STM32F722 MCU, CRSF RC, USB CDC, safety systems, and IMU — but replaces the balance PID loop with direct 4-wheel independent motor commands. Two hoverboard ESCs are used: front axle on USART2 (same as balance bot), rear axle on UART5 (PC12/PD2).
-
-saltyrover-dev is 16 commits behind main and lacks: mode_manager, remote e-stop (PR #69), jetson_cmd updates, and some CDC additions. We'll apply all relevant current main-equivalent features on the new branch.
-
-## Branch
-- Source: `origin/saltyrover-dev`
-- Branch name: `sl-firmware/rover-firmware`
-- PR target: `saltyrover-dev`
-
-## Files to Create
-
-### `include/rover_driver.h`
-Public API for the 4-wheel rover motor layer:
-```c
-typedef struct {
-    int16_t fl, fr, rl, rr; /* last wheel commands (-1000..+1000) */
-    bool    armed;
-    bool    estop;
-    uint32_t last_cmd_ms;   /* HAL_GetTick() of last set_cmd() call */
-} rover_driver_t;
-
-void rover_driver_init(rover_driver_t *r);
-void rover_driver_set_cmd(rover_driver_t *r, int16_t fl, int16_t fr, int16_t rl, int16_t rr, uint32_t now);
-void rover_driver_update(rover_driver_t *r, uint32_t now); /* call at 50Hz */
-void rover_driver_arm(rover_driver_t *r);
-void rover_driver_disarm(rover_driver_t *r);
-void rover_driver_estop(rover_driver_t *r);
-void rover_driver_estop_clear(rover_driver_t *r);
-```
-
-### `src/rover_driver.c`
-Implementation — two hoverboard ESC control:
-- `rover_driver_init()`: calls existing `hoverboard_init()` (USART2 front), adds UART5 init for rear (HAL_UART_Init at 115200, PC12/PD2)
-- `rover_driver_update()` at 50Hz:
-  - estop or disarmed → send (0,0) to both ESCs
-  - armed → compute `front_spd=(fl+fr)/2`, `front_str=(fr-fl)/2`, `rear_spd=(rl+rr)/2`, `rear_str=(rr-rl)/2`; clamp each to ±ROVER_SPEED_MAX
-  - If `now - last_cmd_ms > ROVER_CMD_TIMEOUT_MS` → zero commands (safety fallback)
-  - Calls `hoverboard_send(front_spd, front_str)` for USART2
-  - Calls local `hoverboard2_send(rear_spd, rear_str)` for UART5 (static function in rover_driver.c, same 8-byte protocol)
-
-## Files to Modify
-
-### `include/config.h`
-Add rover-specific constants section:
-```c
-/* --- SaltyRover 4WD --- */
-#define ROVER_MAX_TILT_DEG   45.0f  /* ESC estop angle (vs 25° balance cutoff) */
-#define ROVER_CMD_TIMEOUT_MS  500   /* Zero wheels if no Jetson cmd for 500ms */
-#define ROVER_SPEED_MAX       800   /* Max per-wheel command (ESC units) */
-```
-
-### `include/safety.h` + `src/safety.c`
-Apply PR #69 remote-estop additions (same as main): `EstopSource` enum, `safety_remote_estop/clear/get/active()`, `s_estop_source` static. These are already on main but not saltyrover-dev — include them here.
-
-### `lib/USB_CDC/src/usbd_cdc_if.c` + `include/usbd_cdc_if.h`
-Apply PR #69 CDC additions: `cdc_estop_request`, `cdc_estop_clear_request`, cases 'E'/'F'/'Z'.
-
-Add rover JSON command handling:
-```c
-volatile uint8_t  rover_json_ready = 0;
-volatile char     rover_json_buf[80];
-// In CDC_Receive:
-case '{': {
-    uint32_t n = *len < 79 ? *len : 79;
-    for (uint32_t i = 0; i < n; i++) rover_json_buf[i] = (char)buf[i];
-    rover_json_buf[n] = '\0';
-    rover_json_ready = 1;
-    jetson_hb_tick = HAL_GetTick();  /* JSON cmd refreshes heartbeat */
-    break;
-}
-```
-
-Export in header: `extern volatile uint8_t rover_json_ready; extern volatile char rover_json_buf[80];`
-
-### `src/main.c`
-Full replacement of the main loop. Keep all init (clock, USB, IMU, CRSF, I2C sensors, safety), strip `balance_t`, replace with `rover_driver_t`. Key loop logic:
-
-**Per-iteration (1ms):**
-1. `safety_refresh()` — IWDG feed
-2. `mpu6000_read(&imu)` — IMU read
-3. `mode_manager_update(&mode, now)` — RC liveness + CH6 mode
-4. Remote e-stop block (from PR #69): `cdc_estop_request` → `rover_driver_estop()`
-5. Tilt watchdog: `if (fabsf(imu.pitch) > ROVER_MAX_TILT_DEG) rover_driver_estop()`
-6. RC CH5 arm/disarm (same hold interlock; pitch check relaxed to `< ROVER_MAX_TILT_DEG`)
-7. USB arm/disarm (A/D commands)
-8. Parse `rover_json_ready`: `sscanf(rover_json_buf, ...)` for `drive4` cmd → `rover_driver_set_cmd()`
-9. RC direct drive fallback (MANUAL mode): CH3→speed all 4 wheels, CH4→differential steer
-
-**50Hz ESC block:**
-```c
-if (rover.armed && !rover.estop) {
-    // If Jetson active: use stored fl/fr/rl/rr
-    // If RC MANUAL: compute fl=fr=rl=rr=speed, add steer diff
-    rover_driver_update(&rover, now);
-} else {
-    rover_driver_update(&rover, now); // sends zeros
-}
-```
-
-**50Hz telemetry:**
-```json
-{"p":<pitch×10>,"r":<roll×10>,"s":<armed>,"fl":<fl>,"fr":<fr>,"rl":<rl>,"rr":<rr>,"md":<mode>,"es":<es>,"txc":<N>,"rxc":<N>}
-```
-Optional fields: heading, altitude/temp/pressure (same as balance bot).
-
-**Status LEDs:** Same `status_update(now, imu_ok, rover.armed, |pitch|>ROVER_MAX_TILT_DEG, safety_remote_estop_active())`
-
-**Arm guard:** `|pitch_deg| < ROVER_MAX_TILT_DEG` (45°) instead of `< 10.0f`
-
-## Key Architectural Differences vs Balance Bot
-
-| | Balance Bot | SaltyRover |
-|---|---|---|
-| PID loop | 1kHz balance PID | None |
-| Motor cmd | `bal.motor_cmd` | Individual fl/fr/rl/rr |
-| ESCs | 1× USART2 | 2× USART2 + UART5 |
-| Tilt cutoff | 25° (balance state) | 45° (simple estop only) |
-| Drive cmd | `C<spd>,<str>\n` | `{"cmd":"drive4",...}` JSON |
-| Arm pitch guard | `< 10°` | `< 45°` |
-| State machine | DISARMED/ARMED/TILT_FAULT | armed bool + estop bool |
-
-## Test Plan
-1. Build: `pio run -e saltyrover` (or equivalent) — confirms compile
-2. Hardware: send `{"cmd":"drive4","fl":200,"fr":200,"rl":200,"rr":200}` → all 4 wheels spin forward
-3. Estop: send `E\n` → wheels stop, LED fast-blinks 200ms; `Z\n` + RC arm → resumes
-4. Tilt: tilt rover >45° → wheels cut immediately; no cut at 30°
-5. RC manual: CH5 arm + CH3/CH4 → wheels respond; CH5 disarm → stop
-6. Telemetry: verify `"fl"/"fr"/"rl"/"rr"` in JSON stream, `"es"` field changes on estop
-
-## Critical Files
-- `src/main.c` — rover main loop (full rewrite of loop body)
-- `include/rover_driver.h` — new file
-- `src/rover_driver.c` — new file (UART5 init + two-ESC update)
-- `include/config.h` — rover constants
-- `include/safety.h` + `src/safety.c` — remote estop additions
-- `lib/USB_CDC/src/usbd_cdc_if.c` — JSON '{' case + estop flags
-- `lib/USB_CDC/include/usbd_cdc_if.h` — export new flags

jetson/ros2_ws/src/saltybot_wheel_slip_detector/launch/wheel_slip_detector.launch.py

@@ -5,21 +5,10 @@ from launch.actions import DeclareLaunchArgument
 import os
 from ament_index_python.packages import get_package_share_directory
 
-
 def generate_launch_description():
     pkg_dir = get_package_share_directory("saltybot_wheel_slip_detector")
     config_file = os.path.join(pkg_dir, "config", "wheel_slip_config.yaml")
     return LaunchDescription([
-        DeclareLaunchArgument(
+        DeclareLaunchArgument("config_file", default_value=config_file, description="Path to configuration YAML file"),
-            "config_file",
+        Node(package="saltybot_wheel_slip_detector", executable="wheel_slip_detector_node", name="wheel_slip_detector", output="screen", parameters=[LaunchConfiguration("config_file")]),
-            default_value=config_file,
-            description="Path to configuration YAML file",
-        ),
-        Node(
-            package="saltybot_wheel_slip_detector",
-            executable="wheel_slip_detector_node",
-            name="wheel_slip_detector",
-            output="screen",
-            parameters=[LaunchConfiguration("config_file")],
-        ),
     ])

jetson/ros2_ws/src/saltybot_wheel_slip_detector/package.xml

@@ -0,0 +1,18 @@
+<?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_wheel_slip_detector</name>
+  <version>0.1.0</version>
+  <description>Wheel slip detection by comparing commanded vs actual velocity.</description>
+  <maintainer email="seb@vayrette.com">Seb</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_python</buildtool_depend>
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>nav_msgs</depend>
+  <test_depend>pytest</test_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_wheel_slip_detector/saltybot_wheel_slip_detector/wheel_slip_detector_node.py

@@ -1,13 +1,6 @@
 #!/usr/bin/env python3
-"""Wheel slip detector for SaltyBot.
-
-Detects wheel slip by comparing commanded velocity vs actual encoder velocity.
-Publishes Bool when slip is detected for >0.5s, enabling speed reduction response.
-"""
-
 from typing import Optional
 import math
-
 import rclpy
 from rclpy.node import Node
 from rclpy.timer import Timer
@@ -15,82 +8,60 @@ from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from std_msgs.msg import Bool
 
-
 class WheelSlipDetectorNode(Node):
-    """ROS2 node for wheel slip detection."""
-
     def __init__(self):
         super().__init__("wheel_slip_detector")
-
         self.declare_parameter("frequency", 10)
         frequency = self.get_parameter("frequency").value
         self.declare_parameter("slip_threshold", 0.1)
         self.declare_parameter("slip_timeout", 0.5)
-
         self.slip_threshold = self.get_parameter("slip_threshold").value
         self.slip_timeout = self.get_parameter("slip_timeout").value
         self.period = 1.0 / frequency
-
         self.cmd_vel: Optional[Twist] = None
         self.actual_vel: Optional[Twist] = None
         self.slip_duration = 0.0
         self.slip_detected = False
-
         self.create_subscription(Twist, "/cmd_vel", self._on_cmd_vel, 10)
         self.create_subscription(Odometry, "/odom", self._on_odom, 10)
         self.pub_slip = self.create_publisher(Bool, "/saltybot/wheel_slip_detected", 10)
         self.timer: Timer = self.create_timer(self.period, self._timer_callback)
-
+        self.get_logger().info(f"Wheel slip detector initialized at {frequency}Hz. Threshold: {self.slip_threshold} m/s, Timeout: {self.slip_timeout}s")
-        self.get_logger().info(
-            f"Wheel slip detector initialized at {frequency}Hz. "
-            f"Threshold: {self.slip_threshold} m/s, Timeout: {self.slip_timeout}s"
-        )
 
     def _on_cmd_vel(self, msg: Twist) -> None:
-        """Update commanded velocity from subscription."""
         self.cmd_vel = msg
 
     def _on_odom(self, msg: Odometry) -> None:
-        """Update actual velocity from odometry subscription."""
         self.actual_vel = msg.twist.twist
 
     def _timer_callback(self) -> None:
-        """Detect wheel slip and publish detection flag."""
         if self.cmd_vel is None or self.actual_vel is None:
             slip_detected = False
         else:
             slip_detected = self._check_slip()
-
         if slip_detected:
             self.slip_duration += self.period
         else:
             self.slip_duration = 0.0
-
         is_slip = self.slip_duration > self.slip_timeout
-
         if is_slip != self.slip_detected:
             self.slip_detected = is_slip
             if self.slip_detected:
                 self.get_logger().warn(f"WHEEL SLIP DETECTED: {self.slip_duration:.2f}s")
             else:
                 self.get_logger().info("Wheel slip cleared")
-
         slip_msg = Bool()
         slip_msg.data = is_slip
         self.pub_slip.publish(slip_msg)
 
     def _check_slip(self) -> bool:
-        """Check if velocity difference indicates slip."""
         cmd_speed = math.sqrt(self.cmd_vel.linear.x**2 + self.cmd_vel.linear.y**2)
         actual_speed = math.sqrt(self.actual_vel.linear.x**2 + self.actual_vel.linear.y**2)
         vel_diff = abs(cmd_speed - actual_speed)
-
         if cmd_speed < 0.05 and actual_speed < 0.05:
             return False
-
         return vel_diff > self.slip_threshold
 
-
 def main(args=None):
     rclpy.init(args=args)
     node = WheelSlipDetectorNode()
@@ -102,6 +73,5 @@ def main(args=None):
         node.destroy_node()
         rclpy.shutdown()
 
-
 if __name__ == "__main__":
     main()

jetson/ros2_ws/src/saltybot_wheel_slip_detector/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/saltybot_wheel_slip_detector
+[install]
+install-scripts=$base/lib/saltybot_wheel_slip_detector

jetson/ros2_ws/src/saltybot_wheel_slip_detector/setup.py

@@ -1,7 +1,5 @@
 from setuptools import find_packages, setup
-
 package_name = "saltybot_wheel_slip_detector"
-
 setup(
     name=package_name,
     version="0.1.0",
@@ -19,9 +17,5 @@ setup(
     description="Wheel slip detection from velocity command/actual mismatch",
     license="Apache-2.0",
     tests_require=["pytest"],
-    entry_points={
+    entry_points={"console_scripts": ["wheel_slip_detector_node = saltybot_wheel_slip_detector.wheel_slip_detector_node:main"]},
-        "console_scripts": [
-            "wheel_slip_detector_node = saltybot_wheel_slip_detector.wheel_slip_detector_node:main",
-        ],
-    },
 )

ui/social-bot/src/App.jsx

@@ -61,9 +61,6 @@ import { NetworkPanel } from './components/NetworkPanel.jsx';
 // Waypoint editor (issue #261)
 import { WaypointEditor } from './components/WaypointEditor.jsx';
 
-// Status header (issue #269)
-import { StatusHeader } from './components/StatusHeader.jsx';
-
 const TAB_GROUPS = [
   {
     label: 'SOCIAL',

ui/social-bot/src/components/WaypointEditor.jsx

@@ -10,11 +10,13 @@
  *   - Execute waypoint sequence with automatic progression
  *   - Clear all waypoints button
  *   - Visual feedback for active waypoint (executing)
+ *   - Imports map display from MapViewer for coordinate system
  */
 
 import { useEffect, useRef, useState } from 'react';
 
 function WaypointEditor({ subscribe, publish, callService }) {
+  // Waypoint storage
   const [waypoints, setWaypoints] = useState([]);
   const [selectedWaypoint, setSelectedWaypoint] = useState(null);
   const [isDragging, setIsDragging] = useState(false);
@@ -22,16 +24,20 @@ function WaypointEditor({ subscribe, publish, callService }) {
   const [activeWaypoint, setActiveWaypoint] = useState(null);
   const [executing, setExecuting] = useState(false);
 
+  // Map context
   const [mapData, setMapData] = useState(null);
   const [robotPose, setRobotPose] = useState({ x: 0, y: 0, theta: 0 });
 
+  // Canvas reference
+  const canvasRef = useRef(null);
   const containerRef = useRef(null);
 
+  // Refs for ROS integration
   const mapDataRef = useRef(null);
   const robotPoseRef = useRef({ x: 0, y: 0, theta: 0 });
   const waypointsRef = useRef([]);
 
-  // Subscribe to map data
+  // Subscribe to map data (for coordinate reference)
   useEffect(() => {
     const unsubMap = subscribe(
       '/map',
@@ -54,7 +60,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
     return unsubMap;
   }, [subscribe]);
 
-  // Subscribe to robot odometry
+  // Subscribe to robot odometry (for current position reference)
   useEffect(() => {
     const unsubOdom = subscribe(
       '/odom',
@@ -79,22 +85,29 @@ function WaypointEditor({ subscribe, publish, callService }) {
     return unsubOdom;
   }, [subscribe]);
 
+  // Canvas event handlers
   const handleCanvasClick = (e) => {
-    if (!mapDataRef.current || !containerRef.current) return;
+    if (!mapDataRef.current || !canvasRef.current) return;
 
-    const rect = containerRef.current.getBoundingClientRect();
+    const canvas = canvasRef.current;
+    const rect = canvas.getBoundingClientRect();
     const clickX = e.clientX - rect.left;
     const clickY = e.clientY - rect.top;
 
+    // Convert canvas coordinates to world coordinates
+    // This assumes the map is centered on the robot
+    const map = mapDataRef.current;
     const robot = robotPoseRef.current;
-    const zoom = 1;
+    const zoom = 1; // Would need to track zoom if map has zoom controls
 
-    const centerX = containerRef.current.clientWidth / 2;
+    // Inverse of map rendering calculation
-    const centerY = containerRef.current.clientHeight / 2;
+    const centerX = canvas.width / 2;
+    const centerY = canvas.height / 2;
 
     const worldX = robot.x + (clickX - centerX) / zoom;
     const worldY = robot.y - (clickY - centerY) / zoom;
 
+    // Create new waypoint
     const newWaypoint = {
       id: Date.now(),
       x: parseFloat(worldX.toFixed(2)),
@@ -106,6 +119,12 @@ function WaypointEditor({ subscribe, publish, callService }) {
     waypointsRef.current = [...waypointsRef.current, newWaypoint];
   };
 
+  const handleCanvasContextMenu = (e) => {
+    e.preventDefault();
+    // Right-click handled by waypoint list
+  };
+
+  // Waypoint list handlers
   const handleDeleteWaypoint = (id) => {
     setWaypoints((prev) => prev.filter((wp) => wp.id !== id));
     waypointsRef.current = waypointsRef.current.filter((wp) => wp.id !== id);
@@ -139,12 +158,18 @@ function WaypointEditor({ subscribe, publish, callService }) {
     setDragIndex(null);
   };
 
+  // Execute waypoints
   const sendNavGoal = async (waypoint) => {
     if (!callService) return;
 
     try {
+      // Create quaternion from heading (default to 0 if no heading)
       const heading = waypoint.theta || 0;
       const halfHeading = heading / 2;
+      const qx = 0;
+      const qy = 0;
+      const qz = Math.sin(halfHeading);
+      const qw = Math.cos(halfHeading);
 
       const goal = {
         pose: {
@@ -154,14 +179,15 @@ function WaypointEditor({ subscribe, publish, callService }) {
             z: 0,
           },
           orientation: {
-            x: 0,
+            x: qx,
-            y: 0,
+            y: qy,
-            z: Math.sin(halfHeading),
+            z: qz,
-            w: Math.cos(halfHeading),
+            w: qw,
           },
         },
       };
 
+      // Send to Nav2 navigate_to_pose action
       await callService(
         '/navigate_to_pose',
         'nav2_msgs/NavigateToPose',
@@ -182,7 +208,11 @@ function WaypointEditor({ subscribe, publish, callService }) {
     setExecuting(true);
     for (const waypoint of waypoints) {
       const success = await sendNavGoal(waypoint);
-      if (!success) break;
+      if (!success) {
+        console.error('Failed to send goal for waypoint:', waypoint);
+        break;
+      }
+      // Wait a bit before sending next goal
       await new Promise((resolve) => setTimeout(resolve, 500));
     }
     setExecuting(false);
@@ -207,16 +237,21 @@ function WaypointEditor({ subscribe, publish, callService }) {
 
   return (
     <div className="flex h-full gap-3">
-      {/* Map area */}
+      {/* Map area with click handlers */}
       <div className="flex-1 flex flex-col space-y-3">
         <div className="flex-1 bg-gray-900 rounded-lg border border-cyan-950 overflow-hidden relative cursor-crosshair">
           <div
             ref={containerRef}
             className="w-full h-full"
             onClick={handleCanvasClick}
-            onContextMenu={(e) => e.preventDefault()}
+            onContextMenu={handleCanvasContextMenu}
           >
-            <svg className="absolute inset-0 w-full h-full pointer-events-none" id="waypoint-overlay">
+            {/* Virtual map display - waypoints overlaid */}
+            <svg
+              className="absolute inset-0 w-full h-full pointer-events-none"
+              id="waypoint-overlay"
+            >
+              {/* Waypoint markers */}
               {waypoints.map((wp, idx) => {
                 if (!mapDataRef.current) return null;
 
@@ -233,6 +268,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
 
                 return (
                   <g key={wp.id}>
+                    {/* Waypoint circle */}
                     <circle
                       cx={canvasX}
                       cy={canvasY}
@@ -240,6 +276,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
                       fill={isActive ? '#ef4444' : isSelected ? '#fbbf24' : '#06b6d4'}
                       opacity="0.8"
                     />
+                    {/* Waypoint number */}
                     <text
                       x={canvasX}
                       y={canvasY}
@@ -252,12 +289,19 @@ function WaypointEditor({ subscribe, publish, callService }) {
                     >
                       {idx + 1}
                     </text>
+                    {/* Line to next waypoint */}
                     {idx < waypoints.length - 1 && (
                       <line
                         x1={canvasX}
                         y1={canvasY}
-                        x2={centerX + (waypoints[idx + 1].x - robot.x) * zoom}
+                        x2={
-                        y2={centerY - (waypoints[idx + 1].y - robot.y) * zoom}
+                          centerX +
+                          (waypoints[idx + 1].x - robot.x) * zoom
+                        }
+                        y2={
+                          centerY -
+                          (waypoints[idx + 1].y - robot.y) * zoom
+                        }
                         stroke="#10b981"
                         strokeWidth="2"
                         opacity="0.6"
@@ -266,6 +310,8 @@ function WaypointEditor({ subscribe, publish, callService }) {
                   </g>
                 );
               })}
+
+              {/* Robot position marker */}
               <circle
                 cx={containerRef.current?.clientWidth / 2 || 400}
                 cy={containerRef.current?.clientHeight / 2 || 300}
@@ -311,7 +357,9 @@ function WaypointEditor({ subscribe, publish, callService }) {
         {/* Waypoint list */}
         <div className="flex-1 overflow-y-auto space-y-1">
           {waypoints.length === 0 ? (
-            <div className="text-center text-gray-700 text-xs py-4">Click map to add waypoints</div>
+            <div className="text-center text-gray-700 text-xs py-4">
+              Click map to add waypoints
+            </div>
           ) : (
             waypoints.map((wp, idx) => (
               <div