jetson/ros2_ws/src/saltybot_cmd_vel_mux/config/mux_config.yaml

@@ -1,10 +0,0 @@
-# cmd_vel multiplexer configuration
-
-cmd_vel_mux:
-  ros__parameters:
-    # Multiplexing frequency (Hz)
-    frequency: 50  # 50 Hz = 20ms cycle
-
-    # Source timeout (seconds)
-    # If no message from a source for this duration, it becomes inactive
-    source_timeout: 0.5

jetson/ros2_ws/src/saltybot_cmd_vel_mux/launch/cmd_vel_mux.launch.py

@@ -1,36 +0,0 @@
-"""Launch file for cmd_vel_mux_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 cmd_vel multiplexer."""
-    # Package directory
-    pkg_dir = get_package_share_directory("saltybot_cmd_vel_mux")
-
-    # Parameters
-    config_file = os.path.join(pkg_dir, "config", "mux_config.yaml")
-
-    # Declare launch arguments
-    return LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "config_file",
-                default_value=config_file,
-                description="Path to configuration YAML file",
-            ),
-            # cmd_vel multiplexer node
-            Node(
-                package="saltybot_cmd_vel_mux",
-                executable="cmd_vel_mux_node",
-                name="cmd_vel_mux",
-                output="screen",
-                parameters=[LaunchConfiguration("config_file")],
-            ),
-        ]
-    )

jetson/ros2_ws/src/saltybot_cmd_vel_mux/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_cmd_vel_mux</name>
-  <version>0.1.0</version>
-  <description>
-    cmd_vel multiplexer for SaltyBot: priority-based routing with 0.5s timeout.
-    Routes cmd_vel from teleop (priority 1), nav2 (priority 2), or docking (priority 3)
-    based on source activity and priority. Publishes mux status at 50Hz.
-  </description>
-  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_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_cmd_vel_mux/saltybot_cmd_vel_mux/cmd_vel_mux_node.py

@@ -1,186 +0,0 @@
-#!/usr/bin/env python3
-"""cmd_vel multiplexer for SaltyBot.
-
-Priority-based routing with 0.5s timeout per source.
-Teleop (1) > Nav2 (2) > Docking (3)
-
-Published topics:
-  /cmd_vel (geometry_msgs/Twist) - Multiplexed velocity command
-  /saltybot/cmd_vel_mux_status (std_msgs/String) - JSON mux status
-
-Subscribed topics:
-  /cmd_vel_teleop (geometry_msgs/Twist) - Teleop command (priority 1)
-  /cmd_vel_nav2 (geometry_msgs/Twist) - Nav2 command (priority 2)
-  /cmd_vel_docking (geometry_msgs/Twist) - Docking command (priority 3)
-"""
-
-import json
-from enum import Enum
-from typing import Optional
-
-import rclpy
-from rclpy.node import Node
-from rclpy.timer import Timer
-from geometry_msgs.msg import Twist
-from std_msgs.msg import String
-
-
-class CmdSource(Enum):
-    """Command velocity sources with priority."""
-    TELEOP = 1
-    NAV2 = 2
-    DOCKING = 3
-    NONE = 0
-
-
-class CmdVelMuxNode(Node):
-    """ROS2 node for priority-based cmd_vel multiplexing."""
-
-    def __init__(self):
-        super().__init__("cmd_vel_mux")
-
-        # Parameters
-        self.declare_parameter("frequency", 50)  # Hz
-        self.declare_parameter("source_timeout", 0.5)  # seconds
-
-        frequency = self.get_parameter("frequency").value
-        self.source_timeout = self.get_parameter("source_timeout").value
-
-        # Last update times for each source
-        self.last_update = {
-            CmdSource.TELEOP: None,
-            CmdSource.NAV2: None,
-            CmdSource.DOCKING: None,
-        }
-
-        # Last received commands
-        self.last_cmd = {
-            CmdSource.TELEOP: None,
-            CmdSource.NAV2: None,
-            CmdSource.DOCKING: None,
-        }
-
-        # Current active source
-        self.active_source = CmdSource.NONE
-
-        # Subscriptions
-        self.create_subscription(
-            Twist, "/cmd_vel_teleop", self._on_cmd_vel_teleop, 10
-        )
-        self.create_subscription(
-            Twist, "/cmd_vel_nav2", self._on_cmd_vel_nav2, 10
-        )
-        self.create_subscription(
-            Twist, "/cmd_vel_docking", self._on_cmd_vel_docking, 10
-        )
-
-        # Publications
-        self.pub_mux = self.create_publisher(Twist, "/cmd_vel", 10)
-        self.pub_status = self.create_publisher(String, "/saltybot/cmd_vel_mux_status", 10)
-
-        # Timer for multiplexing at 50Hz
-        period = 1.0 / frequency
-        self.timer: Timer = self.create_timer(period, self._timer_callback)
-
-        self.get_logger().info(
-            f"cmd_vel mux initialized at {frequency}Hz. "
-            f"Source timeout: {self.source_timeout}s. "
-            f"Priority: Teleop(1) > Nav2(2) > Docking(3)"
-        )
-
-    def _on_cmd_vel_teleop(self, msg: Twist) -> None:
-        """Update teleop command."""
-        self.last_update[CmdSource.TELEOP] = self.get_clock().now()
-        self.last_cmd[CmdSource.TELEOP] = msg
-
-    def _on_cmd_vel_nav2(self, msg: Twist) -> None:
-        """Update Nav2 command."""
-        self.last_update[CmdSource.NAV2] = self.get_clock().now()
-        self.last_cmd[CmdSource.NAV2] = msg
-
-    def _on_cmd_vel_docking(self, msg: Twist) -> None:
-        """Update docking command."""
-        self.last_update[CmdSource.DOCKING] = self.get_clock().now()
-        self.last_cmd[CmdSource.DOCKING] = msg
-
-    def _timer_callback(self) -> None:
-        """Multiplex cmd_vel based on priority and timeout at 50Hz."""
-        now = self.get_clock().now()
-
-        # Check which sources are active (within timeout)
-        active_sources = []
-
-        for source in [CmdSource.TELEOP, CmdSource.NAV2, CmdSource.DOCKING]:
-            last_time = self.last_update[source]
-
-            if last_time is not None:
-                elapsed = (now - last_time).nanoseconds / 1e9
-
-                if elapsed <= self.source_timeout:
-                    active_sources.append(source)
-
-        # Select highest priority active source
-        if active_sources:
-            # Sources are already in priority order
-            self.active_source = active_sources[0]
-        else:
-            self.active_source = CmdSource.NONE
-
-        # Publish multiplexed command
-        if self.active_source != CmdSource.NONE:
-            cmd = self.last_cmd[self.active_source]
-            self.pub_mux.publish(cmd)
-        else:
-            # No active source: publish zero command
-            self.pub_mux.publish(Twist())
-
-        # Publish mux status
-        self._publish_status()
-
-    def _publish_status(self) -> None:
-        """Publish multiplexer status as JSON."""
-        now = self.get_clock().now()
-
-        # Build source status
-        sources_status = {}
-        for source in [CmdSource.TELEOP, CmdSource.NAV2, CmdSource.DOCKING]:
-            last_time = self.last_update[source]
-
-            if last_time is not None:
-                elapsed = (now - last_time).nanoseconds / 1e9
-                is_active = elapsed <= self.source_timeout
-            else:
-                elapsed = None
-                is_active = False
-
-            sources_status[source.name] = {
-                "priority": source.value,
-                "active": is_active,
-                "elapsed_s": elapsed,
-            }
-
-        status = {
-            "timestamp": now.nanoseconds / 1e9,
-            "active_source": self.active_source.name,
-            "active_priority": self.active_source.value,
-            "sources": sources_status,
-        }
-
-        msg = String(data=json.dumps(status))
-        self.pub_status.publish(msg)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = CmdVelMuxNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_cmd_vel_mux/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_cmd_vel_mux
-[egg_info]
-tag_date = 0

jetson/ros2_ws/src/saltybot_cmd_vel_mux/setup.py

@@ -1,29 +0,0 @@
-from setuptools import setup
-
-package_name = "saltybot_cmd_vel_mux"
-
-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/cmd_vel_mux.launch.py"]),
-        (f"share/{package_name}/config", ["config/mux_config.yaml"]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="sl-controls",
-    maintainer_email="sl-controls@saltylab.local",
-    description=(
-        "cmd_vel multiplexer: priority-based routing with 0.5s timeout"
-    ),
-    license="MIT",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "cmd_vel_mux_node = saltybot_cmd_vel_mux.cmd_vel_mux_node:main",
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_cmd_vel_mux/test/test_cmd_vel_mux.py

@@ -1,373 +0,0 @@
-"""Unit tests for cmd_vel_mux_node."""
-
-import pytest
-import json
-from geometry_msgs.msg import Twist
-from std_msgs.msg import String
-
-import rclpy
-from rclpy.time import Time
-
-# Import the node and classes under test
-from saltybot_cmd_vel_mux.cmd_vel_mux_node import (
-    CmdVelMuxNode,
-    CmdSource,
-)
-
-
-@pytest.fixture
-def rclpy_fixture():
-    """Initialize and cleanup rclpy."""
-    rclpy.init()
-    yield
-    rclpy.shutdown()
-
-
-@pytest.fixture
-def node(rclpy_fixture):
-    """Create a cmd_vel mux node instance."""
-    node = CmdVelMuxNode()
-    yield node
-    node.destroy_node()
-
-
-class TestCmdSource:
-    """Test suite for CmdSource enum."""
-
-    def test_cmd_source_values(self):
-        """Test CmdSource enum values."""
-        assert CmdSource.TELEOP.value == 1
-        assert CmdSource.NAV2.value == 2
-        assert CmdSource.DOCKING.value == 3
-        assert CmdSource.NONE.value == 0
-
-    def test_cmd_source_names(self):
-        """Test CmdSource enum names."""
-        assert CmdSource.TELEOP.name == "TELEOP"
-        assert CmdSource.NAV2.name == "NAV2"
-        assert CmdSource.DOCKING.name == "DOCKING"
-        assert CmdSource.NONE.name == "NONE"
-
-
-class TestCmdVelMuxNode:
-    """Test suite for CmdVelMuxNode."""
-
-    def test_node_initialization(self, node):
-        """Test that node initializes with correct defaults."""
-        assert node.source_timeout == 0.5
-        assert node.active_source == CmdSource.NONE
-
-        for source in [CmdSource.TELEOP, CmdSource.NAV2, CmdSource.DOCKING]:
-            assert node.last_update[source] is None
-            assert node.last_cmd[source] is None
-
-    def test_teleop_subscription(self, node):
-        """Test teleop command subscription."""
-        cmd = Twist()
-        cmd.linear.x = 1.0
-        cmd.angular.z = 0.5
-
-        node._on_cmd_vel_teleop(cmd)
-
-        assert node.last_update[CmdSource.TELEOP] is not None
-        assert node.last_cmd[CmdSource.TELEOP] is not None
-        assert node.last_cmd[CmdSource.TELEOP].linear.x == 1.0
-
-    def test_nav2_subscription(self, node):
-        """Test Nav2 command subscription."""
-        cmd = Twist()
-        cmd.linear.x = 0.5
-        cmd.angular.z = 0.2
-
-        node._on_cmd_vel_nav2(cmd)
-
-        assert node.last_update[CmdSource.NAV2] is not None
-        assert node.last_cmd[CmdSource.NAV2].linear.x == 0.5
-
-    def test_docking_subscription(self, node):
-        """Test docking command subscription."""
-        cmd = Twist()
-        cmd.linear.x = 0.2
-
-        node._on_cmd_vel_docking(cmd)
-
-        assert node.last_update[CmdSource.DOCKING] is not None
-        assert node.last_cmd[CmdSource.DOCKING].linear.x == 0.2
-
-    def test_no_active_source(self, node):
-        """Test with no active sources."""
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.NONE
-
-    def test_teleop_only(self, node):
-        """Test teleop as only active source."""
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.5
-
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.TELEOP
-
-    def test_priority_teleop_over_nav2(self, node):
-        """Test teleop has priority over Nav2."""
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.0
-
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.TELEOP
-
-    def test_priority_nav2_over_docking(self, node):
-        """Test Nav2 has priority over docking."""
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        docking_cmd = Twist()
-        docking_cmd.linear.x = 0.2
-
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._on_cmd_vel_docking(docking_cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.NAV2
-
-    def test_fallback_to_lower_priority(self, node):
-        """Test fallback to lower priority when higher priority times out."""
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        docking_cmd = Twist()
-        docking_cmd.linear.x = 0.2
-
-        # Update both sources
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._on_cmd_vel_docking(docking_cmd)
-
-        # Both should be active
-        node._timer_callback()
-        assert node.active_source == CmdSource.NAV2
-
-        # Simulate Nav2 timeout (>0.5s)
-        now = node.get_clock().now()
-        old_time = Time(nanoseconds=now.nanoseconds - int(0.6 * 1e9))
-        node.last_update[CmdSource.NAV2] = old_time
-
-        # Should fall back to docking
-        node._timer_callback()
-        assert node.active_source == CmdSource.DOCKING
-
-    def test_source_timeout_detection(self, node):
-        """Test that sources timeout after 0.5s."""
-        cmd = Twist()
-        cmd.linear.x = 1.0
-
-        # Just updated teleop
-        node._on_cmd_vel_teleop(cmd)
-
-        # Immediately, it should be active
-        node._timer_callback()
-        assert node.active_source == CmdSource.TELEOP
-
-        # Simulate time passage: >0.5s
-        now = node.get_clock().now()
-        old_time = Time(nanoseconds=now.nanoseconds - int(0.6 * 1e9))
-        node.last_update[CmdSource.TELEOP] = old_time
-
-        # Should timeout and become inactive
-        node._timer_callback()
-        assert node.active_source == CmdSource.NONE
-
-    def test_all_three_sources_active(self, node):
-        """Test with all three sources active - teleop should win."""
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.0
-
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        docking_cmd = Twist()
-        docking_cmd.linear.x = 0.2
-
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._on_cmd_vel_docking(docking_cmd)
-
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.TELEOP
-
-    def test_mux_status_json_format(self, node):
-        """Test multiplexer status JSON format."""
-        cmd = Twist()
-        cmd.linear.x = 1.0
-
-        node._on_cmd_vel_teleop(cmd)
-        node._timer_callback()
-
-        now = node.get_clock().now()
-
-        # Manually create status as node would
-        sources_status = {}
-        for source in [CmdSource.TELEOP, CmdSource.NAV2, CmdSource.DOCKING]:
-            last_time = node.last_update[source]
-
-            if last_time is not None:
-                elapsed = (now - last_time).nanoseconds / 1e9
-                is_active = elapsed <= node.source_timeout
-            else:
-                elapsed = None
-                is_active = False
-
-            sources_status[source.name] = {
-                "priority": source.value,
-                "active": is_active,
-                "elapsed_s": elapsed,
-            }
-
-        status = {
-            "active_source": node.active_source.name,
-            "active_priority": node.active_source.value,
-            "sources": sources_status,
-        }
-
-        json_str = json.dumps(status)
-        parsed = json.loads(json_str)
-
-        assert parsed["active_source"] == "TELEOP"
-        assert parsed["active_priority"] == 1
-        assert "TELEOP" in parsed["sources"]
-        assert parsed["sources"]["TELEOP"]["priority"] == 1
-
-
-class TestCmdVelMuxScenarios:
-    """Integration-style tests for realistic scenarios."""
-
-    def test_scenario_teleop_control(self, node):
-        """Scenario: user teleop control only."""
-        cmd = Twist()
-        cmd.linear.x = 1.5
-        cmd.angular.z = 0.3
-
-        node._on_cmd_vel_teleop(cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.TELEOP
-
-    def test_scenario_nav2_autonomous(self, node):
-        """Scenario: Nav2 autonomous navigation."""
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-        nav2_cmd.angular.z = 0.1
-
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.NAV2
-
-    def test_scenario_docking_sequence(self, node):
-        """Scenario: docking operation with no higher priority."""
-        docking_cmd = Twist()
-        docking_cmd.linear.x = 0.1
-
-        node._on_cmd_vel_docking(docking_cmd)
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.DOCKING
-
-    def test_scenario_teleop_preempts_nav2(self, node):
-        """Scenario: user teleop preempts Nav2 navigation."""
-        # Nav2 is running
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._timer_callback()
-        assert node.active_source == CmdSource.NAV2
-
-        # User takes teleop control
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.0
-
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._timer_callback()
-        assert node.active_source == CmdSource.TELEOP
-
-    def test_scenario_teleop_release_back_to_nav2(self, node):
-        """Scenario: user releases teleop, Nav2 resumes."""
-        # Both sources active
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.0
-
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._timer_callback()
-
-        # Teleop is active
-        assert node.active_source == CmdSource.TELEOP
-
-        # Simulate teleop timeout
-        now = node.get_clock().now()
-        old_time = Time(nanoseconds=now.nanoseconds - int(0.6 * 1e9))
-        node.last_update[CmdSource.TELEOP] = old_time
-
-        node._timer_callback()
-
-        # Nav2 should take over
-        assert node.active_source == CmdSource.NAV2
-
-    def test_scenario_timeout_all_sources(self, node):
-        """Scenario: all sources timeout, publish zero command."""
-        # Update all sources
-        cmd = Twist()
-        cmd.linear.x = 1.0
-
-        node._on_cmd_vel_teleop(cmd)
-        node._on_cmd_vel_nav2(cmd)
-        node._on_cmd_vel_docking(cmd)
-
-        # Simulate timeout for all
-        now = node.get_clock().now()
-        old_time = Time(nanoseconds=now.nanoseconds - int(1.0 * 1e9))
-
-        node.last_update[CmdSource.TELEOP] = old_time
-        node.last_update[CmdSource.NAV2] = old_time
-        node.last_update[CmdSource.DOCKING] = old_time
-
-        node._timer_callback()
-
-        assert node.active_source == CmdSource.NONE
-
-    def test_scenario_docking_to_nav2_to_teleop(self, node):
-        """Scenario: priority escalation through modes."""
-        # Start with docking
-        docking_cmd = Twist()
-        docking_cmd.linear.x = 0.1
-
-        node._on_cmd_vel_docking(docking_cmd)
-        node._timer_callback()
-        assert node.active_source == CmdSource.DOCKING
-
-        # Nav2 starts
-        nav2_cmd = Twist()
-        nav2_cmd.linear.x = 0.5
-
-        node._on_cmd_vel_nav2(nav2_cmd)
-        node._timer_callback()
-        assert node.active_source == CmdSource.NAV2
-
-        # User takes control
-        teleop_cmd = Twist()
-        teleop_cmd.linear.x = 1.0
-
-        node._on_cmd_vel_teleop(teleop_cmd)
-        node._timer_callback()
-        assert node.active_source == CmdSource.TELEOP