jetson/ros2_ws/src/saltybot_nav2_slam/config/costmap_common_params.yaml

@@ -1,47 +0,0 @@
-costmap_common_params:
-  update_frequency: 10.0
-  publish_frequency: 5.0
-  global_frame: map
-  robot_base_frame: base_link
-  use_sim_time: false
-  rolling_window: false
-  robot_radius: 0.35
-  plugins:
-    - name: static_layer
-      type: nav2_costmap_2d::StaticLayer
-      map_subscribe_transient_local: true
-      enabled: true
-    - name: obstacle_layer
-      type: nav2_costmap_2d::ObstacleLayer
-      enabled: true
-      observation_sources: scan camera_depth
-      scan:
-        topic: /scan
-        max_obstacle_height: 2.5
-        min_obstacle_height: 0.0
-        clearing: true
-        marking: true
-        data_type: LaserScan
-      camera_depth:
-        topic: /camera/depth/color/points
-        max_obstacle_height: 2.5
-        min_obstacle_height: 0.0
-        clearing: false
-        marking: true
-        data_type: PointCloud2
-        sensor_frame: camera_link
-        expected_update_rate: 15.0
-        observation_persistence: 0.0
-        inf_is_valid: false
-        filter: passthrough
-        filter_value: 5.0
-    - name: inflation_layer
-      type: nav2_costmap_2d::InflationLayer
-      enabled: true
-      inflation_radius: 0.55
-      cost_scaling_factor: 10.0
-      inflate_unknown: false
-      inflate_around_unknown: true
-  lethal_cost_threshold: 100
-  unknown_cost_value: -1
-  resolution: 0.05

jetson/ros2_ws/src/saltybot_nav2_slam/config/dwb_local_planner_params.yaml

@@ -1,59 +0,0 @@
-dwb_local_planner:
-  ros__parameters:
-    max_vel_x: 5.5
-    min_vel_x: 0.0
-    max_vel_y: 0.0
-    min_vel_y: 0.0
-    max_vel_theta: 3.0
-    min_vel_theta: -3.0
-    acc_lim_x: 2.5
-    acc_lim_y: 0.0
-    acc_lim_theta: 2.5
-    decel_lim_x: -2.5
-    decel_lim_y: 0.0
-    decel_lim_theta: -2.5
-    vx_samples: 20
-    vy_samples: 1
-    vtheta_samples: 40
-    sim_time: 1.7
-    sim_granularity: 0.05
-    angular_sim_granularity: 0.1
-    path_distance_bias: 32.0
-    goal_distance_bias: 24.0
-    occdist_scale: 0.02
-    forward_point_distance: 0.325
-    use_dwa: true
-    dwa_padding_inaccuracies: 0.1
-    max_allowed_time_female: 0.0
-    oscillation_max_iterations: 1800
-    oscillation_max_distance: 0.02
-    use_velocity_scaled_lookahead_dist: false
-    min_approach_linear_velocity: 0.1
-    approach_velocity_scaling_dist: 1.0
-    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-    rotate_to_goal:
-      slowing_factor: 5.0
-      lookahead_time: -1.0
-    base_obstacle:
-      scale: 0.02
-      max_scaling_factor: 0.02
-      forward_point_distance: 0.325
-    goal_align:
-      scale: 24.0
-      forward_point_distance: 0.325
-    path_align:
-      scale: 32.0
-      forward_point_distance: 0.325
-      max_allowed_time_female: 0.0
-    path_dist:
-      scale: 32.0
-      max_allowed_time_female: 0.0
-    goal_dist:
-      scale: 24.0
-      max_allowed_time_female: 0.0
-    prune_plan: true
-    prune_distance: 1.5
-    debug_trajectory_details: false
-    publish_evaluation: true
-    publish_scored_sampling_policies: false
-    publish_trajectories: false

jetson/ros2_ws/src/saltybot_nav2_slam/config/global_costmap_params.yaml

@@ -1,36 +0,0 @@
-global_costmap:
-  global_costmap:
-    ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
-      global_frame: map
-      robot_base_frame: base_link
-      use_sim_time: false
-      rolling_window: false
-      robot_radius: 0.35
-      plugins:
-        - name: static_layer
-          type: nav2_costmap_2d::StaticLayer
-          map_subscribe_transient_local: true
-          enabled: true
-        - name: obstacle_layer
-          type: nav2_costmap_2d::ObstacleLayer
-          enabled: true
-          observation_sources: scan
-          scan:
-            topic: /scan
-            max_obstacle_height: 2.5
-            min_obstacle_height: 0.0
-            clearing: true
-            marking: true
-            data_type: LaserScan
-        - name: inflation_layer
-          type: nav2_costmap_2d::InflationLayer
-          enabled: true
-          inflation_radius: 0.55
-          cost_scaling_factor: 10.0
-          inflate_unknown: false
-          inflate_around_unknown: true
-      resolution: 0.05
-      track_unknown_space: true
-      unknown_cost_value: -1

jetson/ros2_ws/src/saltybot_nav2_slam/config/local_costmap_params.yaml

@@ -1,51 +0,0 @@
-local_costmap:
-  local_costmap:
-    ros__parameters:
-      update_frequency: 10.0
-      publish_frequency: 5.0
-      global_frame: odom
-      robot_base_frame: base_link
-      use_sim_time: false
-      rolling_window: true
-      width: 3
-      height: 3
-      resolution: 0.05
-      robot_radius: 0.35
-      plugins:
-        - name: obstacle_layer
-          type: nav2_costmap_2d::ObstacleLayer
-          enabled: true
-          observation_sources: scan camera_depth
-          scan:
-            topic: /scan
-            max_obstacle_height: 2.5
-            min_obstacle_height: 0.0
-            clearing: true
-            marking: true
-            data_type: LaserScan
-            raytrace_max_range: 10.0
-            raytrace_min_range: 0.0
-            expected_update_rate: 5.5
-            observation_persistence: 0.0
-          camera_depth:
-            topic: /camera/depth/color/points
-            max_obstacle_height: 2.5
-            min_obstacle_height: 0.0
-            clearing: false
-            marking: true
-            data_type: PointCloud2
-            sensor_frame: camera_link
-            expected_update_rate: 15.0
-            observation_persistence: 0.5
-            inf_is_valid: false
-            filter: passthrough
-            filter_value: 5.0
-        - name: inflation_layer
-          type: nav2_costmap_2d::InflationLayer
-          enabled: true
-          inflation_radius: 0.55
-          cost_scaling_factor: 10.0
-          inflate_unknown: true
-          inflate_around_unknown: false
-      track_unknown_space: true
-      unknown_cost_value: 0

jetson/ros2_ws/src/saltybot_nav2_slam/config/nav2_params.yaml

@@ -1,219 +0,0 @@
-amcl:
-  ros__parameters:
-    use_sim_time: false
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
-    base_frame_id: "base_link"
-    beam_search_increment: 0.1
-    do_beamskip: false
-    global_frame_id: "map"
-    lambda_short: 0.1
-    laser_likelihood_max_dist: 2.0
-    laser_model_type: "likelihood_field"
-    max_beams: 60
-    max_particles: 2000
-    min_particles: 500
-    odom_frame_id: "odom"
-    pf_err: 0.05
-    pf_z: 0.99
-    recovery_alpha_fast: 0.0
-    recovery_alpha_slow: 0.0
-    resample_interval: 1
-    robot_model_type: "differential"
-    save_pose_rate: 0.5
-    sigma_hit: 0.2
-    sigma_short: 0.05
-    tf_broadcast: true
-    transform_tolerance: 1.0
-    update_min_a: 0.2
-    update_min_d: 0.25
-    z_hit: 0.5
-    z_max: 0.05
-    z_rand: 0.5
-    z_short: 0.05
-
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: false
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: false
-
-bt_navigator:
-  ros__parameters:
-    use_sim_time: false
-    global_frame: map
-    robot_base_frame: base_link
-    odom_topic: /odom
-    enable_groot_monitoring: true
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-    default_nav_through_poses_bt_xml: $(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
-    default_nav_to_pose_bt_xml: $(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
-    plugin_lib_names:
-      - nav2_compute_path_to_pose_action_bt_node
-      - nav2_compute_path_through_poses_action_bt_node
-      - nav2_follow_path_action_bt_node
-      - nav2_spin_action_bt_node
-      - nav2_wait_action_bt_node
-      - nav2_assisted_teleop_action_bt_node
-      - nav2_back_up_action_bt_node
-      - nav2_drive_on_heading_bt_node
-      - nav2_clear_costmap_service_bt_node
-      - nav2_is_stuck_condition_bt_node
-      - nav2_goal_updated_condition_bt_node
-      - nav2_initial_pose_received_condition_bt_node
-      - nav2_reinitialize_global_localization_service_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_distance_controller_bt_node
-      - nav2_speed_controller_bt_node
-      - nav2_truncate_path_action_bt_node
-      - nav2_truncate_path_local_action_bt_node
-      - nav2_remove_passed_goals_action_bt_node
-      - nav2_planner_selector_bt_node
-      - nav2_controller_selector_bt_node
-      - nav2_goal_checker_selector_bt_node
-
-bt_navigator_rclcpp_node:
-  ros__parameters:
-    use_sim_time: false
-
-controller_server:
-  ros__parameters:
-    use_sim_time: false
-    controller_frequency: 20.0
-    min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
-    min_theta_velocity_threshold: 0.001
-    failure_tolerance: 0.3
-    progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: ["general_goal_checker"]
-    controller_plugins: ["FollowPath"]
-
-    progress_checker:
-      plugin: "nav2_core::SimpleProgressChecker"
-      required_movement_radius: 0.5
-      movement_time_allowance: 10.0
-
-    general_goal_checker:
-      stateful: True
-      plugin: "nav2_core::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.25
-
-    FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: true
-      min_vel_x: 0.0
-      max_vel_x: 5.5
-      max_vel_theta: 3.0
-      min_speed_xy: 0.0
-      max_speed_xy: 5.5
-      acc_lim_x: 2.5
-      acc_lim_theta: 2.5
-      decel_lim_x: -2.5
-      decel_lim_theta: -2.5
-      vx_samples: 20
-      vtheta_samples: 40
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.1
-      transform_tolerance: 0.2
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: true
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      GoalAlign.scale: 24.0
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: false
-
-planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: false
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: true
-      allow_unknown: true
-
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: false
-
-behavior_server:
-  ros__parameters:
-    costmap_topic: local_costmap/costmap_raw
-    footprint_topic: local_costmap/published_footprint
-    cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
-    spin:
-      plugin: "nav2_behaviors/Spin"
-    backup:
-      plugin: "nav2_behaviors/BackUp"
-    drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
-    assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
-    wait:
-      plugin: "nav2_behaviors/Wait"
-    global_frame: odom
-    robot_base_frame: base_link
-    transform_timeout: 0.1
-    use_sim_time: false
-    simulate_ahead_time: 2.0
-    max_rotations: 1.0
-    max_backup_dist: 0.15
-    backup_speed: 0.5
-
-behavior_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: false
-
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: false
-
-lifecycle_manager_navigation:
-  ros__parameters:
-    use_sim_time: false
-    autostart: true
-    node_names: ['controller_server', 'planner_server', 'behavior_server', 'bt_navigator']
-
-lifecycle_manager_localization:
-  ros__parameters:
-    use_sim_time: false
-    autostart: true
-    node_names: ['amcl']
-
-map_server:
-  ros__parameters:
-    use_sim_time: false
-    yaml_filename: "map.yaml"
-
-velocity_smoother:
-  ros__parameters:
-    use_sim_time: false
-    smoothing_frequency: 20.0
-    scale_velocities: false
-    feedback: "odometry"
-    max_velocity: [5.5, 0.0, 3.0]
-    min_velocity: [-5.5, 0.0, -3.0]
-    max_accel: [2.5, 0.0, 2.5]
-    max_decel: [-2.5, 0.0, -2.5]
-    odom_topic: "odom"
-    odom_duration: 0.1
-    deadband_velocity: [0.0, 0.0, 0.0]
-    velocity_timeout: 1.0

jetson/ros2_ws/src/saltybot_nav2_slam/config/slam_toolbox_params.yaml

@@ -1,58 +0,0 @@
-slam_toolbox:
-  ros__parameters:
-    mode: mapping
-    async_mode: true
-    use_scan_matching: true
-    use_scan_bamatching: true
-    minimum_time_interval: 0.5
-    minimum_travel_distance: 0.2
-    minimum_rotation_deg: 5.0
-    correlation_search_space_dimension: 0.5
-    correlation_search_space_resolution: 0.05
-    correlation_search_space_smear_deviation: 0.1
-    correlation_search_space_std_dev_ratio: 0.5
-    loop_search_space_dimension: 8.0
-    loop_search_space_resolution: 0.05
-    scan_buffer_size: 10
-    scan_buffer_max_scan_distance: 12.0
-    distance_variance_penalty: 0.5
-    angle_variance_penalty: 1.0
-    fine_search_angle_offset: 0.00349
-    coarse_search_angle_offset: 0.349
-    coarse_angle_search_step_size: 0.0349
-    fine_angle_search_step_size: 0.00349
-    solver_plugin: solver_plugins::CeresSolver
-    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
-    ceres_preconditioner: SCHUR_JACOBI
-    ceres_trust_strategy: LEVENBERG_MARQUARDT
-    ceres_dogleg_type: TRADITIONAL_DOGLEG
-    do_loop_closing: true
-    loop_match_minimum_chain_size: 10
-    loop_match_maximum_variance_queue_size: 10
-    loop_match_minimum_response_fine: 0.1
-    loop_match_minimum_response_coarse: 0.3
-    minimum_score_to_accept_loop_closure: 0.07
-    do_final_optimization: true
-    final_optimization_particle_filter_size: 800
-    final_optimization_min_particles: 400
-    final_optimization_max_particles: 2000
-    final_optimization_threshold_metric_improvement: 0.0002
-    add_loops_as_edges: false
-    num_for_scan_matching: 0
-    icp_iterations: 10
-    interactive_mode: false
-    print_timing_information: false
-    map_frame: map
-    odom_frame: odom
-    base_frame: base_link
-    scan_topic: /scan
-    publish_tf: true
-    tf_buffer_duration: 30.0
-    transform_timeout: 0.2
-    queue_size: 10
-    throttle_scans: 1
-    use_map_saver: true
-    map_start_at_dock: true
-    map_start_pose: [0.0, 0.0, 0.0]
-    rollout_velocity_smoothing_factor: 0.07
-    force_turtlebot_rep: false

jetson/ros2_ws/src/saltybot_nav2_slam/launch/depth_to_costmap.launch.py

@@ -1,28 +0,0 @@
-"""RealSense Depth to Costmap Integration"""
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    use_sim_time = LaunchConfiguration('use_sim_time')
-
-    return LaunchDescription([
-        DeclareLaunchArgument('use_sim_time', default_value='false'),
-
-        Node(
-            package='depth_image_proc',
-            executable='convert_node',
-            name='depth_image_converter',
-            namespace='camera',
-            remappings=[
-                ('image_rect', '/camera/aligned_depth_to_color/image_raw'),
-                ('camera_info', '/camera/color/camera_info'),
-                ('points', '/camera/depth/color/points'),
-            ],
-            parameters=[{'use_sim_time': use_sim_time}],
-            output='screen',
-        ),
-    ])

jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_bringup.launch.py

@@ -1,66 +0,0 @@
-"""Nav2 SLAM Bringup for SaltyBot (Issue #422)"""
-
-import os
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    nav2_slam_dir = get_package_share_directory('saltybot_nav2_slam')
-    bringup_dir = get_package_share_directory('saltybot_bringup')
-
-    nav2_params = os.path.join(nav2_slam_dir, 'config', 'nav2_params.yaml')
-    slam_params = os.path.join(nav2_slam_dir, 'config', 'slam_toolbox_params.yaml')
-
-    return LaunchDescription([
-        DeclareLaunchArgument('use_sim_time', default_value='false'),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(bringup_dir, 'launch', 'sensors.launch.py')
-            ),
-            launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(),
-        ),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(nav2_slam_dir, 'launch', 'odometry_bridge.launch.py')
-            ),
-            launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(),
-        ),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(nav2_slam_dir, 'launch', 'nav2_slam_integrated.launch.py')
-            ),
-            launch_arguments={
-                'slam_params_file': slam_params,
-                'use_sim_time': LaunchConfiguration('use_sim_time'),
-            }.items(),
-        ),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(nav2_slam_dir, 'launch', 'depth_to_costmap.launch.py')
-            ),
-            launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(),
-        ),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(
-                    get_package_share_directory('nav2_bringup'),
-                    'launch', 'navigation_launch.py'
-                )
-            ),
-            launch_arguments={
-                'use_sim_time': LaunchConfiguration('use_sim_time'),
-                'params_file': nav2_params,
-                'autostart': 'true',
-                'map_subscribe_transient_local': 'true',
-            }.items(),
-        ),
-    ])

jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_integrated.launch.py

@@ -1,35 +0,0 @@
-"""SLAM Toolbox integrated launch for SaltyBot"""
-
-import os
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    slam_share = get_package_share_directory('slam_toolbox')
-    nav2_slam_dir = get_package_share_directory('saltybot_nav2_slam')
-
-    slam_params = LaunchConfiguration('slam_params_file')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'slam_params_file',
-            default_value=os.path.join(nav2_slam_dir, 'config', 'slam_toolbox_params.yaml'),
-        ),
-
-        DeclareLaunchArgument('use_sim_time', default_value='false'),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(slam_share, 'launch', 'online_async_launch.py')
-            ),
-            launch_arguments={
-                'params_file': slam_params,
-                'use_sim_time': use_sim_time,
-            }.items(),
-        ),
-    ])

jetson/ros2_ws/src/saltybot_nav2_slam/launch/odometry_bridge.launch.py

@@ -1,36 +0,0 @@
-"""VESC Telemetry to Odometry Bridge"""
-
-import os
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-
-def generate_launch_description():
-    use_sim_time = LaunchConfiguration('use_sim_time')
-
-    return LaunchDescription([
-        DeclareLaunchArgument('use_sim_time', default_value='false'),
-
-        Node(
-            package='saltybot_nav2_slam',
-            executable='vesc_odometry_bridge',
-            name='vesc_odometry_bridge',
-            parameters=[{
-                'use_sim_time': use_sim_time,
-                'vesc_state_topic': '/vesc/state',
-                'odometry_topic': '/odom',
-                'odom_frame_id': 'odom',
-                'base_frame_id': 'base_link',
-                'update_frequency': 50,
-                'wheel_base': 0.35,
-                'wheel_radius': 0.10,
-                'max_rpm': 60000,
-                'publish_tf': True,
-                'tf_queue_size': 10,
-            }],
-            output='screen',
-        ),
-    ])

jetson/ros2_ws/src/saltybot_nav2_slam/package.xml

@@ -1,39 +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_nav2_slam</name>
-  <version>0.1.0</version>
-  <description>
-    Nav2 SLAM integration for SaltyBot autonomous navigation.
-    Combines SLAM Toolbox (RPLIDAR 2D SLAM), RealSense depth for obstacle avoidance,
-    VESC odometry, and DWB planner for autonomous navigation up to 20km/h.
-  </description>
-  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-
-  <exec_depend>nav2_bringup</exec_depend>
-  <exec_depend>slam_toolbox</exec_depend>
-  <exec_depend>rplidar_ros</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>depth_image_proc</exec_depend>
-  <exec_depend>pointcloud_to_laserscan</exec_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_nav2_slam/saltybot_nav2_slam/__init__.py

@@ -1 +0,0 @@
-# Nav2 SLAM integration for SaltyBot

jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py

@@ -1,180 +0,0 @@
-#!/usr/bin/env python3
-"""VESC telemetry to Nav2 odometry bridge."""
-
-import json
-import math
-import time
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import TransformStamped, Quaternion
-from tf2_ros import TransformBroadcaster
-
-
-class VESCOdometryBridge(Node):
-    """ROS2 node bridging VESC telemetry to Nav2 odometry."""
-
-    def __init__(self):
-        super().__init__("vesc_odometry_bridge")
-
-        self.declare_parameter("vesc_state_topic", "/vesc/state")
-        self.declare_parameter("odometry_topic", "/odom")
-        self.declare_parameter("odom_frame_id", "odom")
-        self.declare_parameter("base_frame_id", "base_link")
-        self.declare_parameter("update_frequency", 50)
-        self.declare_parameter("wheel_base", 0.35)
-        self.declare_parameter("wheel_radius", 0.10)
-        self.declare_parameter("max_rpm", 60000)
-        self.declare_parameter("publish_tf", True)
-
-        self.vesc_state_topic = self.get_parameter("vesc_state_topic").value
-        self.odometry_topic = self.get_parameter("odometry_topic").value
-        self.odom_frame_id = self.get_parameter("odom_frame_id").value
-        self.base_frame_id = self.get_parameter("base_frame_id").value
-        frequency = self.get_parameter("update_frequency").value
-        self.wheel_base = self.get_parameter("wheel_base").value
-        self.wheel_radius = self.get_parameter("wheel_radius").value
-        self.publish_tf = self.get_parameter("publish_tf").value
-
-        self.last_rpm = 0
-        self.last_update_time = time.time()
-
-        self.x = 0.0
-        self.y = 0.0
-        self.theta = 0.0
-        self.vx = 0.0
-        self.vy = 0.0
-        self.vtheta = 0.0
-
-        self.pub_odom = self.create_publisher(Odometry, self.odometry_topic, 10)
-
-        if self.publish_tf:
-            self.tf_broadcaster = TransformBroadcaster(self)
-
-        self.create_subscription(String, self.vesc_state_topic, self._on_vesc_state, 10)
-
-        period = 1.0 / frequency
-        self.create_timer(period, self._publish_odometry)
-
-        self.get_logger().info(
-            f"VESC odometry bridge initialized: "
-            f"wheel_base={self.wheel_base}m, wheel_radius={self.wheel_radius}m"
-        )
-
-    def _on_vesc_state(self, msg: String) -> None:
-        """Update VESC telemetry from JSON."""
-        try:
-            data = json.loads(msg.data)
-            current_rpm = data.get("rpm", 0)
-            motor_rad_s = (current_rpm / 60.0) * (2.0 * math.pi)
-            wheel_velocity = motor_rad_s * self.wheel_radius
-
-            self.vx = wheel_velocity
-            self.vy = 0.0
-            self.vtheta = 0.0
-            self.last_rpm = current_rpm
-
-        except json.JSONDecodeError:
-            pass
-
-    def _publish_odometry(self) -> None:
-        """Publish odometry message and TF."""
-        current_time = time.time()
-        dt = current_time - self.last_update_time
-        self.last_update_time = current_time
-
-        if abs(self.vtheta) > 0.001:
-            self.theta += self.vtheta * dt
-            self.x += (self.vx / self.vtheta) * (math.sin(self.theta) - math.sin(self.theta - self.vtheta * dt))
-            self.y += (self.vx / self.vtheta) * (math.cos(self.theta - self.vtheta * dt) - math.cos(self.theta))
-        else:
-            self.x += self.vx * math.cos(self.theta) * dt
-            self.y += self.vx * math.sin(self.theta) * dt
-
-        odom_msg = Odometry()
-        odom_msg.header.stamp = self.get_clock().now().to_msg()
-        odom_msg.header.frame_id = self.odom_frame_id
-        odom_msg.child_frame_id = self.base_frame_id
-
-        odom_msg.pose.pose.position.x = self.x
-        odom_msg.pose.pose.position.y = self.y
-        odom_msg.pose.pose.position.z = 0.0
-        odom_msg.pose.pose.orientation = self._euler_to_quaternion(0, 0, self.theta)
-
-        odom_msg.pose.covariance = [
-            0.1, 0, 0, 0, 0, 0,
-            0, 0.1, 0, 0, 0, 0,
-            0, 0, 0.1, 0, 0, 0,
-            0, 0, 0, 0.1, 0, 0,
-            0, 0, 0, 0, 0.1, 0,
-            0, 0, 0, 0, 0, 0.1,
-        ]
-
-        odom_msg.twist.twist.linear.x = self.vx
-        odom_msg.twist.twist.linear.y = self.vy
-        odom_msg.twist.twist.linear.z = 0.0
-        odom_msg.twist.twist.angular.z = self.vtheta
-
-        odom_msg.twist.covariance = [
-            0.05, 0, 0, 0, 0, 0,
-            0, 0.05, 0, 0, 0, 0,
-            0, 0, 0.05, 0, 0, 0,
-            0, 0, 0, 0.05, 0, 0,
-            0, 0, 0, 0, 0.05, 0,
-            0, 0, 0, 0, 0, 0.05,
-        ]
-
-        self.pub_odom.publish(odom_msg)
-
-        if self.publish_tf:
-            self._publish_tf(odom_msg.header.stamp)
-
-    def _publish_tf(self, timestamp) -> None:
-        """Publish odom → base_link TF."""
-        tf_msg = TransformStamped()
-        tf_msg.header.stamp = timestamp
-        tf_msg.header.frame_id = self.odom_frame_id
-        tf_msg.child_frame_id = self.base_frame_id
-
-        tf_msg.transform.translation.x = self.x
-        tf_msg.transform.translation.y = self.y
-        tf_msg.transform.translation.z = 0.0
-        tf_msg.transform.rotation = self._euler_to_quaternion(0, 0, self.theta)
-
-        self.tf_broadcaster.sendTransform(tf_msg)
-
-    @staticmethod
-    def _euler_to_quaternion(roll: float, pitch: float, yaw: float) -> Quaternion:
-        """Convert Euler angles to quaternion."""
-        cy = math.cos(yaw * 0.5)
-        sy = math.sin(yaw * 0.5)
-        cp = math.cos(pitch * 0.5)
-        sp = math.sin(pitch * 0.5)
-        cr = math.cos(roll * 0.5)
-        sr = math.sin(roll * 0.5)
-
-        q = Quaternion()
-        q.w = cr * cp * cy + sr * sp * sy
-        q.x = sr * cp * cy - cr * sp * sy
-        q.y = cr * sp * cy + sr * cp * sy
-        q.z = cr * cp * sy - sr * sp * cy
-
-        return q
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = VESCOdometryBridge()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

jetson/ros2_ws/src/saltybot_nav2_slam/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_nav2_slam
-[install]
-install_scripts=$base/lib/saltybot_nav2_slam

jetson/ros2_ws/src/saltybot_nav2_slam/setup.py

@@ -1,39 +0,0 @@
-from setuptools import setup
-
-package_name = "saltybot_nav2_slam"
-
-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/nav2_slam_bringup.launch.py",
-            "launch/nav2_slam_integrated.launch.py",
-            "launch/depth_to_costmap.launch.py",
-            "launch/odometry_bridge.launch.py",
-        ]),
-        (f"share/{package_name}/config", [
-            "config/nav2_params.yaml",
-            "config/slam_toolbox_params.yaml",
-            "config/costmap_common_params.yaml",
-            "config/global_costmap_params.yaml",
-            "config/local_costmap_params.yaml",
-            "config/dwb_local_planner_params.yaml",
-        ]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="sl-controls",
-    maintainer_email="sl-controls@saltylab.local",
-    description="Nav2 SLAM integration with RPLIDAR + RealSense for autonomous navigation",
-    license="MIT",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "vesc_odometry_bridge = saltybot_nav2_slam.vesc_odometry_bridge:main",
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_remote_monitor/.gitignore

@@ -1,9 +0,0 @@
-build/
-install/
-log/
-*.pyc
-__pycache__/
-.pytest_cache/
-*.egg-info/
-dist/
-*.egg

jetson/ros2_ws/src/saltybot_remote_monitor/config/remote_monitor.yaml

@@ -1,6 +0,0 @@
-remote_monitor:
-  ros__parameters:
-    ws_port: 9091
-    auth_token: 'default_token'
-    update_rate_hz: 2
-    enable_msgpack: true

jetson/ros2_ws/src/saltybot_remote_monitor/launch/remote_monitor.launch.py

@@ -1,23 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-import os
-
-
-def generate_launch_description():
-    pkg_dir = get_package_share_directory('saltybot_remote_monitor')
-    config_file = os.path.join(pkg_dir, 'config', 'remote_monitor.yaml')
-
-    remote_monitor_node = Node(
-        package='saltybot_remote_monitor',
-        executable='remote_monitor',
-        name='remote_monitor',
-        parameters=[config_file],
-        output='screen',
-        respawn=True,
-        respawn_delay=5,
-    )
-
-    return LaunchDescription([
-        remote_monitor_node,
-    ])

jetson/ros2_ws/src/saltybot_remote_monitor/package.xml

@@ -1,32 +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_remote_monitor</name>
-  <version>0.1.0</version>
-  <description>
-    Remote monitoring WebSocket relay with mobile-friendly UI.
-    2Hz JSON telemetry aggregation with msgpack compression, token auth,
-    5min history buffer, and critical alerts (fall, low battery, node crash).
-  </description>
-  <maintainer email="seb@vayrette.com">seb</maintainer>
-  <license>MIT</license>
-
-  <depend>rclpy</depend>
-  <depend>sensor_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>diagnostic_msgs</depend>
-  <depend>std_msgs</depend>
-
-  <exec_depend>python3-aiohttp</exec_depend>
-  <exec_depend>python3-msgpack</exec_depend>
-  <exec_depend>python3-launch-ros</exec_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_remote_monitor/saltybot_remote_monitor/remote_monitor_node.py

@@ -1,287 +0,0 @@
-#!/usr/bin/env python3
-
-import asyncio
-import json
-import math
-import threading
-import time
-from collections import deque
-from datetime import datetime
-from pathlib import Path
-from typing import Dict, Optional
-
-import msgpack
-import rclpy
-from aiohttp import web
-from diagnostic_msgs.msg import DiagnosticArray
-from geometry_msgs.msg import Twist
-from rclpy.node import Node
-from sensor_msgs.msg import Imu, NavSatFix
-from std_msgs.msg import Float32, Bool, String
-
-
-class TelemetryBuffer:
-    """Circular buffer for 5-minute history at 2Hz."""
-
-    def __init__(self, duration_seconds=300):
-        self.max_samples = int(duration_seconds * 2)
-        self.buffer = deque(maxlen=self.max_samples)
-
-    def add(self, data: Dict):
-        self.buffer.append({**data, 'ts': time.time()})
-
-    def get_history(self):
-        return list(self.buffer)
-
-
-class RemoteMonitorNode(Node):
-    """WebSocket relay for remote monitoring with telemetry aggregation."""
-
-    def __init__(self):
-        super().__init__('saltybot_remote_monitor')
-
-        self.declare_parameter('ws_port', 9091)
-        self.declare_parameter('auth_token', 'default_token')
-        self.declare_parameter('update_rate_hz', 2)
-        self.declare_parameter('enable_msgpack', True)
-
-        self.ws_port = self.get_parameter('ws_port').value
-        self.auth_token = self.get_parameter('auth_token').value
-        self.update_rate_hz = self.get_parameter('update_rate_hz').value
-        self.enable_msgpack = self.get_parameter('enable_msgpack').value
-
-        self.battery = {'voltage': 0.0, 'current': 0.0, 'soc': 0.0}
-        self.motors = {'left': 0.0, 'right': 0.0}
-        self.imu = {'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}
-        self.gps = {'lat': 0.0, 'lon': 0.0, 'alt': 0.0}
-        self.health = {'cpu_temp': 0.0, 'gpu_temp': 0.0, 'ram_pct': 0.0, 'disk_pct': 0.0}
-        self.social = {'is_speaking': False, 'face_id': None}
-        self.alerts = []
-        self.history_buffer = TelemetryBuffer()
-        self.ws_clients = set()
-        self.loop = None
-
-        self.create_subscription(DiagnosticArray, '/diagnostics', self.diag_callback, 10)
-        self.create_subscription(Imu, '/saltybot/imu', self.imu_callback, 10)
-        self.create_subscription(NavSatFix, '/gps/fix', self.gps_callback, 10)
-        self.create_subscription(String, '/saltybot/balance_state', self.balance_callback, 10)
-        self.create_subscription(Bool, '/social/speech/is_speaking', self.social_speech_callback, 10)
-        self.create_subscription(String, '/social/face/active', self.social_face_callback, 10)
-
-        period = 1.0 / self.update_rate_hz
-        self.update_timer = self.create_timer(period, self.telemetry_update_callback)
-
-        self.ws_thread = threading.Thread(target=self.start_ws_server, daemon=True)
-        self.ws_thread.start()
-
-        self.get_logger().info(
-            f'Remote monitor initialized on port {self.ws_port}, '
-            f'update rate {self.update_rate_hz}Hz, msgpack={self.enable_msgpack}'
-        )
-
-    def diag_callback(self, msg: DiagnosticArray):
-        """Parse diagnostics for battery and system health."""
-        for status in msg.status:
-            kv = {pair.key: pair.value for pair in status.values}
-
-            if kv.get('battery_voltage_v'):
-                self.battery = {
-                    'voltage': float(kv.get('battery_voltage_v', 0)),
-                    'current': float(kv.get('battery_current_a', 0)),
-                    'soc': float(kv.get('battery_soc_pct', 0)),
-                }
-                if self.battery['soc'] < 15:
-                    self.add_alert('CRITICAL', 'Low battery', self.battery['soc'])
-
-            if kv.get('cpu_temp_c'):
-                self.health = {
-                    'cpu_temp': float(kv.get('cpu_temp_c', 0)),
-                    'gpu_temp': float(kv.get('gpu_temp_c', 0)),
-                    'ram_pct': float(kv.get('ram_pct', 0)),
-                    'disk_pct': float(kv.get('disk_pct', 0)),
-                }
-
-    def imu_callback(self, msg: Imu):
-        """Extract roll/pitch/yaw from quaternion."""
-        q = msg.orientation
-        self.imu = self.quat_to_euler(q.x, q.y, q.z, q.w)
-
-    def gps_callback(self, msg: NavSatFix):
-        """Store GPS data."""
-        self.gps = {
-            'lat': msg.latitude,
-            'lon': msg.longitude,
-            'alt': msg.altitude,
-        }
-
-    def balance_callback(self, msg: String):
-        """Parse balance state for motor commands."""
-        try:
-            state = json.loads(msg.data)
-            cmd = state.get('motor_cmd', 0)
-            norm = max(-1, min(1, cmd / 1000))
-            self.motors = {'left': norm, 'right': norm}
-
-            if abs(norm) > 0.9:
-                self.add_alert('WARNING', 'High motor load', norm)
-        except Exception:
-            pass
-
-    def social_speech_callback(self, msg: Bool):
-        """Update social speaking state."""
-        self.social['is_speaking'] = msg.data
-
-    def social_face_callback(self, msg: String):
-        """Update recognized face ID."""
-        self.social['face_id'] = msg.data
-
-    @staticmethod
-    def quat_to_euler(qx, qy, qz, qw):
-        """Convert quaternion to Euler angles."""
-        sinr_cosp = 2 * (qw * qx + qy * qz)
-        cosr_cosp = 1 - 2 * (qx * qx + qy * qy)
-        roll = math.atan2(sinr_cosp, cosr_cosp)
-
-        sinp = 2 * (qw * qy - qz * qx)
-        pitch = math.asin(max(-1, min(1, sinp)))
-
-        siny_cosp = 2 * (qw * qz + qx * qy)
-        cosy_cosp = 1 - 2 * (qy * qy + qz * qz)
-        yaw = math.atan2(siny_cosp, cosy_cosp)
-
-        return {
-            'roll': (roll * 180) / math.pi,
-            'pitch': (pitch * 180) / math.pi,
-            'yaw': (yaw * 180) / math.pi,
-        }
-
-    def add_alert(self, level: str, message: str, value: Optional[float] = None):
-        """Add alert with timestamp."""
-        alert = {
-            'ts': time.time(),
-            'level': level,
-            'message': message,
-            'value': value,
-        }
-        self.alerts.append(alert)
-        if len(self.alerts) > 50:
-            self.alerts.pop(0)
-
-    def telemetry_update_callback(self):
-        """Periodic telemetry aggregation and broadcast."""
-        telemetry = {
-            'timestamp': datetime.now().isoformat(),
-            'battery': self.battery,
-            'motors': self.motors,
-            'imu': self.imu,
-            'gps': self.gps,
-            'health': self.health,
-            'social': self.social,
-            'alerts': self.alerts[-10:],
-        }
-
-        self.history_buffer.add(telemetry)
-
-        if self.ws_clients and self.loop:
-            try:
-                asyncio.run_coroutine_threadsafe(
-                    self.broadcast_telemetry(telemetry),
-                    self.loop
-                )
-            except Exception as e:
-                self.get_logger().warn(f'Broadcast error: {e}')
-
-    async def broadcast_telemetry(self, telemetry: Dict):
-        """Send telemetry to all connected WebSocket clients."""
-        if self.enable_msgpack:
-            data = msgpack.packb(telemetry)
-        else:
-            data = json.dumps(telemetry).encode('utf-8')
-
-        disconnected = set()
-        for ws in self.ws_clients:
-            try:
-                await ws.send_bytes(data)
-            except Exception:
-                disconnected.add(ws)
-
-        self.ws_clients -= disconnected
-
-    async def websocket_handler(self, request):
-        """Handle WebSocket connections."""
-        token = request.rel_url.query.get('token')
-
-        if token != self.auth_token:
-            return web.Response(status=401, text='Unauthorized')
-
-        ws = web.WebSocketResponse()
-        await ws.prepare(request)
-        self.ws_clients.add(ws)
-
-        try:
-            history = self.history_buffer.get_history()
-            if self.enable_msgpack:
-                await ws.send_bytes(msgpack.packb({'type': 'history', 'data': history}))
-            else:
-                await ws.send_str(json.dumps({'type': 'history', 'data': history}))
-
-            async for msg in ws:
-                if msg.type == web.WSMsgType.TEXT:
-                    try:
-                        req = json.loads(msg.data)
-                        if req.get('cmd') == 'get_history':
-                            history = self.history_buffer.get_history()
-                            if self.enable_msgpack:
-                                await ws.send_bytes(msgpack.packb({'type': 'history', 'data': history}))
-                            else:
-                                await ws.send_str(json.dumps({'type': 'history', 'data': history}))
-                    except Exception as e:
-                        self.get_logger().error(f'WebSocket error: {e}')
-
-        except Exception as e:
-            self.get_logger().warn(f'WebSocket connection lost: {e}')
-        finally:
-            self.ws_clients.discard(ws)
-
-        return ws
-
-    async def index_handler(self, request):
-        """Serve mobile-friendly HTML UI."""
-        html = Path(__file__).parent.parent / 'static' / 'index.html'
-        if html.exists():
-            return web.FileResponse(html)
-        return web.Response(text='UI not found', status=404)
-
-    def start_ws_server(self):
-        """Start aiohttp WebSocket server."""
-        self.loop = asyncio.new_event_loop()
-        asyncio.set_event_loop(self.loop)
-
-        app = web.Application()
-        app.router.add_get('/', self.index_handler)
-        app.router.add_get('/ws', self.websocket_handler)
-
-        runner = web.AppRunner(app)
-        self.loop.run_until_complete(runner.setup())
-        site = web.TCPSite(runner, '0.0.0.0', self.ws_port)
-        self.loop.run_until_complete(site.start())
-
-        self.get_logger().info(f'WebSocket server running on port {self.ws_port}')
-        self.loop.run_forever()
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = RemoteMonitorNode()
-
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_remote_monitor/setup.cfg

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

jetson/ros2_ws/src/saltybot_remote_monitor/setup.py

@@ -1,34 +0,0 @@
-from setuptools import setup
-import os
-from glob import glob
-
-package_name = 'saltybot_remote_monitor'
-
-setup(
-    name=package_name,
-    version='0.1.0',
-    packages=[package_name],
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'),
-            glob('launch/*.py')),
-        (os.path.join('share', package_name, 'config'),
-            glob('config/*.yaml')),
-        (os.path.join('share', package_name, 'static'),
-            glob('static/*')),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='seb',
-    maintainer_email='seb@vayrette.com',
-    description='Remote monitoring WebSocket relay with mobile UI',
-    license='MIT',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'remote_monitor = saltybot_remote_monitor.remote_monitor_node:main',
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_remote_monitor/static/index.html

@@ -1,180 +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 Remote Monitor</title>
-    <style>
-        * { margin: 0; padding: 0; box-sizing: border-box; }
-        body { font-family: 'Courier New', monospace; background: #0a0e27; color: #e0e0ff; padding: 8px; }
-        .header { text-align: center; margin-bottom: 12px; padding: 8px; background: #1a1f3a; border: 1px solid #06b6d4; border-radius: 4px; }
-        .header h1 { font-size: 18px; color: #f59e0b; margin-bottom: 4px; }
-        .status { font-size: 11px; color: #888; }
-        .status.connected { color: #22c55e; }
-        .status.disconnected { color: #ef4444; }
-        .grid { display: grid; grid-template-columns: repeat(auto-fit, minmax(140px, 1fr)); gap: 8px; margin-bottom: 12px; }
-        .card { background: #1a1f3a; border: 1px solid #06b6d4; border-radius: 4px; padding: 8px; font-size: 12px; }
-        .card.critical { border-color: #ef4444; background: #2a1a1a; }
-        .card.warning { border-color: #f59e0b; background: #2a1f0a; }
-        .card-title { color: #06b6d4; font-weight: bold; margin-bottom: 4px; text-transform: uppercase; font-size: 10px; }
-        .card-value { font-size: 16px; font-weight: bold; color: #22c55e; }
-        .card-value.critical { color: #ef4444; }
-        .card-value.warning { color: #f59e0b; }
-        .card-unit { font-size: 10px; color: #888; margin-left: 4px; }
-        .alert-list { background: #1a1f3a; border: 1px solid #ef4444; border-radius: 4px; padding: 8px; margin-bottom: 12px; max-height: 120px; overflow-y: auto; }
-        .alert-item { padding: 4px; margin: 2px 0; border-left: 3px solid #f59e0b; font-size: 11px; color: #f59e0b; }
-        .alert-item.critical { border-left-color: #ef4444; color: #ef4444; }
-        .progress-bar { width: 100%; height: 8px; background: #0a0e27; border-radius: 2px; margin-top: 4px; overflow: hidden; }
-        .progress-fill { height: 100%; background: #22c55e; transition: width 0.3s ease; }
-        .progress-fill.warning { background: #f59e0b; }
-        .progress-fill.critical { background: #ef4444; }
-        .timestamp { text-align: center; font-size: 10px; color: #666; margin-top: 8px; }
-        @media (max-width: 480px) { body { padding: 4px; } .header h1 { font-size: 16px; } .grid { grid-template-columns: repeat(2, 1fr); gap: 6px; } .card { padding: 6px; font-size: 11px; } .card-value { font-size: 14px; } }
-    </style>
-</head>
-<body>
-    <div class="header">
-        <h1>⚡ REMOTE MONITOR</h1>
-        <div class="status disconnected" id="status">Connecting...</div>
-    </div>
-    <div class="alert-list" id="alertList" style="display: none;"></div>
-    <div class="grid">
-        <div class="card" id="batteryCard">
-            <div class="card-title">Battery</div>
-            <div class="card-value" id="soc">0<span class="card-unit">%</span></div>
-            <div style="font-size: 10px; color: #888;">
-                <div id="voltage">0V</div>
-                <div id="current">0A</div>
-            </div>
-            <div class="progress-bar"><div class="progress-fill" id="socBar" style="width: 100%;"></div></div>
-        </div>
-        <div class="card">
-            <div class="card-title">Motors</div>
-            <div style="font-size: 10px;">
-                <div>L: <span class="card-value" id="motorL">0</span><span class="card-unit">%</span></div>
-                <div style="margin-top: 4px;">R: <span class="card-value" id="motorR">0</span><span class="card-unit">%</span></div>
-            </div>
-        </div>
-        <div class="card">
-            <div class="card-title">Attitude</div>
-            <div style="font-size: 11px;">
-                <div>R: <span id="roll">0</span>°</div>
-                <div>P: <span id="pitch">0</span>°</div>
-                <div>Y: <span id="yaw">0</span>°</div>
-            </div>
-        </div>
-        <div class="card">
-            <div class="card-title">GPS</div>
-            <div style="font-size: 10px;">
-                <div id="lat">Waiting...</div>
-                <div id="lon">--</div>
-                <div id="alt">-- m</div>
-            </div>
-        </div>
-        <div class="card" id="cpuCard">
-            <div class="card-title">CPU Temp</div>
-            <div class="card-value" id="cpuTemp">0<span class="card-unit">°C</span></div>
-        </div>
-        <div class="card" id="gpuCard">
-            <div class="card-title">GPU Temp</div>
-            <div class="card-value" id="gpuTemp">0<span class="card-unit">°C</span></div>
-        </div>
-        <div class="card">
-            <div class="card-title">RAM</div>
-            <div class="card-value" id="ramPct">0<span class="card-unit">%</span></div>
-            <div class="progress-bar"><div class="progress-fill" id="ramBar" style="width: 0%;"></div></div>
-        </div>
-        <div class="card">
-            <div class="card-title">Disk</div>
-            <div class="card-value" id="diskPct">0<span class="card-unit">%</span></div>
-            <div class="progress-bar"><div class="progress-fill" id="diskBar" style="width: 0%;"></div></div>
-        </div>
-        <div class="card">
-            <div class="card-title">Social</div>
-            <div style="font-size: 11px;">
-                <div>Speaking: <span id="speaking">No</span></div>
-                <div>Face: <span id="faceId">none</span></div>
-            </div>
-        </div>
-    </div>
-    <div class="timestamp" id="timestamp">--</div>
-    <script>
-        const TOKEN = 'default_token';
-        const WS_URL = `ws://${window.location.host}/ws?token=${TOKEN}`;
-        let ws = null;
-        function getStatusClass(value, thresholds) {
-            if (thresholds.critical && value >= thresholds.critical) return 'critical';
-            if (thresholds.warning && value >= thresholds.warning) return 'warning';
-            return '';
-        }
-        function updateUI(telemetry) {
-            if (!telemetry) return;
-            const soc = telemetry.battery?.soc || 0;
-            document.getElementById('soc').textContent = soc.toFixed(0);
-            document.getElementById('voltage').textContent = (telemetry.battery?.voltage || 0).toFixed(1) + 'V';
-            document.getElementById('current').textContent = (telemetry.battery?.current || 0).toFixed(1) + 'A';
-            document.getElementById('socBar').style.width = soc + '%';
-            const batteryClass = getStatusClass(soc, { critical: 10, warning: 20 });
-            document.getElementById('batteryCard').className = 'card ' + batteryClass;
-            document.getElementById('socBar').className = 'progress-fill ' + batteryClass;
-            document.getElementById('soc').className = 'card-value ' + batteryClass;
-            document.getElementById('motorL').textContent = ((telemetry.motors?.left || 0) * 100).toFixed(0);
-            document.getElementById('motorR').textContent = ((telemetry.motors?.right || 0) * 100).toFixed(0);
-            document.getElementById('roll').textContent = (telemetry.imu?.roll || 0).toFixed(0);
-            document.getElementById('pitch').textContent = (telemetry.imu?.pitch || 0).toFixed(0);
-            document.getElementById('yaw').textContent = (telemetry.imu?.yaw || 0).toFixed(0);
-            document.getElementById('lat').textContent = (telemetry.gps?.lat || 0).toFixed(6);
-            document.getElementById('lon').textContent = (telemetry.gps?.lon || 0).toFixed(6);
-            document.getElementById('alt').textContent = (telemetry.gps?.alt || 0).toFixed(1) + 'm';
-            const cpuTemp = telemetry.health?.cpu_temp || 0;
-            const gpuTemp = telemetry.health?.gpu_temp || 0;
-            document.getElementById('cpuTemp').textContent = cpuTemp.toFixed(0);
-            document.getElementById('gpuTemp').textContent = gpuTemp.toFixed(0);
-            document.getElementById('cpuCard').className = 'card ' + getStatusClass(cpuTemp, { critical: 85, warning: 70 });
-            document.getElementById('gpuCard').className = 'card ' + getStatusClass(gpuTemp, { critical: 85, warning: 70 });
-            const ramPct = telemetry.health?.ram_pct || 0;
-            const diskPct = telemetry.health?.disk_pct || 0;
-            document.getElementById('ramPct').textContent = ramPct.toFixed(0);
-            document.getElementById('diskPct').textContent = diskPct.toFixed(0);
-            document.getElementById('ramBar').style.width = ramPct + '%';
-            document.getElementById('diskBar').style.width = diskPct + '%';
-            document.getElementById('speaking').textContent = telemetry.social?.is_speaking ? 'Yes' : 'No';
-            document.getElementById('faceId').textContent = telemetry.social?.face_id || 'none';
-            document.getElementById('timestamp').textContent = new Date(telemetry.timestamp).toLocaleTimeString();
-            updateAlerts(telemetry.alerts || []);
-        }
-        function updateAlerts(alerts) {
-            const list = document.getElementById('alertList');
-            if (alerts.length === 0) { list.style.display = 'none'; return; }
-            list.style.display = 'block';
-            list.innerHTML = alerts.map(a => `<div class="alert-item ${a.level.toLowerCase()}">[${a.level}] ${a.message} ${a.value ? '(' + a.value.toFixed(2) + ')' : ''}</div>`).join('');
-        }
-        function connect() {
-            ws = new WebSocket(WS_URL);
-            ws.onopen = () => {
-                document.getElementById('status').textContent = 'Connected';
-                document.getElementById('status').className = 'status connected';
-                ws.send(JSON.stringify({ cmd: 'get_history' }));
-            };
-            ws.onmessage = (e) => {
-                try {
-                    const msg = JSON.parse(e.data);
-                    if (msg.type === 'history') {
-                        msg.data.forEach(t => updateUI(t));
-                    } else {
-                        updateUI(msg);
-                    }
-                } catch (err) {
-                    console.error('Decode error:', err);
-                }
-            };
-            ws.onclose = () => {
-                document.getElementById('status').textContent = 'Disconnected';
-                document.getElementById('status').className = 'status disconnected';
-                setTimeout(connect, 3000);
-            };
-        }
-        connect();
-    </script>
-</body>
-</html>

jetson/ros2_ws/src/saltybot_remote_monitor/test/test_remote_monitor.py

@@ -1,30 +0,0 @@
-import unittest
-from pathlib import Path
-
-
-class TestRemoteMonitor(unittest.TestCase):
-    """Basic tests for remote monitor functionality."""
-
-    def test_imports(self):
-        """Test that the module can be imported."""
-        from saltybot_remote_monitor import remote_monitor_node
-        self.assertIsNotNone(remote_monitor_node)
-
-    def test_config_file_exists(self):
-        """Test that config file exists."""
-        config_file = Path(__file__).parent.parent / 'config' / 'remote_monitor.yaml'
-        self.assertTrue(config_file.exists())
-
-    def test_launch_file_exists(self):
-        """Test that launch file exists."""
-        launch_file = Path(__file__).parent.parent / 'launch' / 'remote_monitor.launch.py'
-        self.assertTrue(launch_file.exists())
-
-    def test_html_ui_exists(self):
-        """Test that HTML UI exists."""
-        html_file = Path(__file__).parent.parent / 'static' / 'index.html'
-        self.assertTrue(html_file.exists())
-
-
-if __name__ == '__main__':
-    unittest.main()