esp32s3/balance/main/CMakeLists.txt

@@ -3,7 +3,6 @@ idf_component_register(
         "main.c"
         "orin_serial.c"
         "vesc_can.c"
-        "gc9a01.c"
         "gitea_ota.c"
         "ota_self.c"
         "uart_ota.c"

esp32s3/balance/main/config.h

@@ -28,14 +28,6 @@
 #define VESC_ID_A               56u     /* TELEM_VESC_LEFT  (0x81) */
 #define VESC_ID_B               68u     /* TELEM_VESC_RIGHT (0x82) */
 
-/* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28) ── */
-#define DISP_DC_GPIO     8
-#define DISP_CS_GPIO     9
-#define DISP_SCK_GPIO   10
-#define DISP_MOSI_GPIO  11
-#define DISP_RST_GPIO   14
-#define DISP_BL_GPIO     2
-
 /* ── Safety / timing ── */
 #define HB_TIMEOUT_MS           500u    /* heartbeat watchdog: disarm if exceeded */
 #define DRIVE_TIMEOUT_MS        500u    /* drive command staleness timeout */

esp32s3/balance/main/gc9a01.c

@@ -1,269 +0,0 @@
-/* gc9a01.c — GC9A01 240×240 round LCD SPI driver (bd-1yr8 display bead) */
-
-#include "gc9a01.h"
-#include "config.h"
-#include "driver/spi_master.h"
-#include "driver/gpio.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "esp_log.h"
-#include <string.h>
-#include <math.h>
-
-static const char *TAG = "gc9a01";
-static spi_device_handle_t s_spi;
-
-/* ── 5×7 bitmap font, one byte per column (bit0 = top row), ASCII 32..126 ── */
-static const uint8_t s_font[95][5] = {
-    {0x00,0x00,0x00,0x00,0x00}, /* ' ' */  {0x00,0x00,0x5F,0x00,0x00}, /* '!' */
-    {0x00,0x07,0x00,0x07,0x00}, /* '"' */  {0x14,0x7F,0x14,0x7F,0x14}, /* '#' */
-    {0x24,0x2A,0x7F,0x2A,0x12}, /* '$' */  {0x23,0x13,0x08,0x64,0x62}, /* '%' */
-    {0x36,0x49,0x55,0x22,0x50}, /* '&' */  {0x00,0x05,0x03,0x00,0x00}, /* '\'' */
-    {0x00,0x1C,0x22,0x41,0x00}, /* '(' */  {0x00,0x41,0x22,0x1C,0x00}, /* ')' */
-    {0x14,0x08,0x3E,0x08,0x14}, /* '*' */  {0x08,0x08,0x3E,0x08,0x08}, /* '+' */
-    {0x00,0x50,0x30,0x00,0x00}, /* ',' */  {0x08,0x08,0x08,0x08,0x08}, /* '-' */
-    {0x00,0x60,0x60,0x00,0x00}, /* '.' */  {0x20,0x10,0x08,0x04,0x02}, /* '/' */
-    {0x3E,0x51,0x49,0x45,0x3E}, /* '0' */  {0x00,0x42,0x7F,0x40,0x00}, /* '1' */
-    {0x42,0x61,0x51,0x49,0x46}, /* '2' */  {0x21,0x41,0x45,0x4B,0x31}, /* '3' */
-    {0x18,0x14,0x12,0x7F,0x10}, /* '4' */  {0x27,0x45,0x45,0x45,0x39}, /* '5' */
-    {0x3C,0x4A,0x49,0x49,0x30}, /* '6' */  {0x01,0x71,0x09,0x05,0x03}, /* '7' */
-    {0x36,0x49,0x49,0x49,0x36}, /* '8' */  {0x06,0x49,0x49,0x29,0x1E}, /* '9' */
-    {0x00,0x36,0x36,0x00,0x00}, /* ':' */  {0x00,0x56,0x36,0x00,0x00}, /* ';' */
-    {0x08,0x14,0x22,0x41,0x00}, /* '<' */  {0x14,0x14,0x14,0x14,0x14}, /* '=' */
-    {0x00,0x41,0x22,0x14,0x08}, /* '>' */  {0x02,0x01,0x51,0x09,0x06}, /* '?' */
-    {0x32,0x49,0x79,0x41,0x3E}, /* '@' */  {0x7E,0x11,0x11,0x11,0x7E}, /* 'A' */
-    {0x7F,0x49,0x49,0x49,0x36}, /* 'B' */  {0x3E,0x41,0x41,0x41,0x22}, /* 'C' */
-    {0x7F,0x41,0x41,0x22,0x1C}, /* 'D' */  {0x7F,0x49,0x49,0x49,0x41}, /* 'E' */
-    {0x7F,0x09,0x09,0x09,0x01}, /* 'F' */  {0x3E,0x41,0x49,0x49,0x3A}, /* 'G' */
-    {0x7F,0x08,0x08,0x08,0x7F}, /* 'H' */  {0x00,0x41,0x7F,0x41,0x00}, /* 'I' */
-    {0x20,0x40,0x41,0x3F,0x01}, /* 'J' */  {0x7F,0x08,0x14,0x22,0x41}, /* 'K' */
-    {0x7F,0x40,0x40,0x40,0x40}, /* 'L' */  {0x7F,0x02,0x0C,0x02,0x7F}, /* 'M' */
-    {0x7F,0x04,0x08,0x10,0x7F}, /* 'N' */  {0x3E,0x41,0x41,0x41,0x3E}, /* 'O' */
-    {0x7F,0x09,0x09,0x09,0x06}, /* 'P' */  {0x3E,0x41,0x51,0x21,0x5E}, /* 'Q' */
-    {0x7F,0x09,0x19,0x29,0x46}, /* 'R' */  {0x46,0x49,0x49,0x49,0x31}, /* 'S' */
-    {0x01,0x01,0x7F,0x01,0x01}, /* 'T' */  {0x3F,0x40,0x40,0x40,0x3F}, /* 'U' */
-    {0x1F,0x20,0x40,0x20,0x1F}, /* 'V' */  {0x3F,0x40,0x38,0x40,0x3F}, /* 'W' */
-    {0x63,0x14,0x08,0x14,0x63}, /* 'X' */  {0x07,0x08,0x70,0x08,0x07}, /* 'Y' */
-    {0x61,0x51,0x49,0x45,0x43}, /* 'Z' */  {0x00,0x7F,0x41,0x41,0x00}, /* '[' */
-    {0x02,0x04,0x08,0x10,0x20}, /* '\\' */ {0x00,0x41,0x41,0x7F,0x00}, /* ']' */
-    {0x04,0x02,0x01,0x02,0x04}, /* '^' */  {0x40,0x40,0x40,0x40,0x40}, /* '_' */
-    {0x00,0x01,0x02,0x04,0x00}, /* '`' */  {0x20,0x54,0x54,0x54,0x78}, /* 'a' */
-    {0x7F,0x48,0x44,0x44,0x38}, /* 'b' */  {0x38,0x44,0x44,0x44,0x20}, /* 'c' */
-    {0x38,0x44,0x44,0x48,0x7F}, /* 'd' */  {0x38,0x54,0x54,0x54,0x18}, /* 'e' */
-    {0x08,0x7E,0x09,0x01,0x02}, /* 'f' */  {0x0C,0x52,0x52,0x52,0x3E}, /* 'g' */
-    {0x7F,0x08,0x04,0x04,0x78}, /* 'h' */  {0x00,0x44,0x7D,0x40,0x00}, /* 'i' */
-    {0x20,0x40,0x44,0x3D,0x00}, /* 'j' */  {0x7F,0x10,0x28,0x44,0x00}, /* 'k' */
-    {0x00,0x41,0x7F,0x40,0x00}, /* 'l' */  {0x7C,0x04,0x18,0x04,0x78}, /* 'm' */
-    {0x7C,0x08,0x04,0x04,0x78}, /* 'n' */  {0x38,0x44,0x44,0x44,0x38}, /* 'o' */
-    {0x7C,0x14,0x14,0x14,0x08}, /* 'p' */  {0x08,0x14,0x14,0x18,0x7C}, /* 'q' */
-    {0x7C,0x08,0x04,0x04,0x08}, /* 'r' */  {0x48,0x54,0x54,0x54,0x20}, /* 's' */
-    {0x04,0x3F,0x44,0x40,0x20}, /* 't' */  {0x3C,0x40,0x40,0x20,0x7C}, /* 'u' */
-    {0x1C,0x20,0x40,0x20,0x1C}, /* 'v' */  {0x3C,0x40,0x30,0x40,0x3C}, /* 'w' */
-    {0x44,0x28,0x10,0x28,0x44}, /* 'x' */  {0x0C,0x50,0x50,0x50,0x3C}, /* 'y' */
-    {0x44,0x64,0x54,0x4C,0x44}, /* 'z' */  {0x00,0x08,0x36,0x41,0x00}, /* '{' */
-    {0x00,0x00,0x7F,0x00,0x00}, /* '|' */  {0x00,0x41,0x36,0x08,0x00}, /* '}' */
-    {0x10,0x08,0x08,0x10,0x08},             /* '~' */
-};
-
-/* ── Static buffers (internal SRAM → DMA-safe) ── */
-static uint8_t s_line_buf[240 * 2];
-static uint8_t s_char_buf[5 * 5 * 7 * 5 * 2]; /* max scale=5: 25×35×2 */
-
-/* ── Low-level SPI helpers ── */
-static void write_cmd(uint8_t cmd)
-{
-    gpio_set_level(DISP_DC_GPIO, 0);
-    spi_transaction_t t = { .length = 8, .flags = SPI_TRANS_USE_TXDATA };
-    t.tx_data[0] = cmd;
-    spi_device_polling_transmit(s_spi, &t);
-}
-
-static void write_bytes(const uint8_t *data, size_t len)
-{
-    if (!len) return;
-    gpio_set_level(DISP_DC_GPIO, 1);
-    spi_transaction_t t = { .length = len * 8, .tx_buffer = data };
-    spi_device_polling_transmit(s_spi, &t);
-}
-
-static inline void write_byte(uint8_t b)  { write_bytes(&b, 1); }
-
-/* ── Address window ── */
-static void set_window(int x1, int y1, int x2, int y2)
-{
-    uint8_t d[4];
-    d[0] = x1 >> 8; d[1] = x1 & 0xFF; d[2] = x2 >> 8; d[3] = x2 & 0xFF;
-    write_cmd(0x2A); write_bytes(d, 4);
-    d[0] = y1 >> 8; d[1] = y1 & 0xFF; d[2] = y2 >> 8; d[3] = y2 & 0xFF;
-    write_cmd(0x2B); write_bytes(d, 4);
-}
-
-/* ── GC9A01 register init ── */
-static void init_regs(void)
-{
-    write_cmd(0xEF);
-    write_cmd(0xEB); write_byte(0x14);
-    write_cmd(0xFE);
-    write_cmd(0xEF);
-    write_cmd(0xEB); write_byte(0x14);
-    write_cmd(0x84); write_byte(0x40);
-    write_cmd(0x85); write_byte(0xFF);
-    write_cmd(0x86); write_byte(0xFF);
-    write_cmd(0x87); write_byte(0xFF);
-    write_cmd(0x88); write_byte(0x0A);
-    write_cmd(0x89); write_byte(0x21);
-    write_cmd(0x8A); write_byte(0x00);
-    write_cmd(0x8B); write_byte(0x80);
-    write_cmd(0x8C); write_byte(0x01);
-    write_cmd(0x8D); write_byte(0x01);
-    write_cmd(0x8E); write_byte(0xFF);
-    write_cmd(0x8F); write_byte(0xFF);
-    { uint8_t d[] = {0x00,0x20}; write_cmd(0xB6); write_bytes(d,2); }
-    write_cmd(0x36); write_byte(0x08);   /* MADCTL: normal, BGR */
-    write_cmd(0x3A); write_byte(0x05);   /* COLMOD: 16-bit RGB565 */
-    { uint8_t d[] = {0x08,0x08,0x08,0x08}; write_cmd(0x90); write_bytes(d,4); }
-    write_cmd(0xBD); write_byte(0x06);
-    write_cmd(0xBC); write_byte(0x00);
-    { uint8_t d[] = {0x60,0x01,0x04}; write_cmd(0xFF); write_bytes(d,3); }
-    write_cmd(0xC3); write_byte(0x13);
-    write_cmd(0xC4); write_byte(0x13);
-    write_cmd(0xC9); write_byte(0x22);
-    write_cmd(0xBE); write_byte(0x11);
-    { uint8_t d[] = {0x10,0x0E}; write_cmd(0xE1); write_bytes(d,2); }
-    { uint8_t d[] = {0x21,0x0C,0x02}; write_cmd(0xDF); write_bytes(d,3); }
-    { uint8_t d[] = {0x45,0x09,0x08,0x08,0x26,0x2A}; write_cmd(0xF0); write_bytes(d,6); }
-    { uint8_t d[] = {0x43,0x70,0x72,0x36,0x37,0x6F}; write_cmd(0xF1); write_bytes(d,6); }
-    { uint8_t d[] = {0x45,0x09,0x08,0x08,0x26,0x2A}; write_cmd(0xF2); write_bytes(d,6); }
-    { uint8_t d[] = {0x43,0x70,0x72,0x36,0x37,0x6F}; write_cmd(0xF3); write_bytes(d,6); }
-    { uint8_t d[] = {0x1B,0x0B}; write_cmd(0xED); write_bytes(d,2); }
-    write_cmd(0xAE); write_byte(0x77);
-    write_cmd(0xCD); write_byte(0x63);
-    { uint8_t d[] = {0x07,0x07,0x04,0x0E,0x0F,0x09,0x07,0x08,0x03};
-      write_cmd(0x70); write_bytes(d,9); }
-    write_cmd(0xE8); write_byte(0x34);
-    { uint8_t d[] = {0x18,0x0D,0xB7,0x18,0x0D,0x8B,0x88,0x08};
-      write_cmd(0x62); write_bytes(d,8); }
-    { uint8_t d[] = {0x18,0x0D,0xB7,0x58,0x1E,0x0B,0x00,0xA7,0x88,0x08};
-      write_cmd(0x63); write_bytes(d,10); }
-    { uint8_t d[] = {0x20,0x07,0x04}; write_cmd(0x64); write_bytes(d,3); }
-    { uint8_t d[] = {0x10,0x85,0x80,0x00,0x00,0x4E,0x00};
-      write_cmd(0x74); write_bytes(d,7); }
-    { uint8_t d[] = {0x3E,0x07}; write_cmd(0x98); write_bytes(d,2); }
-    write_cmd(0x35);           /* TEON */
-    write_cmd(0x21);           /* INVON */
-    write_cmd(0x11);           /* SLPOUT */
-    vTaskDelay(pdMS_TO_TICKS(120));
-    write_cmd(0x29);           /* DISPON */
-    vTaskDelay(pdMS_TO_TICKS(20));
-}
-
-/* ── Public init ── */
-void gc9a01_init(void)
-{
-    /* SPI bus */
-    spi_bus_config_t bus = {
-        .mosi_io_num     = DISP_MOSI_GPIO,
-        .miso_io_num     = -1,
-        .sclk_io_num     = DISP_SCK_GPIO,
-        .quadwp_io_num   = -1,
-        .quadhd_io_num   = -1,
-        .max_transfer_sz = 4096,
-    };
-    ESP_ERROR_CHECK(spi_bus_initialize(SPI2_HOST, &bus, SPI_DMA_CH_AUTO));
-
-    spi_device_interface_config_t dev = {
-        .clock_speed_hz = 40 * 1000 * 1000,
-        .mode           = 0,
-        .spics_io_num   = DISP_CS_GPIO,
-        .queue_size     = 1,
-    };
-    ESP_ERROR_CHECK(spi_bus_add_device(SPI2_HOST, &dev, &s_spi));
-
-    /* DC, RST, BL GPIOs */
-    gpio_set_direction(DISP_DC_GPIO,  GPIO_MODE_OUTPUT);
-    gpio_set_direction(DISP_RST_GPIO, GPIO_MODE_OUTPUT);
-    gpio_set_direction(DISP_BL_GPIO,  GPIO_MODE_OUTPUT);
-
-    /* Hardware reset */
-    gpio_set_level(DISP_RST_GPIO, 0); vTaskDelay(pdMS_TO_TICKS(10));
-    gpio_set_level(DISP_RST_GPIO, 1); vTaskDelay(pdMS_TO_TICKS(120));
-
-    init_regs();
-
-    /* Backlight on */
-    gpio_set_level(DISP_BL_GPIO, 1);
-    ESP_LOGI(TAG, "GC9A01 init OK: DC=%d CS=%d SCK=%d MOSI=%d RST=%d BL=%d",
-             DISP_DC_GPIO, DISP_CS_GPIO, DISP_SCK_GPIO, DISP_MOSI_GPIO,
-             DISP_RST_GPIO, DISP_BL_GPIO);
-}
-
-/* ── display_fill_rect ── */
-void display_fill_rect(int x, int y, int w, int h, uint16_t rgb565)
-{
-    if (w <= 0 || h <= 0) return;
-    if (x < 0) { w += x; x = 0; }
-    if (y < 0) { h += y; y = 0; }
-    if (x + w > 240) w = 240 - x;
-    if (y + h > 240) h = 240 - y;
-    if (w <= 0 || h <= 0) return;
-
-    set_window(x, y, x + w - 1, y + h - 1);
-    write_cmd(0x2C);
-
-    uint8_t hi = rgb565 >> 8, lo = rgb565 & 0xFF;
-    for (int i = 0; i < w * 2; i += 2) { s_line_buf[i] = hi; s_line_buf[i+1] = lo; }
-    for (int row = 0; row < h; row++) { write_bytes(s_line_buf, (size_t)(w * 2)); }
-}
-
-/* ── Glyph rasteriser (handles scale 1..5) ── */
-static void draw_char_s(int x, int y, char c, uint16_t fg, uint16_t bg, int scale)
-{
-    if ((uint8_t)c < 32 || (uint8_t)c > 126) return;
-    if (scale < 1) scale = 1;
-    if (scale > 5) scale = 5;
-    const uint8_t *g = s_font[(uint8_t)c - 32];
-    int cw = 5 * scale, ch = 7 * scale;
-
-    uint8_t *p = s_char_buf;
-    for (int row = 0; row < 7; row++) {
-        for (int sr = 0; sr < scale; sr++) {
-            for (int col = 0; col < 5; col++) {
-                uint16_t color = ((g[col] >> row) & 1) ? fg : bg;
-                uint8_t hi = color >> 8, lo = color & 0xFF;
-                for (int sc = 0; sc < scale; sc++) { *p++ = hi; *p++ = lo; }
-            }
-        }
-    }
-    set_window(x, y, x + cw - 1, y + ch - 1);
-    write_cmd(0x2C);
-    write_bytes(s_char_buf, (size_t)(cw * ch * 2));
-}
-
-/* ── display_draw_string / display_draw_string_s ── */
-void display_draw_string(int x, int y, const char *str, uint16_t fg, uint16_t bg)
-{
-    display_draw_string_s(x, y, str, fg, bg, 1);
-}
-
-void display_draw_string_s(int x, int y, const char *str,
-                           uint16_t fg, uint16_t bg, int scale)
-{
-    int cx = x;
-    while (*str) {
-        draw_char_s(cx, y, *str++, fg, bg, scale);
-        cx += 6 * scale;
-    }
-}
-
-/* ── display_draw_arc ── */
-void display_draw_arc(int cx, int cy, int r, int start_deg, int end_deg,
-                      int thickness, uint16_t color)
-{
-    for (int deg = start_deg; deg <= end_deg; deg++) {
-        float rad = (float)deg * (3.14159265f / 180.0f);
-        int px = cx + (int)((float)r * cosf(rad));
-        int py = cy + (int)((float)r * sinf(rad));
-        int half = thickness / 2;
-        display_fill_rect(px - half, py - half, thickness, thickness, color);
-    }
-}

esp32s3/balance/main/gc9a01.h

@@ -1,24 +0,0 @@
-#pragma once
-/* gc9a01.h — GC9A01 240×240 round LCD SPI driver (bd-1yr8 display bead) */
-
-#include <stdint.h>
-
-/* ── Initialise SPI bus + GC9A01. Call once from app_main. ── */
-void gc9a01_init(void);
-
-/* ── Display primitives (also satisfy ota_display.h contract) ── */
-void display_fill_rect(int x, int y, int w, int h, uint16_t rgb565);
-void display_draw_string(int x, int y, const char *str, uint16_t fg, uint16_t bg);
-void display_draw_string_s(int x, int y, const char *str,
-                           uint16_t fg, uint16_t bg, int scale);
-void display_draw_arc(int cx, int cy, int r,
-                      int start_deg, int end_deg, int thickness, uint16_t color);
-
-/* ── Colour palette (RGB565) ── */
-#define COL_BG     0x0000u
-#define COL_WHITE  0xFFFFu
-#define COL_GREEN  0x07E0u
-#define COL_YELLOW 0xFFE0u
-#define COL_RED    0xF800u
-#define COL_BLUE   0x001Fu
-#define COL_ORANGE 0xFD20u

esp32s3/balance/main/ota_display.c

@@ -116,7 +116,7 @@ void ota_display_update(void)
 
     if (bal_avail || io_avail) {
         /* Show available versions on display when idle */
-        char verline[48];
+        char verline[32];
         if (bal_avail) {
             snprintf(verline, sizeof(verline), "Bal v%s rdy",
                      g_balance_update.version);

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

@@ -39,7 +39,11 @@ Modes
     ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
     ─ YOLOv8n person detection (TensorRT)
     ─ Person follower with UWB+camera fusion
+<<<<<<< HEAD
+    ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
+=======
     ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     ─ rosbridge WebSocket (port 9090)
 
   outdoor
@@ -57,8 +61,13 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
    t= 0s  robot_description   (URDF + TF tree)
+<<<<<<< HEAD
+   t= 0s  ESP32 bridge        (serial port owner — must be first)
+   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 bridge up)
+=======
    t= 0s  ESP32-S3 bridge        (serial port owner — must be first)
    t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32-S3 bridge up)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    t= 2s  sensors             (RPLIDAR + RealSense)
    t= 4s  UWB driver          (independent serial device)
    t= 4s  CSI cameras         (optional, independent)
@@ -71,10 +80,17 @@ Launch sequence (wall-clock delays — conservative for cold start)
 
 Safety wiring
 ─────────────
+<<<<<<< HEAD
+  • ESP32 bridge must be up before cmd_vel bridge sends any command.
+  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
+  • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
+    until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+=======
   • ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
   • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
   • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
     until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   • follow_enabled:=false disables person follower without stopping the node.
   • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
 
@@ -91,7 +107,11 @@ Topics published by this stack
   /person/target                   PoseStamped    (camera position, base_link)
   /person/detections               Detection2DArray
   /cmd_vel                         Twist          (from follower or Nav2)
+<<<<<<< HEAD
+  /saltybot/cmd                    String         (to ESP32 BALANCE)
+=======
   /saltybot/cmd                    String         (to ESP32-S3)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   /saltybot/imu                    Imu
   /saltybot/balance_state          String
 """
@@ -209,7 +229,11 @@ def generate_launch_description():
     enable_bridge_arg = DeclareLaunchArgument(
         "enable_bridge",
         default_value="true",
+<<<<<<< HEAD
+        description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+=======
         description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     enable_rosbridge_arg = DeclareLaunchArgument(
@@ -218,7 +242,7 @@ def generate_launch_description():
         description="Launch rosbridge WebSocket server (port 9090)",
     )
 
-    enable_mission_logging_arg = DeclareLaunchArgument(
+enable_mission_logging_arg = DeclareLaunchArgument(
         "enable_mission_logging",
         default_value="true",
         description="Launch ROS2 bag recorder for mission logging (Issue #488)",
@@ -270,7 +294,11 @@ def generate_launch_description():
     esp32_port_arg = DeclareLaunchArgument(
         "esp32_port",
         default_value="/dev/esp32-bridge",
+<<<<<<< HEAD
+        description="ESP32 USB CDC serial port",
+=======
         description="ESP32-S3 USB CDC serial port",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     # ── Shared substitution handles ───────────────────────────────────────────
@@ -290,7 +318,11 @@ def generate_launch_description():
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
-    # ── t=0s  ESP32-S3 bidirectional serial bridge ───────────────────────────────
+<<<<<<< HEAD
+    # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
+=======
+    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     esp32_bridge = GroupAction(
         condition=IfCondition(LaunchConfiguration("enable_bridge")),
         actions=[
@@ -320,7 +352,11 @@ def generate_launch_description():
         ],
     )
 
+<<<<<<< HEAD
+    # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
+=======
     # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     cmd_vel_bridge = TimerAction(
         period=2.0,
         actions=[

jetson/ros2_ws/src/saltybot_bringup/systemd/can-bringup.service

@@ -1,5 +1,5 @@
 [Unit]
-Description=CANable 2.0 CAN bus bringup (can0, 1 Mbps DroneCAN — Here4 GPS)
+Description=CANable 2.0 CAN bus bringup (can0, 500 kbps)
 Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
 # Wait until the gs_usb net device appears; udev fires After=sys-subsystem-net-devices-can0.device
 After=network.target sys-subsystem-net-devices-can0.device
@@ -10,7 +10,7 @@ BindsTo=sys-subsystem-net-devices-can0.device
 Type=oneshot
 RemainAfterExit=yes
 
-ExecStart=/usr/sbin/ip link set can0 up type can bitrate 1000000
+ExecStart=/usr/sbin/ip link set can0 up type can bitrate 500000
 ExecStop=/usr/sbin/ip link set can0 down
 
 StandardOutput=journal

jetson/ros2_ws/src/saltybot_bringup/udev/70-canable.rules

@@ -2,10 +2,6 @@
 # Exposes the adapter as can0 via the SocketCAN subsystem.
 # Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
 #
-# Bitrate is set by can-bringup.service (1 Mbps DroneCAN for Here4 GPS, bd-p47c).
-# This rule only assigns the interface name and tags it for systemd; it does NOT
-# bring up the interface — that is handled by can-bringup.service.
-#
 # Install:
 #   sudo cp 70-canable.rules /etc/udev/rules.d/
 #   sudo udevadm control --reload && sudo udevadm trigger
@@ -20,4 +16,4 @@
 SUBSYSTEM=="net", ACTION=="add", \
     ATTRS{idVendor}=="1d50", ATTRS{idProduct}=="606f", \
     NAME="can0", \
-    TAG+="systemd"
+    RUN+="/sbin/ip link set can0 up type can bitrate 500000"

jetson/ros2_ws/src/saltybot_bringup/udev/80-esp32.rules

@@ -1,31 +0,0 @@
-# ESP32-S3 USB serial devices (bd-wim1)
-#
-# ESP32-S3 BALANCE (Waveshare LCD 1.28) — USB CDC via CH343 USB-UART chip
-#   Appears as /dev/ttyACM0, symlinked to /dev/esp32-balance
-#   idVendor  = 1a86  (QinHeng Electronics / WCH)
-#   idProduct = 55d4  (CH343 USB-UART)
-#
-# ESP32-S3 IO (bare board JTAG USB) — native USB CDC
-#   Appears as /dev/ttyACM1, symlinked to /dev/esp32-io
-#   idVendor  = 303a  (Espressif)
-#   idProduct = 1001  (ESP32-S3 USB CDC)
-#
-# Install:
-#   sudo cp 80-esp32.rules /etc/udev/rules.d/
-#   sudo udevadm control --reload && sudo udevadm trigger
-#
-# Verify:
-#   ls -la /dev/esp32-*
-#   python3 -c "import serial; s=serial.Serial('/dev/esp32-balance', 460800); s.close(); print('OK')"
-
-# ESP32-S3 BALANCE — CH343 USB-UART (bd-wim1 UART serial bridge)
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", \
-    SYMLINK+="esp32-balance", \
-    TAG+="systemd", \
-    MODE="0660", GROUP="dialout"
-
-# ESP32-S3 IO — Espressif native USB CDC
-SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", \
-    SYMLINK+="esp32-io", \
-    TAG+="systemd", \
-    MODE="0660", GROUP="dialout"

jetson/scripts/ros2-launch.sh

@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-# ros2-launch.sh — Source ROS2 Humble + workspace overlay, then exec ros2 launch
-#
-# Used by saltybot-*.service units so that ExecStart= does not need to inline
-# bash source chains.
-#
-# Usage (from a service file):
-#   ExecStart=/opt/saltybot/scripts/ros2-launch.sh <pkg> <launch_file> [args...]
-#
-# Env vars respected:
-#   ROS_DISTRO        default: humble
-#   SALTYBOT_WS       default: /opt/saltybot/jetson/ros2_ws/install
-#   ROS_DOMAIN_ID     default: 42
-
-set -euo pipefail
-
-ROS_DISTRO="${ROS_DISTRO:-humble}"
-SALTYBOT_WS="${SALTYBOT_WS:-/opt/saltybot/jetson/ros2_ws/install}"
-
-ROS_SETUP="/opt/ros/${ROS_DISTRO}/setup.bash"
-WS_SETUP="${SALTYBOT_WS}/setup.bash"
-
-if [[ ! -f "${ROS_SETUP}" ]]; then
-    echo "[ros2-launch] ERROR: ROS2 setup not found: ${ROS_SETUP}" >&2
-    exit 1
-fi
-
-# shellcheck disable=SC1090
-source "${ROS_SETUP}"
-
-if [[ -f "${WS_SETUP}" ]]; then
-    # shellcheck disable=SC1090
-    source "${WS_SETUP}"
-fi
-
-export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-42}"
-
-exec ros2 launch "$@"

jetson/systemd/install_systemd.sh

@@ -1,194 +1,55 @@
 #!/usr/bin/env bash
-# install_systemd.sh — Deploy and enable saltybot systemd services on Orin
+# install_systemd.sh — Install saltybot systemd services on Orin
-#
 # Run as root: sudo ./systemd/install_systemd.sh
-#
-# What this does:
-#   1. Deploy repo to /opt/saltybot/jetson
-#   2. Build ROS2 workspace (colcon)
-#   3. Install systemd unit files
-#   4. Install udev rules (CAN, ESP32)
-#   5. Enable and optionally start all services
-#
-# Services installed (start order):
-#   can-bringup.service           CANable2 @ 1 Mbps DroneCAN (Here4 GPS)
-#   saltybot-esp32-serial.service ESP32-S3 BALANCE UART bridge (bd-wim1)
-#   saltybot-here4.service        Here4 GPS DroneCAN bridge (bd-p47c)
-#   saltybot-ros2.service         Full ROS2 stack (perception + nav)
-#   saltybot-dashboard.service    Web dashboard on port 8080
-#   saltybot-social.service       Social-bot stack (speech + LLM + face)
-#   tailscale-vpn.service         Tailscale VPN for remote access
-#
-# Prerequisites:
-#   apt install ros-humble-desktop python3-colcon-common-extensions
-#   pip install dronecan  (for Here4 GPS node)
-#   usermod -aG dialout orin  (for serial port access)
 set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_DIR="$(dirname "${SCRIPT_DIR}")"
 SYSTEMD_DIR="/etc/systemd/system"
 DEPLOY_DIR="/opt/saltybot/jetson"
-SCRIPTS_DIR="${DEPLOY_DIR}/scripts"
 UDEV_DIR="/etc/udev/rules.d"
 BRINGUP_SYSTEMD="${REPO_DIR}/ros2_ws/src/saltybot_bringup/systemd"
 BRINGUP_UDEV="${REPO_DIR}/ros2_ws/src/saltybot_bringup/udev"
-WS_SRC="${REPO_DIR}/ros2_ws/src"
-WS_BUILD="${DEPLOY_DIR}/ros2_ws"
-
-ROS_DISTRO="${ROS_DISTRO:-humble}"
-ROS_SETUP="/opt/ros/${ROS_DISTRO}/setup.bash"
-ORIN_USER="${SALTYBOT_USER:-orin}"
 
 log() { echo "[install_systemd] $*"; }
-warn() { echo "[install_systemd] WARN: $*" >&2; }
-die()  { echo "[install_systemd] ERROR: $*" >&2; exit 1; }
 
-[[ "$(id -u)" == "0" ]] || die "Run as root (sudo $0)"
+[[ "$(id -u)" == "0" ]] || { echo "Run as root"; exit 1; }
-[[ -f "${ROS_SETUP}" ]] || die "ROS2 ${ROS_DISTRO} not found at ${ROS_SETUP}"
 
-# ── 1. Deploy repo ─────────────────────────────────────────────────────────────
+# Deploy repo to /opt/saltybot/jetson
-log "Deploying repo to ${DEPLOY_DIR}..."
+log "Deploying to ${DEPLOY_DIR}..."
 mkdir -p "${DEPLOY_DIR}"
-rsync -a \
+rsync -a --exclude='.git' --exclude='__pycache__' \
-    --exclude='.git' \
-    --exclude='__pycache__' \
-    --exclude='*.pyc' \
-    --exclude='.pytest_cache' \
-    --exclude='build/' \
-    --exclude='install/' \
-    --exclude='log/' \
     "${REPO_DIR}/" "${DEPLOY_DIR}/"
 
-# Install launch wrapper script
+# Install service files
-log "Installing ros2-launch.sh..."
-install -m 755 "${SCRIPT_DIR}/../scripts/ros2-launch.sh" "/opt/saltybot/scripts/ros2-launch.sh"
-
-# ── 2. Build ROS2 workspace ────────────────────────────────────────────────────
-if command -v colcon &>/dev/null; then
-    log "Building ROS2 workspace (colcon)..."
-    # shellcheck disable=SC1090
-    source "${ROS_SETUP}"
-    (
-        cd "${WS_BUILD}"
-        colcon build \
-            --symlink-install \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release \
-            2>&1 | tee /tmp/colcon-build.log
-    )
-    log "Workspace build complete."
-else
-    warn "colcon not found — skipping workspace build."
-    warn "Run manually: cd ${WS_BUILD} && colcon build --symlink-install"
-fi
-
-# ── 3. Install systemd units ───────────────────────────────────────────────────
 log "Installing systemd units..."
+cp "${SCRIPT_DIR}/saltybot.target"        "${SYSTEMD_DIR}/"
+cp "${SCRIPT_DIR}/saltybot-social.service" "${SYSTEMD_DIR}/"
+cp "${SCRIPT_DIR}/tailscale-vpn.service"  "${SYSTEMD_DIR}/"
+cp "${BRINGUP_SYSTEMD}/can-bringup.service" "${SYSTEMD_DIR}/"
 
-# Units from jetson/systemd/
+# Install udev rules
-for unit in \
-    saltybot.target \
-    saltybot-ros2.service \
-    saltybot-esp32-serial.service \
-    saltybot-here4.service \
-    saltybot-dashboard.service \
-    saltybot-social.service \
-    tailscale-vpn.service
-do
-    if [[ -f "${SCRIPT_DIR}/${unit}" ]]; then
-        cp "${SCRIPT_DIR}/${unit}" "${SYSTEMD_DIR}/"
-        log "  Installed ${unit}"
-    else
-        warn "  ${unit} not found in ${SCRIPT_DIR}/ — skipping"
-    fi
-done
-
-# Units from saltybot_bringup/systemd/
-for unit in \
-    can-bringup.service \
-    chromium-kiosk.service \
-    magedok-display.service \
-    salty-face-server.service
-do
-    if [[ -f "${BRINGUP_SYSTEMD}/${unit}" ]]; then
-        cp "${BRINGUP_SYSTEMD}/${unit}" "${SYSTEMD_DIR}/"
-        log "  Installed ${unit} (from bringup)"
-    else
-        warn "  ${unit} not found in bringup systemd/ — skipping"
-    fi
-done
-
-# ── 4. Install udev rules ──────────────────────────────────────────────────────
 log "Installing udev rules..."
 mkdir -p "${UDEV_DIR}"
-
+cp "${BRINGUP_UDEV}/70-canable.rules"    "${UDEV_DIR}/"
-for rule in \
+cp "${BRINGUP_UDEV}/90-magedok-touch.rules" "${UDEV_DIR}/"
-    70-canable.rules \
-    80-esp32.rules \
-    90-magedok-touch.rules
-do
-    if [[ -f "${BRINGUP_UDEV}/${rule}" ]]; then
-        cp "${BRINGUP_UDEV}/${rule}" "${UDEV_DIR}/"
-        log "  Installed ${rule}"
-    else
-        warn "  ${rule} not found — skipping"
-    fi
-done
-
 udevadm control --reload
 udevadm trigger --subsystem-match=net --action=add
-udevadm trigger --subsystem-match=tty   --action=add
-log "udev rules reloaded."
 
-# ── 5. Set permissions ─────────────────────────────────────────────────────────
+# Reload and enable
-log "Ensuring '${ORIN_USER}' is in dialout group (serial port access)..."
-if id "${ORIN_USER}" &>/dev/null; then
-    usermod -aG dialout "${ORIN_USER}" || warn "usermod failed — add ${ORIN_USER} to dialout manually"
-else
-    warn "User '${ORIN_USER}' not found — skip usermod"
-fi
-
-# ── 6. Reload systemd and enable services ─────────────────────────────────────
-log "Reloading systemd daemon..."
 systemctl daemon-reload
+systemctl enable saltybot.target
+systemctl enable saltybot-social.service
+systemctl enable tailscale-vpn.service
+systemctl enable can-bringup.service
 
-log "Enabling services..."
+log "Services installed. Start with:"
-systemctl enable \
+log "  systemctl start saltybot-social"
-    saltybot.target \
+log "  systemctl start tailscale-vpn"
-    can-bringup.service \
+log "  systemctl start can-bringup"
-    saltybot-esp32-serial.service \
+log "  journalctl -fu saltybot-social"
-    saltybot-here4.service \
+log "  journalctl -fu tailscale-vpn"
-    saltybot-ros2.service \
-    saltybot-dashboard.service \
-    saltybot-social.service \
-    tailscale-vpn.service
-
-# Enable mosquitto (MQTT broker) if installed
-if systemctl list-unit-files mosquitto.service &>/dev/null; then
-    systemctl enable mosquitto.service
-    log "  Enabled mosquitto.service"
-fi
-
-# ── 7. Summary ────────────────────────────────────────────────────────────────
-log ""
-log "Installation complete."
-log ""
-log "Services will start automatically on next reboot."
-log "To start now without rebooting:"
-log "  sudo systemctl start saltybot.target"
-log ""
-log "Check status:"
-log "  systemctl status can-bringup saltybot-esp32-serial saltybot-here4 saltybot-ros2 saltybot-dashboard"
-log ""
-log "Live logs:"
 log "  journalctl -fu can-bringup"
-log "  journalctl -fu saltybot-esp32-serial"
-log "  journalctl -fu saltybot-here4"
-log "  journalctl -fu saltybot-ros2"
-log "  journalctl -fu saltybot-dashboard"
 log ""
-log "Dashboard: http://<orin-ip>:8080"
+log "Verify CAN bus: candump can0"
-log "rosbridge: ws://<orin-ip>:9090"
+log "  VESC CAN IDs: 61 (0x3D) and 79 (0x4F)"
-log ""
-log "Note: saltybot-esp32-serial and saltybot-here4 require packages"
-log "  from bd-wim1 (PR #727) and bd-p47c (PR #728) to be merged."

jetson/systemd/saltybot-dashboard.service

@@ -1,38 +0,0 @@
-[Unit]
-Description=SaltyBot Web Dashboard (saltybot_dashboard — port 8080)
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
-#
-# Serves the live monitoring dashboard on http://<orin-ip>:8080
-# Subscribes to ROS2 topics over the local DomainID (ROS_DOMAIN_ID=42).
-# Starts after the ROS2 stack but does not hard-depend on it —
-# the dashboard handles missing topics gracefully and will show data as
-# nodes come up.
-After=network-online.target saltybot-ros2.service
-Wants=saltybot-ros2.service
-
-[Service]
-Type=simple
-User=orin
-Group=orin
-
-Environment="ROS_DOMAIN_ID=42"
-Environment="ROS_DISTRO=humble"
-Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
-
-ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
-    saltybot_dashboard dashboard.launch.py
-
-Restart=on-failure
-RestartSec=5s
-StartLimitInterval=60s
-StartLimitBurst=5
-
-TimeoutStartSec=30s
-TimeoutStopSec=10s
-
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=saltybot-dashboard
-
-[Install]
-WantedBy=saltybot.target

jetson/systemd/saltybot-esp32-serial.service

@@ -1,54 +0,0 @@
-[Unit]
-Description=SaltyBot ESP32-S3 BALANCE UART Serial Bridge (bd-wim1)
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/bd-wim1
-# Requires package: saltybot_esp32_serial (merged in bd-wim1 → PR #727)
-#
-# Publishes:
-#   /saltybot/attitude     String JSON  (pitch, motor_cmd, vbat_mv, state)
-#   /saltybot/balance_state String
-#   /can/battery           BatteryState
-#   /can/vesc/left/state   Float32MultiArray  [erpm, voltage_v, current_a, temp_c]
-#   /can/vesc/right/state  Float32MultiArray
-#   /can/connection_status String
-#
-# Subscribes:
-#   /cmd_vel               Twist   → DRIVE command to ESP32 BALANCE
-#   /estop                 Bool    → ESTOP command
-#   /saltybot/arm          Bool    → ARM command
-#   /saltybot/pid_update   String  → PID gains update
-After=network-online.target
-# Wait for /dev/esp32-balance (created by 80-esp32.rules udev rule).
-# TAG+="systemd" in the udev rule makes systemd track dev-esp32\x2dbalance.device.
-# If device is not present at boot the node's auto-reconnect loop handles it.
-Wants=network-online.target
-
-[Service]
-Type=simple
-User=orin
-Group=dialout
-
-# ROS2 Humble environment + workspace overlay
-Environment="ROS_DOMAIN_ID=42"
-Environment="ROS_DISTRO=humble"
-Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
-
-ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
-    saltybot_esp32_serial esp32_balance.launch.py
-
-# The node auto-reconnects on serial disconnect (2 s retry).
-# Restart=on-failure covers node crash; RestartSec gives the device time to re-enumerate.
-Restart=on-failure
-RestartSec=5s
-StartLimitInterval=60s
-StartLimitBurst=5
-
-TimeoutStartSec=30s
-TimeoutStopSec=10s
-
-# Logging
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=saltybot-esp32-serial
-
-[Install]
-WantedBy=saltybot.target

jetson/systemd/saltybot-here4.service

@@ -1,50 +0,0 @@
-[Unit]
-Description=SaltyBot Here4 GPS DroneCAN Bridge (bd-p47c)
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/bd-p47c
-# Requires package: saltybot_dronecan_gps (merged in bd-p47c → PR #728)
-# Requires: can0 at 1 Mbps (set by can-bringup.service)
-#
-# Publishes:
-#   /gps/fix           NavSatFix               5 Hz   → navsat_transform EKF
-#   /gps/velocity      TwistWithCovarianceStamped 5 Hz
-#   /here4/fix         NavSatFix               5 Hz   (alias)
-#   /here4/imu         Imu                    50 Hz
-#   /here4/mag         MagneticField          10 Hz
-#   /here4/baro        FluidPressure          10 Hz
-#   /here4/status      String JSON             1 Hz   (node health, fix quality)
-#   /here4/node_id     Int32                  once   (auto-discovered DroneCAN ID)
-#
-# Subscribes:
-#   /rtcm              ByteMultiArray          on demand  (RTCM corrections)
-#   /rtcm_hex          String                  on demand  (hex fallback)
-After=network-online.target can-bringup.service
-Requires=can-bringup.service
-# If can-bringup stops (CANable2 unplugged), stop this service too
-BindsTo=can-bringup.service
-
-[Service]
-Type=simple
-User=orin
-Group=dialout
-
-Environment="ROS_DOMAIN_ID=42"
-Environment="ROS_DISTRO=humble"
-Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
-
-ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
-    saltybot_dronecan_gps here4.launch.py
-
-Restart=on-failure
-RestartSec=5s
-StartLimitInterval=60s
-StartLimitBurst=5
-
-TimeoutStartSec=30s
-TimeoutStopSec=10s
-
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=saltybot-here4
-
-[Install]
-WantedBy=saltybot.target

jetson/systemd/saltybot-ros2.service

@@ -1,59 +0,0 @@
-[Unit]
-Description=SaltyBot ROS2 Full Stack (perception + navigation + SLAM)
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
-#
-# Launches: saltybot_bringup full_stack.launch.py (indoor mode by default)
-#   enable_bridge:=false  — ESP32-S3 serial bridge is managed by saltybot-esp32-serial.service
-#
-# Stack launched (t=0s → t=17s):
-#   t= 0s  robot_description  (URDF + TF)
-#   t= 2s  RPLIDAR A1M8 + RealSense D435i
-#   t= 3s  LIDAR obstacle avoidance
-#   t= 4s  4× IMX219 CSI cameras (optional)
-#   t= 4s  UWB driver
-#   t= 5s  Audio pipeline (wake word + STT + TTS)
-#   t= 6s  RTAB-Map SLAM (indoor) / GPS nav (outdoor)
-#   t= 6s  YOLOv8n person + object detection (TensorRT)
-#   t= 7s  Autonomous docking
-#   t= 9s  Person follower
-#   t=14s  Nav2 navigation stack
-#   t=17s  rosbridge WebSocket (ws://0.0.0.0:9090)
-#
-# Hard deps: can-bringup (Here4 GPS topics), esp32-serial (VESC telemetry)
-After=network-online.target can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
-Wants=can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
-
-[Service]
-Type=simple
-User=orin
-Group=orin
-
-Environment="ROS_DOMAIN_ID=42"
-Environment="ROS_DISTRO=humble"
-Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
-
-# enable_bridge:=false — ESP32 serial bridge runs as its own service (saltybot-esp32-serial)
-# mode can be overridden via environment: Environment="SALTYBOT_MODE=outdoor"
-ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
-    saltybot_bringup full_stack.launch.py \
-    enable_bridge:=false \
-    mode:=${SALTYBOT_MODE:-indoor}
-
-Restart=on-failure
-RestartSec=10s
-StartLimitInterval=120s
-StartLimitBurst=3
-
-TimeoutStartSec=120s
-TimeoutStopSec=30s
-
-# ROS2 launch spawns many child processes; kill them on stop
-KillMode=control-group
-
-# Logging
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=saltybot-ros2
-
-[Install]
-WantedBy=saltybot.target

jetson/systemd/saltybot.target

@@ -1,22 +1,8 @@
 [Unit]
-Description=SaltyBot Full Stack Target
+Description=Saltybot Full Stack Target
 Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
-#
+After=docker.service network-online.target
-# Start everything:  systemctl start saltybot.target
+Requires=docker.service
-# Stop everything:   systemctl stop  saltybot.target
-# Check all:         systemctl status 'saltybot-*' can-bringup
-#
-# Boot order (dependency chain):
-#   network-online.target
-#     → can-bringup.service          (CANable2 @ 1 Mbps DroneCAN)
-#         → saltybot-here4.service   (Here4 GPS → /gps/fix, /here4/*)
-#     → saltybot-esp32-serial.service (ESP32-S3 UART → /can/vesc/*, /saltybot/attitude)
-#     → saltybot-ros2.service        (full_stack.launch.py, perception + nav)
-#         → saltybot-dashboard.service (port 8080)
-#   (independent) saltybot-social.service
-#   (independent) tailscale-vpn.service
-After=network-online.target
-Wants=network-online.target
 
 [Install]
 WantedBy=multi-user.target