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feat(controls): Emergency behavior system — collision avoidance + fall prevention + stuck detection #169

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opened 2026-03-02 10:27:06 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:27:06 -05:00
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Summary

Comprehensive emergency behavior suite beyond basic tilt cutoff.

Requirements

  • Collision avoidance: Emergency stop when obstacle detected <30cm at current speed
  • Fall prevention: Detect edge/drop ahead (from depth camera), reverse before falling
  • Stuck detection: Detect wheel stall (motor current high, speed zero) for 3s → try reverse + turn
  • Bump sensor: React to unexpected contact (IMU jerk detection) → stop + back up
  • Recovery behaviors: Sequence of escape maneuvers (reverse, turn 90°, retry) before giving up
  • Alert escalation: Minor→audio beep, Major→stop+flash LEDs, Critical→full shutdown+MQTT alert
  • ROS2 topics: /saltybot/emergency (EmergencyState msg), /saltybot/recovery_action

Agent: sl-controls

Labels: phase-2, safety

## Summary Comprehensive emergency behavior suite beyond basic tilt cutoff. ## Requirements - **Collision avoidance**: Emergency stop when obstacle detected <30cm at current speed - **Fall prevention**: Detect edge/drop ahead (from depth camera), reverse before falling - **Stuck detection**: Detect wheel stall (motor current high, speed zero) for 3s → try reverse + turn - **Bump sensor**: React to unexpected contact (IMU jerk detection) → stop + back up - **Recovery behaviors**: Sequence of escape maneuvers (reverse, turn 90°, retry) before giving up - **Alert escalation**: Minor→audio beep, Major→stop+flash LEDs, Critical→full shutdown+MQTT alert - **ROS2 topics**: /saltybot/emergency (EmergencyState msg), /saltybot/recovery_action ## Agent: sl-controls ## Labels: phase-2, safety
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#169
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