seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(jetson): Robot-to-robot communication — direct mesh messaging between SaltyBots #171

New Issue
Closed
opened 2026-03-02 10:27:19 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:27:19 -05:00
Collaborator
Copy Link

Summary

Direct peer-to-peer messaging between SaltyBots for coordination without central server.

Requirements

  • WiFi mesh: ESP-NOW or WiFi Direct for low-latency peer messaging
  • Message types: position broadcast, task handoff, help request, battery status share
  • Discovery: Auto-discover nearby SaltyBots via multicast beacon
  • Relay: Multi-hop message relay for robots out of direct range
  • Priority queue: Emergency messages (collision warning) get priority
  • ROS2 bridge: Incoming mesh messages published as ROS2 topics /fleet/mesh/rx
  • Encryption: AES-128 encrypted messages, shared fleet key
  • Heartbeat: 1Hz beacon, detect offline robots within 5s

Agent: sl-jetson

Labels: phase-3, fleet

## Summary Direct peer-to-peer messaging between SaltyBots for coordination without central server. ## Requirements - **WiFi mesh**: ESP-NOW or WiFi Direct for low-latency peer messaging - **Message types**: position broadcast, task handoff, help request, battery status share - **Discovery**: Auto-discover nearby SaltyBots via multicast beacon - **Relay**: Multi-hop message relay for robots out of direct range - **Priority queue**: Emergency messages (collision warning) get priority - **ROS2 bridge**: Incoming mesh messages published as ROS2 topics /fleet/mesh/rx - **Encryption**: AES-128 encrypted messages, shared fleet key - **Heartbeat**: 1Hz beacon, detect offline robots within 5s ## Agent: sl-jetson ## Labels: phase-3, fleet
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#171
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?