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feat: ROS2 bag recording service (Issue #411) #414

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sl-jetson merged 2 commits from sl-jetson/issue-411-bag-recording into main 2026-03-04 22:46:36 -05:00
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sl-jetson commented 2026-03-04 22:40:46 -05:00
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Circular buffer + auto-save + storage management

Circular buffer + auto-save + storage management
sl-jetson added 2 commits 2026-03-04 22:40:47 -05:00 
Implement circular buffer bag recorder with:
- Configurable topics recording
- Last N minutes circular buffer (default 30min)
- Manual save trigger via /saltybot/save_bag service
- Auto-save on crash with signal handlers
- Storage management (7-day TTL, 50GB quota)
- Compression via zstd
- Optional rsync to NAS for backup
- Periodic maintenance (cleanup expired, enforce quota)

Saves to /home/seb/rosbags/ by default.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- ROS2 node for balance mode PID parameter management via pyvesc UART
- Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff
- Startup ramp: gradual acceleration from 0 to full output over configurable duration
- IMU integration: subscribe to /imu/data for pitch/roll angle computation
- State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry
- Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data
- Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency
- Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 2fad597976 into main 2026-03-04 22:46:36 -05:00
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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#414
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