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

[P1] Geofence safety — configurable boundary with auto-return #441

New Issue
Closed
opened 2026-03-05 09:02:12 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:02:12 -05:00
Collaborator
Copy Link

Goal

Keep SaltyBot within a defined geographic boundary during outdoor testing.

Requirements

  • ROS2 node subscribing to /phone/gps (NavSatFix) and /odom
  • Configurable geofence: polygon defined in geofence_params.yaml (list of lat/lon vertices)
  • Zones: SAFE (inside), WARNING (within 2m of boundary), VIOLATION (outside)
  • On WARNING: slow down, face shows concern, TTS "Im getting close to my boundary"
  • On VIOLATION: stop immediately, turn toward center, TTS "Oops, I went too far", auto-navigate back inside
  • Publish /saltybot/geofence_state (SAFE, WARNING, VIOLATION, RETURNING)
  • LED strip: amber pulse in WARNING, red flash in VIOLATION
  • Configurable: enable/disable, boundary size, warning distance
  • Default fence: 50m radius circle around starting position
## Goal Keep SaltyBot within a defined geographic boundary during outdoor testing. ## Requirements - ROS2 node subscribing to /phone/gps (NavSatFix) and /odom - Configurable geofence: polygon defined in geofence_params.yaml (list of lat/lon vertices) - Zones: SAFE (inside), WARNING (within 2m of boundary), VIOLATION (outside) - On WARNING: slow down, face shows concern, TTS "Im getting close to my boundary" - On VIOLATION: stop immediately, turn toward center, TTS "Oops, I went too far", auto-navigate back inside - Publish /saltybot/geofence_state (SAFE, WARNING, VIOLATION, RETURNING) - LED strip: amber pulse in WARNING, red flash in VIOLATION - Configurable: enable/disable, boundary size, warning distance - Default fence: 50m radius circle around starting position
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#441
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?