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[P2] Night mode — IR camera + reduced noise + stealth LED patterns #444

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opened 2026-03-05 09:02:22 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:02:22 -05:00
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Goal

Adapt SaltyBot for nighttime operation with reduced noise and IR-based perception.

Requirements

  • ROS2 node: detect ambient light level from RealSense IR or phone light sensor
  • Auto-switch at configurable lux threshold (default: 50 lux)
  • Night behaviors: reduce motor speed 50%, disable TTS (use face display only for communication), dim LEDs to minimum, switch person tracking to IR-based (RealSense IR projector)
  • Stealth LED: slow dim blue breathing only (no bright patterns)
  • Face display: reduce brightness to 30%
  • LIDAR unaffected (works in dark)
  • Publish /saltybot/night_mode (Bool)
  • Manual override via voice or gamepad
## Goal Adapt SaltyBot for nighttime operation with reduced noise and IR-based perception. ## Requirements - ROS2 node: detect ambient light level from RealSense IR or phone light sensor - Auto-switch at configurable lux threshold (default: 50 lux) - Night behaviors: reduce motor speed 50%, disable TTS (use face display only for communication), dim LEDs to minimum, switch person tracking to IR-based (RealSense IR projector) - Stealth LED: slow dim blue breathing only (no bright patterns) - Face display: reduce brightness to 30% - LIDAR unaffected (works in dark) - Publish /saltybot/night_mode (Bool) - Manual override via voice or gamepad
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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#444
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