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[P1] ROS2 full stack launch — master launch file for all SaltyBot nodes #447

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opened 2026-03-05 09:02:31 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:02:31 -05:00
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Goal

Single launch command to bring up the entire SaltyBot ROS2 stack in correct order with dependency management.

Requirements

  • Master launch: saltybot_bringup.launch.py
  • Boot order: 1) hardware drivers (VESC, LIDAR, RealSense, servos), 2) perception (person tracking, SLAM, obstacle avoidance), 3) control (follow-me, nav2, teleop), 4) social (speech, TTS, encounter, emotion), 5) monitoring (health, diagnostics, bag recording, remote relay)
  • Dependency management: wait for hardware before launching perception
  • Configurable profiles: full, minimal (no social), headless (no face display)
  • Parameter files: saltybot_params.yaml (consolidated params for all nodes)
  • Health check after launch: run diagnostic self-test, report status
  • Graceful shutdown: stop motors first, then perception, then social
  • Publish /saltybot/stack_state (BOOTING, READY, DEGRADED, SHUTDOWN)
## Goal Single launch command to bring up the entire SaltyBot ROS2 stack in correct order with dependency management. ## Requirements - Master launch: saltybot_bringup.launch.py - Boot order: 1) hardware drivers (VESC, LIDAR, RealSense, servos), 2) perception (person tracking, SLAM, obstacle avoidance), 3) control (follow-me, nav2, teleop), 4) social (speech, TTS, encounter, emotion), 5) monitoring (health, diagnostics, bag recording, remote relay) - Dependency management: wait for hardware before launching perception - Configurable profiles: full, minimal (no social), headless (no face display) - Parameter files: saltybot_params.yaml (consolidated params for all nodes) - Health check after launch: run diagnostic self-test, report status - Graceful shutdown: stop motors first, then perception, then social - Publish /saltybot/stack_state (BOOTING, READY, DEGRADED, SHUTDOWN)
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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#447
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