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feat: night mode (Issue #444) #451

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sl-jetson merged 2 commits from sl-mechanical/issue-444-night-mode into main 2026-03-05 09:09:14 -05:00
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sl-jetson commented 2026-03-05 09:05:25 -05:00
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IR perception + stealth LED + reduced noise

IR perception + stealth LED + reduced noise
sl-jetson added 2 commits 2026-03-05 09:05:25 -05:00 
Automatic night mode detection and stealth operation:
- Ambient light detection: auto-switch at 50 lux threshold
- Motor speed reduction: 50% speed in stealth mode
- LED control: dim to 5% minimum brightness with slow blue fade
- Face-only mode: disable TTS speaker, show text on face
- IR-based tracking: use IR cameras only (RGB disabled)
- Face brightness: reduce to 30% for low-light visibility
- Manual override: voice commands and gamepad toggle (Y button)
- Smooth transitions: 1-second fade between modes with ramps

Features:
- Hysteresis: 5 lux band prevents mode flickering
- Light sensor smoothing: 5-sample averaging for stability
- Transition manager: smooth motor ramp (2s), LED fade (0.5s)
- Multiple sensor support: RealSense IR, phone ambient sensor
- Stealth LED pattern: slow breathing dim blue (0.3 Hz)

Configuration:
- YAML-based threshold and behavior settings
- Per-subsystem transition timing
- Tracking parameter tuning for IR mode
- Face control with contrast boost

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Master saltybot_bringup.launch.py with:
- Profile support (full/minimal/headless) for flexible deployments
- Boot order: hardware → perception → control → social → monitoring
- Dependency-ordered launch with 30-second boot timeout
- Consolidated saltybot_params.yaml with all stack parameters
- Stack state publisher (/saltybot/stack_state)
- Post-launch diagnostics self-test
- Graceful shutdown support (motors first)

Boot sequence (Issue #447):
- t=0s:    hardware (robot description, STM32 bridge)
- t=2-6s:  perception (sensors, cameras, detection, SLAM)
- t=2-14s: control (cmd_vel bridge, follower, Nav2)
- t=17-19s: social & monitoring (rosbridge, stack state)

Features:
- full profile: complete stack (SLAM, Nav2, detection, follower)
- minimal profile: hardware + control only
- headless profile: sensors + control (no CSI cameras)
- Configurable modes: indoor (SLAM+Nav2), outdoor (GPS nav), follow

Parameters consolidated in config/saltybot_params.yaml:
- Hardware (bridge, motors)
- Perception (sensors, detection, SLAM)
- Control (follower, Nav2)
- Social (TTS, gestures, face tracking)
- Monitoring (rosbridge, health checks)

New: stack_state_monitor_node.py (publishes stack boot state)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit fac873c261 into main 2026-03-05 09:09:14 -05:00
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Reference: seb/saltylab-firmware#451
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