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[P2] WiFi mesh handoff — seamless connectivity between APs #458

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opened 2026-03-05 09:17:52 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:17:52 -05:00
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Goal

Maintain continuous WiFi connectivity as SaltyBot moves between access points.

Requirements

  • ROS2 node monitoring WiFi signal strength (iwconfig/nmcli)
  • Publish /saltybot/wifi_state (WiFiState.msg: ssid, signal_dbm, connected, latency_ms)
  • Auto-roam: if signal drops below -70dBm, scan for stronger AP with same SSID
  • Handoff: seamless switch using wpa_supplicant roaming or NetworkManager
  • Connectivity check: periodic ping to Orin gateway, detect disconnections
  • Fallback: if WiFi lost, switch to phone USB tethering (sl-android bridge)
  • Alert: TTS warning if offline >30s
  • Log signal strength + AP transitions for coverage mapping
  • Configurable: preferred SSID, roam threshold, fallback behavior
## Goal Maintain continuous WiFi connectivity as SaltyBot moves between access points. ## Requirements - ROS2 node monitoring WiFi signal strength (iwconfig/nmcli) - Publish /saltybot/wifi_state (WiFiState.msg: ssid, signal_dbm, connected, latency_ms) - Auto-roam: if signal drops below -70dBm, scan for stronger AP with same SSID - Handoff: seamless switch using wpa_supplicant roaming or NetworkManager - Connectivity check: periodic ping to Orin gateway, detect disconnections - Fallback: if WiFi lost, switch to phone USB tethering (sl-android bridge) - Alert: TTS warning if offline >30s - Log signal strength + AP transitions for coverage mapping - Configurable: preferred SSID, roam threshold, fallback behavior
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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#458
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