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

[P1] Emergency stop cascade — unified e-stop with hardware + software layers #459

New Issue
Closed
opened 2026-03-05 09:17:54 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:17:54 -05:00
Collaborator
Copy Link

Goal

Unified emergency stop system that guarantees safe shutdown from any trigger source.

Trigger Sources

  • Voice: "stop" or "emergency"
  • Gamepad: Square button
  • Tilt safety: VESC pitch >45 degrees
  • Obstacle: <0.3m from LIDAR
  • Geofence violation
  • Software watchdog timeout
  • Remote kill: MQTT message from Tee
  • Hardware button (future: physical e-stop switch on chassis)

Cascade

  1. Immediate: zero /cmd_vel, VESC duty=0
  2. Within 100ms: disable autonomous control (follow-me, nav2, patrol)
  3. Within 500ms: face display ALERT, LED red flash, TTS if not voice-triggered
  4. Log e-stop event with trigger source + sensor snapshot
  5. Recovery: manual resume only (gamepad Start or voice "resume")

Requirements

  • ROS2 node: /saltybot/estop (action server)
  • Publish /saltybot/estop_active (Bool) — all motion nodes must check this
  • Latency: trigger to zero velocity <50ms
  • Cannot be overridden by autonomous nodes
  • Configurable: which triggers are armed
## Goal Unified emergency stop system that guarantees safe shutdown from any trigger source. ## Trigger Sources - Voice: "stop" or "emergency" - Gamepad: Square button - Tilt safety: VESC pitch >45 degrees - Obstacle: <0.3m from LIDAR - Geofence violation - Software watchdog timeout - Remote kill: MQTT message from Tee - Hardware button (future: physical e-stop switch on chassis) ## Cascade 1. Immediate: zero /cmd_vel, VESC duty=0 2. Within 100ms: disable autonomous control (follow-me, nav2, patrol) 3. Within 500ms: face display ALERT, LED red flash, TTS if not voice-triggered 4. Log e-stop event with trigger source + sensor snapshot 5. Recovery: manual resume only (gamepad Start or voice "resume") ## Requirements - ROS2 node: /saltybot/estop (action server) - Publish /saltybot/estop_active (Bool) — all motion nodes must check this - Latency: trigger to zero velocity <50ms - Cannot be overridden by autonomous nodes - Configurable: which triggers are armed
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#459
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?