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

[P1] Power management supervisor — battery protection + graceful shutdown #467

New Issue
Closed
opened 2026-03-05 12:06:57 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 12:06:57 -05:00
Collaborator
Copy Link

Goal

Protect battery and ensure graceful shutdown before power loss.

Requirements

  • ROS2 node subscribing to /saltybot/battery_state
  • Thresholds: 30% → warning TTS + LED amber, 20% → start dock search, 10% → graceful shutdown sequence, 5% → force kill motors
  • Shutdown sequence: save all state (social memory, obstacle map, rosbag), stop motors, publish SHUTDOWN state, face display goodbye animation, power off Orin cleanly
  • Charging management: track charge cycles, estimate battery health
  • Publish /saltybot/power_state (NORMAL, LOW, CRITICAL, CHARGING, SHUTDOWN)
  • Prevent deep discharge damage
  • Log battery cycles + health to /home/seb/saltybot-data/battery_log.csv
## Goal Protect battery and ensure graceful shutdown before power loss. ## Requirements - ROS2 node subscribing to /saltybot/battery_state - Thresholds: 30% → warning TTS + LED amber, 20% → start dock search, 10% → graceful shutdown sequence, 5% → force kill motors - Shutdown sequence: save all state (social memory, obstacle map, rosbag), stop motors, publish SHUTDOWN state, face display goodbye animation, power off Orin cleanly - Charging management: track charge cycles, estimate battery health - Publish /saltybot/power_state (NORMAL, LOW, CRITICAL, CHARGING, SHUTDOWN) - Prevent deep discharge damage - Log battery cycles + health to /home/seb/saltybot-data/battery_log.csv
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#467
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?