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[P1] ROS2 parameter server — centralized dynamic reconfiguration #471

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opened 2026-03-05 12:07:06 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 12:07:06 -05:00
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Goal

Central parameter management for all SaltyBot nodes with runtime reconfiguration.

Requirements

  • ROS2 node that loads all params from saltybot_params.yaml at boot
  • Dynamic reconfigure: change any param at runtime via /saltybot/set_param service
  • Param groups: hardware, perception, controls, social, safety, debug
  • Validation: type checking, range validation, dependency checks
  • Persistence: save modified params to /home/seb/saltybot-data/params_override.yaml
  • Dashboard integration: expose params via rosbridge for WebUI settings panel
  • Presets: save/load named param sets (indoor, outdoor, demo, debug)
  • Publish /saltybot/param_changed (String: param_name) for nodes to react
  • Safety params (e-stop thresholds, geofence) require confirmation before change
## Goal Central parameter management for all SaltyBot nodes with runtime reconfiguration. ## Requirements - ROS2 node that loads all params from saltybot_params.yaml at boot - Dynamic reconfigure: change any param at runtime via /saltybot/set_param service - Param groups: hardware, perception, controls, social, safety, debug - Validation: type checking, range validation, dependency checks - Persistence: save modified params to /home/seb/saltybot-data/params_override.yaml - Dashboard integration: expose params via rosbridge for WebUI settings panel - Presets: save/load named param sets (indoor, outdoor, demo, debug) - Publish /saltybot/param_changed (String: param_name) for nodes to react - Safety params (e-stop thresholds, geofence) require confirmation before change
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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#471
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