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feat: Remote monitoring dashboard (Issue #483) #485

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sl-jetson commented 2026-03-05 14:42:29 -05:00
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Web-based dashboard for SaltyBot monitoring on Orin port 8080

Features:

  • Battery %, voltage, robot state displays
  • Motor speed gauges (left/right RPM)
  • Sensor health indicators (camera, lidar, audio, IMU)
  • WiFi signal strength monitoring
  • Event log viewer (last 20 events)
  • Map visualization with occupancy grid
  • WebSocket for live real-time updates
  • Mobile-responsive design
  • REST API fallback (/api/status)

Stack:

  • Backend: Flask + Flask-SocketIO + ROS2 (Python)
  • Frontend: HTML5 + CSS3 + JavaScript
  • Access: http://:8080
Web-based dashboard for SaltyBot monitoring on Orin port 8080 Features: - Battery %, voltage, robot state displays - Motor speed gauges (left/right RPM) - Sensor health indicators (camera, lidar, audio, IMU) - WiFi signal strength monitoring - Event log viewer (last 20 events) - Map visualization with occupancy grid - WebSocket for live real-time updates - Mobile-responsive design - REST API fallback (/api/status) Stack: - Backend: Flask + Flask-SocketIO + ROS2 (Python) - Frontend: HTML5 + CSS3 + JavaScript - Access: http://<orin-ip>:8080
sl-jetson added 1 commit 2026-03-05 14:42:29 -05:00 
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.

Recovery Sequence (round-robin, 6 retries):
  1. Clear costmaps (local + global)
  2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
  3. Wait 5 seconds (allow dynamic obstacles to move)
  4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)

Configuration:
  - backup: 0.3m reverse, 0.1 m/s speed, 5s timeout
  - spin: 90° rotation, 0.5 rad/s max angular velocity
  - wait: 5-second pause for obstacle clearing
  - progress_checker: 20cm minimum movement threshold in 10s window

Safety:
  - E-stop (Issue #459) takes priority over recovery behaviors
  - Emergency stop system runs independently on STM32 firmware
  - Conservative speeds for FC + Hoverboard ESC stability

Files Modified:
  - jetson/config/nav2_params.yaml: behavior_server parameters
  - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
  - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-05 17:14:41 -05:00

Pull request closed

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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#485
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