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feat: Headscale VPN auto-connect (Issue #502) #517

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sl-jetson merged 2 commits from sl-jetson/issue-502-headscale-vpn into main 2026-03-06 17:37:09 -05:00
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sl-jetson commented 2026-03-06 16:38:00 -05:00
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sl-jetson added 2 commits 2026-03-06 16:38:01 -05:00 
Create saltybot_tests package with comprehensive automated testing:

Test Coverage:
- Node startup verification (all critical nodes within 30s)
- Topic publishing verification
- TF tree completeness (all transforms present)
- Sensor health checks (RPLIDAR, RealSense, IMU)
- Perception pipeline (person detection availability)
- Navigation stack (odometry, transforms)
- System stability (30-second no-crash test)
- Graceful shutdown verification

Features:
- launch_testing framework for automated startup tests
- NodeChecker: wait for nodes in ROS graph
- TFChecker: verify TF tree completeness
- TopicMonitor: track message rates and counts
- Follow mode tests (minimal hardware deps)
- Subsystem-specific tests for sensor health
- Comprehensive README with troubleshooting

Usage:
  pytest src/saltybot_tests/test/test_launch.py -v -s
  or
  colcon test --packages-select saltybot_tests

Performance Targets:
- Node startup: <30s (follow mode)
- RPLIDAR: 10 Hz scan rate
- RealSense: 30 Hz RGB + depth
- Person detection: 5 Hz
- System stability: 30s no-crash validation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Configure Jetson Orin with Tailscale client connecting to Headscale
coordination server at tailscale.vayrette.com:8180. Device registers
as 'saltylab-orin' with persistent auth key for unattended login.

Features:
- systemd auto-start and restart on WiFi drops
- Persistent auth key storage at /opt/saltybot/tailscale-auth.key
- SSH + HTTP access over Tailscale tailnet (encrypted WireGuard)
- IP forwarding enabled for relay/exit node capability
- WiFi resilience with aggressive restart policy
- MQTT reporting of VPN status, IP, and connection type

Components added:
- jetson/scripts/setup-tailscale.sh: Tailscale package installation
- jetson/scripts/headscale-auth-helper.sh: Auth key management utility
- jetson/systemd/tailscale-vpn.service: systemd service unit
- jetson/docs/headscale-vpn-setup.md: Comprehensive setup documentation
- saltybot_cellular/vpn_status_node.py: ROS2 node for MQTT reporting

Updated:
- jetson/systemd/install_systemd.sh: Include tailscale-vpn.service
- jetson/scripts/setup-jetson.sh: Add Tailscale setup steps

Access patterns:
- SSH: ssh user@saltylab-orin.tail12345.ts.net
- HTTP: http://saltylab-orin.tail12345.ts.net:port
- Direct IP: 100.x.x.x (Tailscale allocated address)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 5b9e9dd412 into main 2026-03-06 17:37:08 -05:00
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Reference: seb/saltylab-firmware#517
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