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ROS2 launch orchestrator for full SaltyBot bringup #577

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opened 2026-03-14 11:51:19 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 11:51:19 -04:00
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Create unified ROS2 launch file that brings up the full SaltyBot stack.Requirements:- Single launch file: saltybot_bringup.launch.py- Ordered startup: drivers first, then perception, then navigation, then UI- Conditional includes (skip camera if not present, skip UWB if not configured)- Health check: wait for each group before starting next- Parameter files: base, perception, navigation, teleop- Shutdown handler: graceful stop of all nodes- Configurable profiles: minimal, full, debugDeliverables:- ROS2 Python package: saltybot_bringup- Launch file + all param YAML files- README with usage instructionsAssigned to: sl-jetson

Create unified ROS2 launch file that brings up the full SaltyBot stack.**Requirements:**- Single launch file: saltybot_bringup.launch.py- Ordered startup: drivers first, then perception, then navigation, then UI- Conditional includes (skip camera if not present, skip UWB if not configured)- Health check: wait for each group before starting next- Parameter files: base, perception, navigation, teleop- Shutdown handler: graceful stop of all nodes- Configurable profiles: minimal, full, debug**Deliverables:**- ROS2 Python package: saltybot_bringup- Launch file + all param YAML files- README with usage instructionsAssigned to: sl-jetson
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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#577
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