jetson/ros2_ws/src/saltybot_bridge/.gitignore

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+__pycache__/
+*.pyc
+*.pyo
+*.egg-info/
+build/
+install/
+log/

jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml

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+stm32_serial_bridge:
+  ros__parameters:
+    # STM32 USB CDC device node
+    # Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied
+    serial_port: /dev/ttyACM0
+    baud_rate: 921600
+    timeout: 0.1        # serial readline timeout (seconds)
+    reconnect_delay: 2.0  # seconds between reconnect attempts on disconnect

jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    serial_port_arg = DeclareLaunchArgument(
+        "serial_port",
+        default_value="/dev/ttyACM0",
+        description="STM32 USB CDC device node",
+    )
+    baud_rate_arg = DeclareLaunchArgument(
+        "baud_rate",
+        default_value="921600",
+        description="Serial baud rate",
+    )
+
+    bridge_node = Node(
+        package="saltybot_bridge",
+        executable="serial_bridge_node",
+        name="stm32_serial_bridge",
+        output="screen",
+        parameters=[
+            {
+                "serial_port": LaunchConfiguration("serial_port"),
+                "baud_rate": LaunchConfiguration("baud_rate"),
+                "timeout": 0.1,
+                "reconnect_delay": 2.0,
+            }
+        ],
+    )
+
+    return LaunchDescription([serial_port_arg, baud_rate_arg, bridge_node])

jetson/ros2_ws/src/saltybot_bridge/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_bridge</name>
+  <version>0.1.0</version>
+  <description>
+    STM32F722 USB CDC serial bridge for saltybot.
+    Reads JSON telemetry from the STM32 flight controller and publishes
+    sensor_msgs/Imu, std_msgs/String (balance state), and diagnostic_msgs/DiagnosticArray.
+  </description>
+  <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py

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+"""
+saltybot_bridge — serial_bridge_node
+STM32F722 USB CDC → ROS2 topic publisher
+
+Telemetry frame (50 Hz, newline-delimited JSON):
+  {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
+   "m":<motor_cmd -1000..1000>,"s":<state 0-2>,"y":<yaw×10>}
+
+  Error frame (IMU fault):
+  {"err":<imu_errno>}
+
+State values (balance_state_t):
+  0 = DISARMED  1 = ARMED  2 = TILT_FAULT
+
+Published topics:
+  /saltybot/imu          sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
+  /saltybot/balance_state  std_msgs/String (JSON)  — full PID diagnostics
+"""
+
+import json
+import math
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
+
+import serial
+
+from sensor_msgs.msg import Imu
+from std_msgs.msg import String
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+
+# Balance state labels matching STM32 balance_state_t enum
+_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
+
+# Sensor frame_id published in Imu header
+IMU_FRAME_ID = "imu_link"
+
+
+class SerialBridgeNode(Node):
+    def __init__(self):
+        super().__init__("stm32_serial_bridge")
+
+        # ── Parameters ────────────────────────────────────────────────────────
+        self.declare_parameter("serial_port", "/dev/ttyACM0")
+        self.declare_parameter("baud_rate", 921600)
+        self.declare_parameter("timeout", 0.1)
+        self.declare_parameter("reconnect_delay", 2.0)
+
+        port = self.get_parameter("serial_port").value
+        baud = self.get_parameter("baud_rate").value
+        timeout = self.get_parameter("timeout").value
+        self._reconnect_delay = self.get_parameter("reconnect_delay").value
+
+        # ── QoS ───────────────────────────────────────────────────────────────
+        sensor_qos = QoSProfile(
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
+        diag_qos = QoSProfile(
+            reliability=ReliabilityPolicy.RELIABLE,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
+
+        # ── Publishers ────────────────────────────────────────────────────────
+        self._imu_pub = self.create_publisher(Imu, "/saltybot/imu", sensor_qos)
+        self._balance_pub = self.create_publisher(
+            String, "/saltybot/balance_state", diag_qos
+        )
+        self._diag_pub = self.create_publisher(
+            DiagnosticArray, "/diagnostics", diag_qos
+        )
+
+        # ── State ─────────────────────────────────────────────────────────────
+        self._port_name = port
+        self._baud = baud
+        self._timeout = timeout
+        self._ser: serial.Serial | None = None
+        self._frame_count = 0
+        self._error_count = 0
+        self._last_state = -1
+
+        # ── Open serial and start read timer ──────────────────────────────────
+        self._open_serial()
+        # Poll at 100 Hz — STM32 sends at 50 Hz, so we never miss a frame
+        self._timer = self.create_timer(0.01, self._read_cb)
+
+        self.get_logger().info(
+            f"stm32_serial_bridge started — {port} @ {baud} baud"
+        )
+
+    # ── Serial management ─────────────────────────────────────────────────────
+
+    def _open_serial(self) -> bool:
+        try:
+            self._ser = serial.Serial(
+                port=self._port_name,
+                baudrate=self._baud,
+                timeout=self._timeout,
+            )
+            self._ser.reset_input_buffer()
+            self.get_logger().info(f"Serial port open: {self._port_name}")
+            return True
+        except serial.SerialException as exc:
+            self.get_logger().error(f"Cannot open {self._port_name}: {exc}")
+            self._ser = None
+            return False
+
+    def _close_serial(self):
+        if self._ser and self._ser.is_open:
+            try:
+                self._ser.close()
+            except Exception:
+                pass
+        self._ser = None
+
+    # ── Read callback ─────────────────────────────────────────────────────────
+
+    def _read_cb(self):
+        if self._ser is None or not self._ser.is_open:
+            # Attempt reconnect on next timer fire after delay
+            self.get_logger().warn(
+                f"Serial disconnected — retrying in {self._reconnect_delay}s",
+                throttle_duration_sec=self._reconnect_delay,
+            )
+            self._open_serial()
+            return
+
+        try:
+            # Read all lines buffered since last call
+            while self._ser.in_waiting:
+                raw = self._ser.readline()
+                if raw:
+                    self._parse_and_publish(raw)
+        except serial.SerialException as exc:
+            self.get_logger().error(f"Serial read error: {exc}")
+            self._close_serial()
+
+    # ── Parsing + publishing ──────────────────────────────────────────────────
+
+    def _parse_and_publish(self, raw: bytes):
+        try:
+            text = raw.decode("ascii", errors="ignore").strip()
+            if not text:
+                return
+            data = json.loads(text)
+        except (ValueError, UnicodeDecodeError) as exc:
+            self.get_logger().debug(f"Parse error ({exc}): {raw!r}")
+            self._error_count += 1
+            return
+
+        now = self.get_clock().now().to_msg()
+
+        # IMU fault frame — {"err": <errno>}
+        if "err" in data:
+            self._publish_imu_fault(data["err"], now)
+            return
+
+        # Normal telemetry frame — validate required keys
+        required = ("p", "r", "e", "ig", "m", "s", "y")
+        if not all(k in data for k in required):
+            self.get_logger().debug(f"Incomplete frame: {text}")
+            return
+
+        # Values are ×10 integers from firmware — convert to float
+        pitch_deg = data["p"] / 10.0
+        roll_deg  = data["r"] / 10.0
+        yaw_deg   = data["y"] / 10.0
+        error_deg = data["e"] / 10.0
+        integral  = data["ig"] / 10.0
+        motor_cmd = float(data["m"])          # -1000..+1000 ESC units
+        state     = int(data["s"])
+
+        self._frame_count += 1
+
+        self._publish_imu(pitch_deg, roll_deg, yaw_deg, now)
+        self._publish_balance_state(
+            pitch_deg, roll_deg, yaw_deg,
+            error_deg, integral, motor_cmd, state, now,
+        )
+
+        # Log state transitions
+        if state != self._last_state:
+            label = _STATE_LABEL.get(state, f"UNKNOWN({state})")
+            self.get_logger().info(f"Balance state → {label}")
+            self._last_state = state
+
+    def _publish_imu(self, pitch_deg, roll_deg, yaw_deg, stamp):
+        """
+        Publish sensor_msgs/Imu.
+
+        The STM32 IMU gives Euler angles (pitch/roll from accelerometer+gyro
+        fusion, yaw from gyro integration). We publish them as angular_velocity
+        for immediate use by slam_toolbox / robot_localization.
+
+        Note: orientation quaternion is left zeroed (covariance [-1,...]) until
+        a proper fusion node (e.g. robot_localization EKF) computes it.
+        """
+        msg = Imu()
+        msg.header.stamp = stamp
+        msg.header.frame_id = IMU_FRAME_ID
+
+        # orientation unknown — signal with -1 in first covariance element
+        msg.orientation_covariance[0] = -1.0
+
+        # angular_velocity: Euler rates approximation (good enough at low freq)
+        msg.angular_velocity.x = math.radians(pitch_deg)   # pitch → x
+        msg.angular_velocity.y = math.radians(roll_deg)    # roll  → y
+        msg.angular_velocity.z = math.radians(yaw_deg)     # yaw   → z
+
+        # angular_velocity covariance (diagonal, degrees converted to rad)
+        cov_rad = math.radians(0.5) ** 2  # ±0.5° noise estimate
+        msg.angular_velocity_covariance[0] = cov_rad
+        msg.angular_velocity_covariance[4] = cov_rad
+        msg.angular_velocity_covariance[8] = cov_rad
+
+        # linear_acceleration: unknown from this frame
+        msg.linear_acceleration_covariance[0] = -1.0
+
+        self._imu_pub.publish(msg)
+
+    def _publish_balance_state(
+        self, pitch, roll, yaw, error, integral, motor_cmd, state, stamp
+    ):
+        """Publish full PID diagnostics as JSON string and /diagnostics."""
+        state_label = _STATE_LABEL.get(state, f"UNKNOWN({state})")
+
+        payload = {
+            "stamp": f"{stamp.sec}.{stamp.nanosec:09d}",
+            "state": state_label,
+            "pitch_deg": round(pitch, 1),
+            "roll_deg":  round(roll, 1),
+            "yaw_deg":   round(yaw, 1),
+            "pid_error_deg": round(error, 1),
+            "integral":  round(integral, 1),
+            "motor_cmd": int(motor_cmd),
+            "frames":    self._frame_count,
+            "parse_errors": self._error_count,
+        }
+
+        str_msg = String()
+        str_msg.data = json.dumps(payload)
+        self._balance_pub.publish(str_msg)
+
+        # /diagnostics
+        diag = DiagnosticArray()
+        diag.header.stamp = stamp
+        status = DiagnosticStatus()
+        status.name = "saltybot/balance_controller"
+        status.hardware_id = "stm32f722"
+        status.message = state_label
+
+        if state == 1:   # ARMED
+            status.level = DiagnosticStatus.OK
+        elif state == 0:  # DISARMED
+            status.level = DiagnosticStatus.WARN
+        else:             # TILT_FAULT
+            status.level = DiagnosticStatus.ERROR
+
+        status.values = [
+            KeyValue(key="pitch_deg",     value=f"{pitch:.1f}"),
+            KeyValue(key="roll_deg",      value=f"{roll:.1f}"),
+            KeyValue(key="yaw_deg",       value=f"{yaw:.1f}"),
+            KeyValue(key="pid_error_deg", value=f"{error:.1f}"),
+            KeyValue(key="integral",      value=f"{integral:.1f}"),
+            KeyValue(key="motor_cmd",     value=f"{int(motor_cmd)}"),
+            KeyValue(key="state",         value=state_label),
+        ]
+        diag.status.append(status)
+        self._diag_pub.publish(diag)
+
+    def _publish_imu_fault(self, errno: int, stamp):
+        """On IMU fault frame, publish an ERROR diagnostic."""
+        diag = DiagnosticArray()
+        diag.header.stamp = stamp
+        status = DiagnosticStatus()
+        status.level = DiagnosticStatus.ERROR
+        status.name = "saltybot/balance_controller"
+        status.hardware_id = "stm32f722"
+        status.message = f"IMU fault errno={errno}"
+        diag.status.append(status)
+        self._diag_pub.publish(diag)
+        self.get_logger().error(f"STM32 reported IMU fault: errno={errno}")
+
+    def destroy_node(self):
+        self._close_serial()
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SerialBridgeNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_bridge/setup.cfg

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+[develop]
+script_dir=$base/lib/saltybot_bridge
+[install]
+install_scripts=$base/lib/saltybot_bridge

jetson/ros2_ws/src/saltybot_bridge/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = "saltybot_bridge"
+
+setup(
+    name=package_name,
+    version="0.1.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
+        (f"share/{package_name}", ["package.xml"]),
+        (f"share/{package_name}/launch", ["launch/bridge.launch.py"]),
+        (f"share/{package_name}/config", ["config/bridge_params.yaml"]),
+    ],
+    install_requires=["setuptools", "pyserial"],
+    zip_safe=True,
+    maintainer="sl-jetson",
+    maintainer_email="sl-jetson@saltylab.local",
+    description="STM32 USB CDC → ROS2 serial bridge for saltybot",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py

@@ -0,0 +1,97 @@
+"""
+Unit tests for STM32 telemetry parsing logic.
+Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
+"""
+
+import json
+import pytest
+
+
+# ── Minimal stub so we can test parsing without a ROS2 runtime ───────────────
+
+def parse_frame(raw: bytes):
+    """Mirror of the parsing logic in serial_bridge_node._parse_and_publish."""
+    text = raw.decode("ascii", errors="ignore").strip()
+    if not text:
+        return None
+    data = json.loads(text)
+
+    if "err" in data:
+        return {"type": "fault", "errno": data["err"]}
+
+    required = ("p", "r", "e", "ig", "m", "s", "y")
+    if not all(k in data for k in required):
+        raise ValueError(f"Incomplete frame: {data}")
+
+    return {
+        "type": "telemetry",
+        "pitch_deg":     data["p"] / 10.0,
+        "roll_deg":      data["r"] / 10.0,
+        "yaw_deg":       data["y"] / 10.0,
+        "pid_error_deg": data["e"] / 10.0,
+        "integral":      data["ig"] / 10.0,
+        "motor_cmd":     int(data["m"]),
+        "state":         int(data["s"]),
+    }
+
+
+# ── Tests ─────────────────────────────────────────────────────────────────────
+
+def test_normal_frame():
+    raw = b'{"p":125,"r":-30,"e":50,"ig":20,"m":350,"s":1,"y":0}\n'
+    result = parse_frame(raw)
+    assert result["type"] == "telemetry"
+    assert result["pitch_deg"] == pytest.approx(12.5)
+    assert result["roll_deg"] == pytest.approx(-3.0)
+    assert result["yaw_deg"] == pytest.approx(0.0)
+    assert result["pid_error_deg"] == pytest.approx(5.0)
+    assert result["integral"] == pytest.approx(2.0)
+    assert result["motor_cmd"] == 350
+    assert result["state"] == 1   # ARMED
+
+
+def test_fault_frame():
+    raw = b'{"err":-1}\n'
+    result = parse_frame(raw)
+    assert result["type"] == "fault"
+    assert result["errno"] == -1
+
+
+def test_zero_frame():
+    raw = b'{"p":0,"r":0,"e":0,"ig":0,"m":0,"s":0,"y":0}\n'
+    result = parse_frame(raw)
+    assert result["type"] == "telemetry"
+    assert result["pitch_deg"] == pytest.approx(0.0)
+    assert result["state"] == 0   # DISARMED
+
+
+def test_tilt_fault_state():
+    raw = b'{"p":450,"r":0,"e":400,"ig":999,"m":1000,"s":2,"y":0}\n'
+    result = parse_frame(raw)
+    assert result["state"] == 2   # TILT_FAULT
+    assert result["pitch_deg"] == pytest.approx(45.0)
+    assert result["motor_cmd"] == 1000
+
+
+def test_negative_motor_cmd():
+    raw = b'{"p":-100,"r":0,"e":-100,"ig":-50,"m":-750,"s":1,"y":10}\n'
+    result = parse_frame(raw)
+    assert result["motor_cmd"] == -750
+    assert result["pitch_deg"] == pytest.approx(-10.0)
+
+
+def test_incomplete_frame_raises():
+    raw = b'{"p":100,"r":0}\n'
+    with pytest.raises(ValueError, match="Incomplete frame"):
+        parse_frame(raw)
+
+
+def test_empty_line_returns_none():
+    assert parse_frame(b"\n") is None
+    assert parse_frame(b"  \n") is None
+
+
+def test_corrupt_frame_raises_json_error():
+    raw = b'not_json\n'
+    with pytest.raises(json.JSONDecodeError):
+        parse_frame(raw)