From 7a17b1bf166b245a1cd6fb386257612d032f848a Mon Sep 17 00:00:00 2001
From: sl-webui <sl-webui@saltylab.local>
Date: Wed, 4 Mar 2026 12:42:35 -0500
Subject: [PATCH] fix: rename MeshPeer namespace field to ros_namespace (Issue
 #392)

---
 .pio/build/f722/src/esc_backend.o             | Bin 0 -> 2392 bytes
 .pio/build/f722/src/esc_hoverboard.o          | Bin 0 -> 2840 bytes
 .pio/build/f722/src/esc_vesc.o                | Bin 0 -> 1996 bytes
 .pio/build/f722/src/main.o                    | Bin 0 -> 11632 bytes
 .pio/build/f722/src/servo.o                   | Bin 0 -> 3696 bytes
 .pio/build/f722/src/ultrasonic.o              | Bin 0 -> 3576 bytes
 .pio/build/f722/src/watchdog.o                | Bin 0 -> 2464 bytes
 .../src/saltybot_face_bridge/package.xml      |  26 +++++++++++++++++
 .../resource/saltybot_face_bridge             |   0
 .../saltybot_face_bridge/__init__.py          |   0
 .../src/saltybot_face_bridge/setup.cfg        |   4 +++
 .../ros2_ws/src/saltybot_face_bridge/setup.py |  27 ++++++++++++++++++
 .../saltybot_social/mesh_comms_node.py        |   2 +-
 .../src/saltybot_social_msgs/msg/MeshPeer.msg |   2 +-
 14 files changed, 59 insertions(+), 2 deletions(-)
 create mode 100644 .pio/build/f722/src/esc_backend.o
 create mode 100644 .pio/build/f722/src/esc_hoverboard.o
 create mode 100644 .pio/build/f722/src/esc_vesc.o
 create mode 100644 .pio/build/f722/src/main.o
 create mode 100644 .pio/build/f722/src/servo.o
 create mode 100644 .pio/build/f722/src/ultrasonic.o
 create mode 100644 .pio/build/f722/src/watchdog.o
 create mode 100644 jetson/ros2_ws/src/saltybot_face_bridge/package.xml
 create mode 100644 jetson/ros2_ws/src/saltybot_face_bridge/resource/saltybot_face_bridge
 create mode 100644 jetson/ros2_ws/src/saltybot_face_bridge/saltybot_face_bridge/__init__.py
 create mode 100644 jetson/ros2_ws/src/saltybot_face_bridge/setup.cfg
 create mode 100644 jetson/ros2_ws/src/saltybot_face_bridge/setup.py

diff --git a/.pio/build/f722/src/esc_backend.o b/.pio/build/f722/src/esc_backend.o
new file mode 100644
index 0000000000000000000000000000000000000000..a13f4c2384756bb9430423d62dc564853e8c1fbd
GIT binary patch
literal 2392
zcma)7O>fgc5FN+qr$Py7OG6`psUk=vV$zT*0xq;w2~sE^R8CdZI?2))nz-0*)k>9`
zA`VC#=&=$94)6yeao~o;i6eJ7b4C0Dn6bUddI=vRZD!`p^YiX_cXP0K`=+8Oz)gV+
zbTfeCKCjYO@LUFxFac^gxgKw;b+w%=ZI$2ym6UR_&SSNls*ko)p}LQ)^uS*Az*45D
zz1|)u!&IssY0bBuwm!BZhx3P{?JuF{ptP`XP0N(-JkXXcYtzvlTDCT4H?+k@h1F`T
zrrooxDsvpmcC=zPpPMOWpA@nU<B?@gYehY;&u9eZuI36_#%7z$aM-lAGIxLJG7BWK
z#cahkn$@~yvmMhht)`Zroz3S8t1y?x9vIB1n4n}Z>|3yGm+fYkiqL;zU}-3lh>j`a
z%7mI!&M1@0+31wmWNILq2u0z?PapMv)ld~cg@{<jT$S=DoD3mRNMIiCV9`!QfeQT+
zzu)5zc3AzL$mb7A{6R^-`=rkwmiWUGe^}CwN&J|^k4gLyi9aIoM<jk+;>SI{)?sx!
zMUaYB>R;CqFdih-NkyuvFxsVJq{0|n@OXd`AUg`zgPc~9!2Xv*^+8w;<-@QV%44t*
z%16Ks@-+GceQD-Y*D6N!F>BWJDx_UV*I;AKsJiA3;{}nlX0r{`ahV+gH<;_?X4CWo
z2lYIJIj*(kMK*J`8_WxlzUJcjX)xE`^Y&Y05`cCCdFtxlycX0!clH{tQ9<w8zOVBL
z50(ph&2SCSD~<y?9#@?}U085;ExpUMs&K_yUl{UM8ixEehp}MwVKCeWnyCI;@AazH
zXs{;E1n(K$a9!K1Y`e_CCj6(RkVp3hKb`(P-F=wf66XURza?ZIzk4nskG|Evc)37N
zd@t>5Zv1w+guoDv8$n?m3#3nHhd4ASzl%d$$1Tjo6VCPMjEH)5L67Fb^-M{R&Qh=W
zF-dPr(4%>Ay?sfq{s+BXNpDxsqZ^Lvy_EDwzt{X;NO~<nkNU&)-bi{!f6#j^={*<p
z=!WEa?<Kvrn5S`YBOcj19OCyl!UFY;zAv41;!*xN@O)o=3To&)<9gpPqkTa8i;Q>&
zUgZB!jmCEzsI}#z03`&k@B}?^$jI|EK>0ob>j<32_#6&;FU^zIz~_b`e8uD$1%YwB
PQ<#gqV-yhos5$Q!-u(w;

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/esc_hoverboard.o b/.pio/build/f722/src/esc_hoverboard.o
new file mode 100644
index 0000000000000000000000000000000000000000..3e0c02cb6e0700ffa6cf0871b856a20bd1324f93
GIT binary patch
literal 2840
zcma)8O>7%Q6n^_-$BB~22`Non6m8=m90_k-Cnc0q9Mi@v35}vus)Q=DwwJ~v&YIm#
zX-`cBhny)Kpd66kNThHm;y~3%aNtsjL)8O9NJv~FE=7tU5)$EiYmYNoIfW<BzIpF`
z^Sya9v$MW+ZuY#QC?rIo6dhPZS2}`7WFk;08l>Y?pUHehNo_s9{@(g`>)P%7?fT5c
zKOc^F+}qsK>B`jRo*Ivh<e(`NN$Q2oy=c68e*dq3_O-36d-~r2)yWup9t^#fC?r;<
zcPSgcm#A!PC04peRaia0>x%M$@=0QO`iY_@%F4)zW$lTgsdv=7YVzSu1Wn6#Bs=af
zZ&%^c?yuvW7q@pPNy+UUb$okApV;1sj&n4&6~9j}t5ZbWAg|JtQsC_LfX$%Cov_U0
z^RF1Gnb$8Hi;lD68E-kRk#lRtxmwAtRP2f|?>c4M^BmVRCezu>>B;mv6X}}uw&RW&
zlV;XDZLl+QHZx(QTzkc~JbTP|BeyVj%5GAmC(|X@S}iXbu6@1gRh?BMd*)0wGjWx2
zS<J_>tx}bg6uObT<NEfE^xPyxdphPi)qZ_IIi?)f29+Ttp$zLI^2Rl5kzG3du`idX
z9olIkjZ`@dTMOAb^&j%+bPP7<;E^inhoTxqLih-sYT}tkMO+q*q9J^g=9~CTfREA=
z^oy-Q(N>Q;8pT56W3&uE&o73i22XUFqES}}-$m~u#`qg(D&m}vTSK};C(s&ohsJjY
zSkBduZqW&}M!g|?Zzvv@a&ah5pEeO2&<bo>H0lfC`{?r~U?9Nv$#AUCGa-9`zLq@9
z{zJ%q9I}6d&FjOJ_2ao4igzN&aXtzCsCS5srUbLMy>fBMxo*29$8sxXnMQp&u!|+D
zylk&limvUg)$DeWYqnqX@h;VD-@Vxm;9)$CR@#MZ&v)wW0@c+jrm<$Zezr}R3c1<h
z<=nzzaS`vTR|A$kGxHZN6)*6}Ry?qzaspm1`Jk?ARnNCwIZH5M1_d3W5v*5NvT@GU
z6OFYT?jf3H|0vO$te+>ULvx(Zn>x(rm1y_{JXnu4w2Fhkd!b@{fWwjCy;E_Nc|TOX
z-%amk&9_R>zT41CqK6B|C$nPt7MUf_Ba<DbRN+Bk!G;|fKfG-wZo?y?!7@A*(b&hQ
zLV}fVi#R&cNQ^Sg=1~a7yAGG%re-qBPOWCIVu5g_o0jjp)zX@8dsx!{E7-o^eGxZV
z<2!pWn)j6DBpSa;;zkbR#B0Xe&-?seIKD%9jGR~Gf;%`%tY^_=+)J?KZ-5x{ZU|R^
zok0`AXOM;0rW0)njpajp0{9&AcZBD{IG+E<XmVb@kJ&Fo<oyT^nePkmF^>6I3%+mB
zm-*IVGp7(Szi;4>`Mw0-AbiZnx4+=~1$~)s4>rG7LImGWaL9b$OZ75d@bP$=Plq8m
zm{Zit_pQwLNUE2=CW5aQ<GFru4q~u3U<(o4!|>zR;%6MLjFt#o0)9E~&&Znsir0m|
zG9vHUCZE{*=V0Gzu{CnRMbmg-Zgmm53wvA`(2QYWEox``M>sx%<5~2RXq=bN56?~1
ZiZ0a=kpB+}KAx+L({bn)L=Z92{TCM`mFNHf

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/esc_vesc.o b/.pio/build/f722/src/esc_vesc.o
new file mode 100644
index 0000000000000000000000000000000000000000..e134baf4f2ede1cb25b0247f8850b006357f9261
GIT binary patch
literal 1996
zcma)6&2G~`5FXn}(@+XD6qVn~KqXR%m^7pWI8lWXgxab?Z~_$B$<i9?IIP{OJ)pKi
zJOfuA0VKE~^}v-Y2W~t82nnedM47R@WW9|9Bkk_Ye4l4$$GfvRJ9kUdG!UXe5qcKD
zuS|qwtI<+~0*pYn(QTC9!g*t>zV%}3<Cd{q-zHzT0ifO9+x@)*J0jk`wNbBMH;avh
z`{q60UkS{|J~wB$XU=*KYqwe3T;zU>1%b~4vsS8<r)s5V)skmF@%f}#vntk<NzU@M
za@8zyw!-XyO_~p8?#^FgNr+Od<Z!#wS~fXba|74!n3d`2O1b(7W-6GF&1}a7t%z#2
z?(>kXm*#6QFr1su>xImyc1#;Hj%z2hliGOZoLr3LFtRHHKlbD^8ma057@*5A+J<6h
z;9$y=fx~Fi9`vOS@edFb1F{M~3ujaOte{4#0Rswu04^u|0<JpZvKWw4_&Hce_;Eft
znU1F!RQQA7r1*mhKd<ofu!@WxE3fc}BE07ug7w50#Z`l$9)y|!!-{<fUPe5K_ANjj
zUQ3K4q_d#aT*Jv~!9)n8H66S4ly%xox8o|F0NrWM5(}Fl-b9aud?O8U7OZ+K?PEdc
zcVQwOBu(LL$qhoro37VgiP97K2!zt6n(1TlJsCek9@O#o(2da#B>2(z+&Y$p&Z^U7
z1sh&yJGh2CUYCW2k0AuBZHG2kP7r`a4r_l&`uL;5^zo<5(}$20sSgsD%ED*f2Nb1<
zixiQ#PnoCE1*_$I9_!$#ut!*S7;@KH4OxJ7_)j^7JbI7frNq6k_px~4;vI??uJR}b
z$pswr@BYQRh#Ylau@^#rJIhUlcSXWv-b00V6>aJPLPYH6=#cllgSNnkEA&?iZ%)Ew
z-aCc2h_>AGM2CBWetP{kaFBe!0?~D)en@`eQQf}ap!`H0bS~-zLPWgJ=#b-m!gxjW
zQ9SAzBHlODDP9=|Nf*avq{S0qG<I=d2!bQ|jx+UAA;ck}RpdtY1UkOrptGFDLHm+U
cxrsY~DrC@jPf8*p-U!+<?<X2L0U{>UKlQEtB>(^b

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/main.o b/.pio/build/f722/src/main.o
new file mode 100644
index 0000000000000000000000000000000000000000..462921cfdff9446574c62d0accb2f9c746e92af0
GIT binary patch
literal 11632
zcma)C3v`r4mcHGcKoTB?hXw*>noa^u8rn|6Ta>(LNCG4h934QLe*8%{bf=sD?_h$?
z5X5m%L^CEROhjFDJ@J7V;tNJGtU9x<vvJ|L$Aialh7lFRI&%U>Y#Dd5_g2;4kHR^#
z|2cnu_1(I4tM08^^}l+@@>NcQ!2tSU04pRIKx+}JNuS5S3X@<W7*>va`}cn6ClQtA
z4i42F{wC+A{a@ET)c<w(p+&V&@OG@eLg(uP6~j=n-mUZOLToic=L~0&)6qkv$(9*T
z3oEr_$;nEyY7MiDGjoG=Lm8R&o{FLNwYk1&LDNus!_}Qvch9KJ^;Zm+Rpf4(=3n%P
zX}GNNn$Byw>xSD)2L|mLqG@1op0{rJv^FrfpffXnaVPatf5hHnf8@HZfx+UIfx-F9
zNd`y$evYti*f42yp|i)?SvLgU+I`;6y5SRAO{Xb;RVU=%#@eSj7oj%#{uej{i;QIu
zfwH=xtHvAi>xQ4awV-1*dND9)Ig9-_3=9_TBD)snYt^q&%tl_Teud$y)h{vZW4}~W
zcIl{tkWQR}p-*-ma_XGNWpa<sbu^mw68u0(ubYz64y<KEeLJbneEy6!iup9UgE;z}
z`KQ>rJ}R$q4#ehk48+VG1A}7^3=C!-_{{~l%6Mve+*TSJo%tX9l8wv@29xXZuJ5Q^
zc4X)Bx?w19TRE>EECvh74#svn3^wCQZexa%k8^8nZtML=a$5~WI3DBV{xq}6oEss1
zI+G*eN6nfeVBxjqBV=#PF<rAemgU%T1oBPhJy_DE$?dyi8II>sV-F(Lx3adIn4Q{V
z`TK9GHV;7=)np&xW9*J)I<99eGFc05ZDq{|+e!L?`hnltIVmu^vmsE_*&UnW@RBWn
ze7G>ObPw`BTmUHhpRu%NM!I8D9r?`GRAy^oZSH0$f}t<lr)@r)`_ea;ceD?E+D@7W
zV}7)BU2SKqz)^XOM=k9X)$sngWbCO~Xrbna-a7506b<-AUTZ~bImx&$(`zZqj<-*(
zncDhrtiWs>8cC=AUvB>;i-R1EaaTlRZ0)s?u{Z}gXJ{WtIWml832rV=lzHh;eAeV%
zUc90gKH7RVE7!A;aj#7*<DbI*OXAje%@ZhFFUcr-4J>B+u@;IpodnCHt8*iepVMh;
zU1oEh>Z-Qxr|8gm{JWPO>CQdXw*4lyK1lXJwXvfpu5n+rp<{NO*__a^X~xfM>}++|
z&eRQ!EU|n6`2&NaN*li59)NYn@RVLYS38EU?wxRMTI-l&P`H8ZJY4?mDel47=W?D?
ztNqidUxT&cWTcu~=D$1pI0n&^+_<0Qq4`u+_fr+u;)=2zq_#A}J?*c@FzReoZ>T0|
z-Ox^!2et#mY#keFra#O3we8F5qLJLP+Gr~qdbQowI_X$Ci?boW_l&Kz>iTTkvP+wL
z4Tsjo@`s>*=O}>Rrlp=PA&b`~>D-W1rgl#u&p8M)tZWwn>$2gcy^E_8Y<{nGU&*;t
z4O?$Xl14%A?0qvNjojYZNg9)Si}q!sMq!dHvo}A98GCK}M!rbxCH7)=lE#G>`IrvJ
zUWW7W`CK;a>18wIwC(@NIe;tk9AJADWxNefI~DK<Pu#VHmo8TVtgHZd^55_*hkRRv
zVo#BudN<$edFG@$X&%jYzaBGYgC(<%?~|F`XLBdn@;>63Q#Lg1ZZ1z3`{?oS9?SlH
zZIRPZb)e#C|5Rtb^T;>bcl7kv4R7C?*~jf?c8x(RFQGj51M(!DUvaFXou*UV<IzmA
z#A$GHj=jP1Jb#6sWzd+ev1}CUKI*H^kFSQ_>cg?4kQe9ABmWKjD9(?^9&;Ryy#a?~
zZ?c`Q?$U^s?%Y*j?Kk1r564b8p1{4X(7ZSHmbo)F6VC$2-q_n_>>Fjj#qv8WC-=sF
z2Q=!vv43YcVl|3U8}j$Y-UWNl-q?RQ0L$-To8Pm(#&(Sp9{-4Wycb7GHV(&*F*I5y
z_h;lo{^8i`OrLl<<Hs2vi1njgYB8?sj+#mSv$<Yd(MOXvk%ap(?!p=a_XW%t2lR9e
zdb*KW&w18hCe7oqHIC!4jpj*J7#U_aG4{O}8Q#OD+G(wrIz#{4PHiX$V(m{&n`A4y
zINVOFy=<stXa2zkk*B0nUp>m1h%;rzs_L{(%mhbzM`6-lHrr|Ju(A25Vmku0Eyo=#
zF=wUD@*2FK*$N%}PR#lIiEp0VcI_0NW5rIBb4iWJknZ%V1-ToJkPTDbiHje%&#x&K
z*+Mm=y7OPkd6s)*XMNhcvn<8V&c9v!+JIx*=qRdzPLpUcidoxa%VK-ADR0!rWXn=R
z*2$W_m##T^O<mpaWe;WZqp`yFM`JS`i+0yt-W~h6Z#>(xsrIT4s&Cy*t%+wdel*S}
zFdk!k@)_u#^8Lt&ypHMO6~*(Xcs_*Zb9heZPV2xJbXuL+-8a-2JFn_CbdK+a&Pujg
zXq?oe(YoQI(M~?%c7dg}#m>^2Y5svh<HC&Yfk7};3eTO-TC2))@9X37&gh=$G?Zp^
z;vCkKE$A>ipUVs6HB>Z|*HqM$XI(HDNY3+V<Xgw<VB0Z#?(o6bS_jyc4S#x=wZd!8
zCx`i3KmEBLyJf?FX0^CCI8T2LmVD;~=cUib$7e0WY&nPhMvmsKs8~_{_&Lf0yrPwk
zuHj=FGvj%@|Lwy#&@qVTy?9=O4-I!(wnQvT3Vm}dTLJ=o95o>iX~ch;1%-{Mt*EMH
ziN)jgxf(-J3rg>_2tAaO8HGcjiDQTZvoXigMhxayLaYxg_>&8Bi&5eZMo}q<mIx6d
zZpKMjv{p4uj5WBG>v;XedZ9!wl<I|fRKVt&$q*Xc9OM{n^<trAjz!fAiteiLlerBm
zDl3<mtt-~tY+e@*2Q_nJST&ccA@lN(NAdX-pSfNQdlgL!tD1S?+!9Ce!ns@L%?-IX
zht=8Uh4vDAv6+O9#g2JqtEvPQx2DWCZzx~8`Z`6Jn7eSUM|C%Q{bp6!7SICWW^>8>
z`6Z5dw?TOc&XikmdjepvVlllktVWgAxvLk#sBxoLXBsD_O*UL@$T3YZOf}>h^3p6g
ztEoq_APsM9lWR>WPmTa4FeX<cH%UAVGEyXIFa~)-hBpaGhY3a{)lmiBKqMU|tWC6~
ziVS9NIIbh=<4*8;h<C&59Z8(V6HC_(@cO0kZh8B((W&)SNu1iho0VEWl*Flin10xi
zI(idivGMD*fPB0lG(-dP<imv8g+f3s8j#0LGkGdA!C1H<MSrZMKUUOoFu^#9>!Z=@
zuYv|FQs2~aA_i9BRqQt#e_JI^`zq;^KNE32_e%8#B;F(OS0w(H#7{~5jKsf^_;(T?
z70(p_8vi8ZB+5VsCt`k0k?L&{pC|F_CB9nXO%mTJ@qH41LgIZAACUNIiGL>Xze@aX
z5+9eeq$wWPO1wzoOC|1<_)QYuDDj}gTP40n;$0FyB=J6pAD8%m#Q!AmuOxm+;>M&c
zj^Z;$;yDt}m$*aXOC??_@gGavBk?T~-zM>gCH{iM-<0_K68}`<mn5DM-%I)W$&q-G
z#FtClCGn8NcS*cU;)f*uy2SrW;^!p(t;EyuT0o*d;Ji<OizC_bYXkRhs>EkWe6hrD
zlK5>B_e;E0;`d2>pTr-R_=^&MMdEKr{B4P!l=xYRUzGUh__dP9XS&3%lX$tr>m<HG
z;z5buEAfL8KPK@3iGL#TZzP@-zqWIK=1BZTiLaBmU*c^Ne^BC2Nc<Ivzbo;x62C0*
zoTOU}+MlcvpC|D(68B1ctHgIme6Pfxk@#y8hmbqaZ1+Mz6bgLcaYv(y+UAM|L#}AR
zyTx8yiub;txgvOPi;`f})#z>sMp3?C@j{fVUYA=9DL$saq@_@|ZiUO);HqAG(@J-<
zFQ}-nvV4`RzOpJ=<d1lL(9ou>!(Lp;dezNdl7Y*`Zk%0>-cTeMP0&zFFhNQJ+Y<y8
zo0Jq9Owd3{W1`9z*p?t}pD#hQ77vREc>RiZi!-cNgu~Hb*zFTuR5u5r5K=;#5@lYk
zt*ms_Y2M0kb7P>1`+3XS<*lye&2CRnsoSQgRcc_HqU&N!y`lyp{>oLgNo~kVWiagB
zB4jr=RA8{ED^^;oGzB!Am&%}9)3~Uzs?w#4tDCW|(d|`uRYTORMnQ|Zqb-^%Kt?G1
zRZ7s^2BApH0*AxF#X9l2g8_Vki7Ma^<A6P3x9Z~>9(NEQY!sm$j)qm2kK9qY#H(tJ
zytFwOXx_q$?iODloLr1x$F69&SpiSW_U(FGQD&7PB^dU#K@ii3jh6}-U>EtIKqPzz
zHVQR`qP$j9)NP^z%tY0#g_{FjUKI-a6j#XI>~4y8BNCd~4U~9`xuPc&DOse4!QI4#
zfo69}@nX@5yHSa@39BM#s^a#sSguf_EJZc0q$-W7qWOV)PRmC3l$FUFR^S8Y^<r3V
zueSvg8r^hx!!5yZ$fG6uOHDm$pvfO?#%EOCcYSr8>lQT-Rq6xH$-2yLN&s3SK8jy_
zl%X(oqiE4^M3>>xb$MxqgShhfRQm!NN&$5flbzB=RT6ewZf}&b`v<ykdGT3U1)dlY
z{*awWKMlJTN$1mB(_nDMF?YjJw@aa<cKI4xl6_Q_tt~hhmljl%NOA=mM<Ci3w}rb-
zG-<!m<+NP|X~Yfqs-kU`+k@*u^Me0o%~ORB@A?wL)s<Lgjp2v}UZ0nT&Lzf>Bw?P$
z<=kVQx@>`nA{rnM_2wdET;#^=*C&9YuQf;1Ky$QFgfF1Q1Fhk7HR9q{y%BUass@#2
zpuJ!nzJbs}xYjo-QCtu%Z-};J_G%+;S>!{KM#6BCP>Z<2jg7Ryk<&aM;=?A9s^H|M
zNT@ej9c`=$F;5E)J~0$tnUbBfz}+p;Fbx&cEotF4v8Auzj(epzqR^5ExV6*_6|U)*
zFY3+}+7`c@F^gfZzQ*Em%%wnx7GK1R-tq-VN-X!N5hgoc9s|uyxU2YqPp8t1BjD>d
zNzxdkW$L04rw%)HiI7pgoJ5|GwJ5$<3Mo;wEjgvH*!;XLs*0-uN0O`-zzeJ^q=`(?
z$Q<7=6Gp|p#)6V$BxwM8+!Ad<xGAy*ehel04`Rn8nO??w0!?dC72Mo$RYh?k^%~x?
zB^2<{nq*-^9ZXTYK2ru^;wtVCnI$jrG9~8k%3Vj_MiQxn7edSomWQo;uGl*$V<E7&
zUwH+1lZ8j#EC71@mW4kH2utx>Fd_c2qDJ64fjxxt0p1Y!4k0%Bl5iowbbKbyS_CkY
za4~*cBE+vs3ka_VSW37Q?Gxe)o|S|*0<0oj25>838Nf!uasUru1%RKh5+F!e1rQ-z
zj_<z-o%l72a0S562v-8!Ls$*4n-HCNkgyiuVZv1aj}Wc~_!Z$A{K`dG2k<muJwOlP
zP55z=a4q^vh%b=dBE(?4Pk1xHSA;(X7$Up{;1c1j0N)e-1mld)Vp;3)oebdyfboPI
z@%;?pZ5VsP+cExxE{qG|CX5TA8~rEr05lSM(SJf8fJ&$Uv=cT0JV4k4&_U=2pmz(@
z?ioUC_W~idqjwC{?kz%W_by?8KQm@o0X`$X8Q=R6V!O+P*p8n4v$o*)2!jCY2}2lv
zLNCUj5cM7r{4v3wBWwovHDMUwBq8?uAtCmAo)G)JNQnK?1FSKEK)4m-MyTRDJ3<X$
zGGP>83SkR?nQ$9G0pT6^%s_Z8z#Kw+p|=2$`ddnf{nZm<f4351f43910c<ApVqOt$
z2iQi4`E-wv-%scR*f03wg7*+&zP?L18{j_)i!h#opAr1L;C~f7CiwS)XQgAiJJBD)
zy8vz^#PO^m^x=33@r9(1@Mkz)!X20ggzcCIggXJc2(kUsgmdwm5TPCCoe;-&l<+!$
zcL?tW_#+|uN$-)3S(vv1>Gd`7G=Uic#|q3AI9cEnf%FVb?aTrT1X=~o5$F&&Pv9bf
z6^L0joF~FL=&#_a;Pebl^<9GZ2>z<z?+Jcd@XrWwK86T)VLlVygLyR?$N6*2E5dv6
zd71DRm|ujuaUUZzqaOkb1X>C2!}UOz3qa4%w4T-zV%#Hy_v5}pxChrG;R66K6XFZx
zcL*N@c#jZ2+I>jaf%!uCOMov3AI9}Z*oj{eG7xdzvIx<SYXr{~e5T+<f-fON`zm1<
zu1msw0Cy8&e-991fAp-I^$5VLgpUHeNw^>2cY=Q?@C(8N7(c>aq0gC!Xup848`qh@
z8wt_=N<y^1mhdrvO@sl=Pr})_o(R#82L*pv@E*Zm5d2j_2kyH<enQCK6a0O_|44}I
z<|{(<Hzs&m7V?8QpM+RnK=?R75#bX6P9a}M_$2PLf(Hr1IB$gig4YFszZQ5x;7LT<
zZ~mJw2jDc}A)H4-%$qX;KNI++z^?>mjY0c3u8D*=KY4_hpEC(DkIF>-8bVy(w-Ywv
zzC`#Gz+HrR-Ru(bCkda%>lPu}=_CAC%ripl=e$7ro<rk{5k7<KU2ys+Lh>|$VAtA0
zQMU&%s&e$}CHyQG1v@@4xxwziXDvH^?6Z^5e&y?oM4kKsBT<7lHfppbVyF8@X3-wM
z$x3~<LcQ7l(F+z)`9p76>}r@s%Q_%`itWW<_l83uyhj8(exS7DJ*pb;v_uuW#QeXH
zX{d>p`S_Q<c~VQfbh2Xx{*s=FQ;_wjj*eM);xhZEdbljE=ohCge&8jA9dqy(mjjeB
zhI<tbBpb_gk`A5J-zq$547fG2qYQs_8zj*ESc&Cidp@*B?a3as)$L)Lrr4`OPT!>T
zL$~cgL9)FdjSmfyJ+iCY!^?9@Tvnki-3C_0%eaiL&?CR}LofHCfb8q@LH6`I($&iY
zqFh2kJV-D3t261*`DcL+L^_(s0pO)Me&~AVQG$I&^oqZrUa3wHNskUfJ?6yC<FOI$
q8xydck0<#~F{0S%K41|#rr`C39219bkJ=^c-8CDpgSrx;uJ?b4oa-O}

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/servo.o b/.pio/build/f722/src/servo.o
new file mode 100644
index 0000000000000000000000000000000000000000..5fd6f798c74b26ade0a4b4706a16ac1f7ea9cfa7
GIT binary patch
literal 3696
zcma)8eQXnD7=NyJ8(kTrlrdmqc<T-AfR*mcA&E(6M+a<k1P~Q4ZPy)JWo<|A06&&6
zg~VWpl8l(}kth+Ps8I$bkpu!p{vaXzBgUZFA0++(%Z%wjurMM%&)vQ4?ZD`hynViY
z_j}&=ect!3yH|DuIgSG+9C#q_0o*FmG6jvA@<1glfP!{gWkc2_3hfnr_OqL!18s+K
zzy-#UIaAm1;mHMVs1hcM0Tw;_>+eThnN71xzFFFJX$%^cv@Z{S8eY;NZ3|><ycCtT
z@u*=Kj@YEDV|>%qv4RG_6wLabuM5(%LsDIEdC)dYw$$&xJ-V@SO&}xiQjgSM(ZQo7
z20sgP!`zW3NseFzsrBAd(M!lgPt*iU-9=xJ6_yqUr=1XkSI4G3t7k-wUvN{@{t?B5
zDm^yyWahlK9>L}xEf_6;<u*Uq!A~*H<4adupSdPo0~11l=R&&5Hty#S4R!tbAnMLK
zo$Y~i)#=HJJN(@TiaR^UXKMw?ckbP6wGS&?@SS6O#d!{2u(da2od9A!=1hC8kKBE*
zyL1h*^Oe{9_b!zld!gc&s-QbN+n<)4=Uxp^rDJ!$tvh!2^7fI*I}=oY-zlnXYdtgs
z603!{?f8`Qx0_C?s?YsQ`SmL!Gdj{W!nj|XeR}bUJuu<qa3${Q>?~0jAF{2F>{$SA
zVSEoSv~CJ>(q5ds@4VjQ+ObSq<!V?|7)1VFZlYM&7wpQU?Oz6q#tYy8B7Yc>`uMX?
zhuwWYW$hPFm3OZ!yEc9QP`3J$^pfdAo*-6|-VU6e%xZfy{T<qQTb<B2W90m;%zNCT
zUvG}wUjQTbMPEhv`oQqy!#jNIkyAHr>h<~d;cPY7&kko7L4Myp#=X2a4<xMO)7J`Z
zfxrsU)Ar&^;)Z0hUlF$^Q({XhF0PDs%RN1EkGM9KjLM3VOetb>ZN0CqxpsSFZ9MXN
zGF2lsd+WV*A_aZV`5Hw}O752<id-XZZdup4Og1QLn`^sMkwmmlOvyWAN-UWW>zkVD
zeT}a{OFiy)M2>XF@Wh~55J;v}`HkAnW+<F7t+UAH5=yx_++2PhH=ir#77A|j#iM4S
zm_q_gJkq23FFz#<z=O@4MxVF%0_fM7g$2O-sj-NtZ6Ls0)bnuYA}~YKJQP}<FVygt
zbEv|cMFx)-W@<gVhHuTG>^V!vJ1lsIhR6G1h=UoL=5h8@`HMCDmK=&!mlqyNEcg-)
z@6SO>auyjpI4yXmh9AtK@-x%%E(_jenZGOdq>eAO;7cv|QVYIJ%jbh-P;NMMz&I$&
zr_kaNP5sQvTyPss2Wrle<xQO@7!UJdnT7+nf!c-rUxAtlt-gghsLAiL_+g9xmc`$X
zKArJZI9zyMjv79#+yxH!+VI1gU#z_V2v29oh5fvOn*1Tncf!wxuRrgCTT^_DDspOP
z(i??p6?P2tL{vF6uqzJLJ)nfN6lygV5A{V7J^iwd4#g5N72<MSkyTjL(h+J~ySgj1
znu6qQSlt;~`*P>wfj}~`HP#zIs)XD>1-f31q*Q|(NkfrDZ?0Ic#i#thj($ZB?NHbw
zyJUI5u+>;}8=EFBfikf~F9WK{0X>G>pmo<)1^5NWyI!sL%dr@M&VpkJz$=D+pY&3I
zgQPKkoOCT{y>NH|zBBxbq|v{Ons`S^BX6tW(^*+KO|L`wEk=Be5%(MZI@Aut4H`b3
zBf>KcUggcW8tF!@rgYuMEPSD=;Ke>hz}u}T;KkRpmx5kXck@B5#d<%j!F(UAnS4jA
znJK+_EU9(L8rAw`4aQ8Jv*wh14{3#7c1{h)bXdL7WIQe>a6j-1<&CInD%QP2l@;91
z|1A}W<Z!Szd86e?_JzUrXgKzTvEqn><QW`x9RG#$A;wx)#26F7Fz{Gv?@Yhp|8ATw
zdJhtY2Gv`M!_2n<{Tn!#FuoQH&^N?yBpxCk-2>vIJz#vB&^GfmqO%HPOc>ur44C;g
z;AH3=6Ccfs@u_H=`3BJ`#TXODH-G^%Uk{QH5Aiv0Fuo7aHuD`oCyX&BjF0ZNnXlh8
zzhcZWzOT?W^JUO!Wn>19+|O~C`36n%qpvCB`yOpGUn3r*A&fC090~pDHuLQ@&5!nx
z@v-+jJEv*nd(!^>XyH3(njd|Q8Q*QR&GWnbFMNMk_>P+Rs6OK>LNZL{&iyFzdC+IV
z)?4-j9KDa3Fq{W*G(Wm0B*eE{H??2N(Wt{8ylZr9G}(+!19MOlhJ-Xy<m3S2!Z_&u
k*WjSKwBOVV4Cf?+8-73M<@sh|%#1sZi*I4YFvrY)0BYw|AOHXW

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/ultrasonic.o b/.pio/build/f722/src/ultrasonic.o
new file mode 100644
index 0000000000000000000000000000000000000000..a1e57035a64a8ee432c91951382b2babb24488c7
GIT binary patch
literal 3576
zcma)8TWl0%6h8mXw%xW|N@=BR#mw%uW!u`d7f89hwB4}1Ln##_gzQdthwjMUoSAAN
zF%X0YFeYf_T1-$dsfjTy%7al-607k+l9Fh|g!teKX?&@m^nt{B&Rlk<lM+42Kj-%S
z-+#{h|6Gpm>I*T(z!V04$aw%IMOr3ri>Car5h@_i>ps%4z#I#=+|hTZ+()3gzK_*7
zFv4vv_>>Q^_t}*L2|^r*9ZVFS=N1@Oe7@+SW85)ucfR28(&9f$b)lvZA0o@)qdCPF
zD*G_ka(BM4m7*0rzxepjClOJYod@5ZCrirgJhzoHwV@I(H%XS$%i&Dt1<m&8Y;~c0
zPbE(g{i;XvdpBiPPc7Vr8QA7%1E4{|+UUA?YeS!JtazHM-+YgG%e$ba?a9T0by{`A
zl&4vf9c$-UHF%k4RTo98Gjs)CB;pUv&O2H-<YyPy#Md1UAHWQoU@dHX@geY!9?}}L
zChNT<WIC}16xLfYX4(b4?lG>e@Sbb>%2~&W!s#n-6=iT8-km`Nj|0Vp7)RZzdk5kt
z+%NcDzk-MJUOws0Tppc}il<$nicTHZc&n!W^i+M^Ee#e_{+wQLI-DMV$SqK<e9!u^
zvJl(J>et*KkH7Pk!*dR6Uzc%u;XNsI7kgknHcrTLt;4*j#@laq%tg-5eEau_mOJh{
z6?^_Vrj!W5VEd!*BVRmScsy}){AAhA_D5<nS{-L*z{fn`xqg!KeKhLJT*u0;oxRiv
zKDs|Y8TSF3=?n&U@cz!-FY`m`bVA_|r)9ofPV&2w!(uEZ#`pm_9TgQNEh~I$Lvv$O
zYs2eX8j`|mX}Okf4KxRucnUUdZ`{KBWicTNidf4ZY#;1@Ni--LS{sICAr+1DviOFi
zNa+;cymf1H<Ca6v-i##(qA)B0^P`y;Ov|b`*3jPy`Kt^13mv7-GFHwua20GLbF&wm
zUh4ya6G*HfC;YjjNA)YWEDOMa!<t5)v-wU~vn=9-b?ASSjXARx864!>@c9}(l11fb
zEiyQ8+3+q6@5-WbmX0s7;fri|{iR?|=U|l$ze>aNCIItR;SjyN-!&S(Dhpbk<)Fld
zFVXN<v-py%MFt0@T0R#ng)+nGL(MR66%N+h@ay4u13;Q#-YQ&{O^<R=4z(H%U=DRD
zIAObG0#&Cy#72z#S8aL8=4WjF8Jqv1&A(~$zq9%G(Wf&T$5D#s=MP(c(a6(ImEw6>
zi(ta*ei2j|KJ8H{Mt2xKJwT<nJ3WSfL-R}E5KT6O`hC;p!)QX41tp!5qJbz>sZbRI
zB^+0!WE1LK(t-<1DM^K{_P%iEK=+<-_cHGlSyIITDW&Cyy8FZ3K^>74lZvQMGs3}i
z>aa8tj0>rhn6Tpase-JAyN9&c?)}KHPgDnFDUIAmbHQCHVK^an5AMy*?ZEd>SetDv
zSCyra5mDAqouWD<MUPn1SXDSGBof2I^7shG6;)70E0}_^sNj9EMpdH3uA0I@>~?T(
zmyn7jj1{TbK~abWg^W5Xi?RJeVpPmlYyktb;r<l)0D4H{21gA480l(&Q>1GE&XL{>
zaEUZ-{Kus6;7^jS1NfYDJ-{q#ha2EW(whMP7%+~!^eh!M0C){e?_r8>GyDi@!n<sm
zH++QV_*wuu(5HI3NaGI*y$@*JYow6}0?N^(Dh#7mWnITj3t#vu1Y&|JKwwx=Ab_8d
z00jfNv!@@p6*K1Eu9#f5vnwKUd;H9_vD+)=wSCWJRyYCFQ^0(l3@6tZ1fuC=QcU3;
zz;9+iP_doiQB_p%p8Zd$L>xWR=9fnQKg>;b7^cU-nO{6R&U`K4HfsC+U${nt&${lM
zu@)((VZVsF5J#KgJMmCO(0&dFVQA1fqcd;q!--BDW2TsVAq-ggVmO&<AwH_b<QqZT
z%9lWg-l3+Ld{GQo`945Cs)zVUn|x=`w(^ZVgYPurtbA83eDt+8`6g|Ar;x7-W2Tt(
z-N1mA?}mks`Z4)_K-*g1BszYR%)pU5i^IzInT3zO_9ox&Xj}Q_(4ksPAsoqXIIMhM
zA|I_w_pbzp$@dg(OyNI)E-D_(KEozu^0{ywJI?$Eu;Sc^qxxv?Nr>;bZfaM`(eU8~
z*UXry$B4sMR#pf@LK;(9@#CZc92+p=#X<E^Kh&$)1DY^~hwiLNg1%|ef1?%m0Gnzt
HlNQ{+TWL%5

literal 0
HcmV?d00001

diff --git a/.pio/build/f722/src/watchdog.o b/.pio/build/f722/src/watchdog.o
new file mode 100644
index 0000000000000000000000000000000000000000..06608b70aa0d7f8d5e9354d6d2bec488fe91d5c7
GIT binary patch
literal 2464
zcma)7O-x)>6h7~VffD|q3QFiLkT}@Ra~L65gJvi&0|lfZZ6vg2cr){uc`Y*!-+L6Q
zi{i>|j7fLy-Psy!qH&{i)phAc-MDRPTmV*_)TDUMo4GT0UNCx+JNKUReeb*Hp8GSm
zCTC-kBmp-Gf>7}Q76TqqGvswaI0+rF_ib?Y)9u<=-zJ=y+CATM|Ig?1?>z3mAm4*K
z(F1kiZtPw`Wr5z$3ITTNg1leX)RL`>EELpkEoM(D4~JuiyDeEbedqT4vyaxp%k$5k
zNAGV%4`1Ba93L&TvTNhpe;*vk`$zA7H`(!X;H&1T<R@JdndR0(=V;?}pZ(w|v_E(%
z_a6QA;z;W2TT88V#%j0sevk%h2Y%fxJb}K$CtkXetnhU~7^2F|mCg2VlqvjfXDtpp
z9Ft}iv)sq=CLaf8mMnP>7U1=c9f<)`9xYkt_qOb%3^Lx5qbk%v3owYn7KlajCXJ7e
zzs-X2_b#(bmbL1z70YI0c8*Qvl14ghq}fH=N*Ru0*$x{CMZ$w4p$~^bIsKYt53ms}
zq75<%hR=nESkN|B4c##Y*p;z`xi^fGL}(<GwDo){%WUI@>6liYMTUnX;h_&;EP{*E
z4Lxas6vSc8xMjP>W@v5%0*$qEC*(G@LpmwFtaM6U(koJr+AD54en2LMRM<Z%MvK2n
z6$+q$EW+qlN>6|SDl}9vRA@&3%W_ODk7%Gkz{d}G{FXAScrdxE;9gYg*LnOpPC#5V
z1?qkLdLO@Dq+>n}K7ND8?=G{dXIG%n!^<%GqAAei!<(S3M4&ZFh>NBmo9b1uW;}UC
zqnRZis^G~KO@UT8<M9B#$G#2s<D5VscD#gldUyaX`|y<#PV=>4JwLAU>*4c~&paGi
z8@ijyrmc*Yf_@kJ)8Hh`jdUiF)${3913gYCGZSXsbYW_2HZlGFL_9G~9w#NPo2ly+
zY{6Ku4JTWHGlrXR&75Ja3*VSd!d}nk&3vXp+|V&-I7m<4tfT;N8}qI|RXme&7r<Tg
z<qm*t>R$q{q7=uF=hKPmISt;)qB!}~gXY}Kxq1?N*Dm&1KEg}rf|k}@9kit5fQDCF
zqo7t^rdNVv;@<L)iHqw#1{Nydo9OsDXtq^OPpjTAFK>+TR6$Ewxtx*572&(2>8@*=
z$#vIoum=CrUPT_gGyFCe|7R*6^H&AS?D6=k;^&bD*=yKnAO4FMMvi}8x)<E|YjhR^
zC$L3JKtl}x!!g}e;!vacrm%^6zoSq0h#S|Nz<{WC7WInvtylxDw~RbdPeliBRN1)R
zRg8#w6R1b|P=3^Ny<0dI^;-T#kM6XnH!JATi^%o9@ac7<9>W+np5Kocpn3T|j-n&J
zY&`xDIg~How^`(gFBsSRrKBhFj;qUWB_8cF*&^yu4Y*NG)c(MRT5CN169(Vp4)(+$
vqn_tVegirev9;s42OH%_`BLq8Za9Ri2z*V0l5xFO^hMq!th2&F#Q5+Z1`$h=

literal 0
HcmV?d00001

diff --git a/jetson/ros2_ws/src/saltybot_face_bridge/package.xml b/jetson/ros2_ws/src/saltybot_face_bridge/package.xml
new file mode 100644
index 0000000..f9504d3
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_face_bridge/package.xml
@@ -0,0 +1,26 @@
+<?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_face_bridge</name>
+  <version>0.1.0</version>
+  <description>
+    Face display bridge node for orchestrator state to face expression mapping.
+    Maps social/orchestrator state to face display WebSocket API.
+  </description>
+  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <buildtool_depend>ament_python</buildtool_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>
diff --git a/jetson/ros2_ws/src/saltybot_face_bridge/resource/saltybot_face_bridge b/jetson/ros2_ws/src/saltybot_face_bridge/resource/saltybot_face_bridge
new file mode 100644
index 0000000..e69de29
diff --git a/jetson/ros2_ws/src/saltybot_face_bridge/saltybot_face_bridge/__init__.py b/jetson/ros2_ws/src/saltybot_face_bridge/saltybot_face_bridge/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/jetson/ros2_ws/src/saltybot_face_bridge/setup.cfg b/jetson/ros2_ws/src/saltybot_face_bridge/setup.cfg
new file mode 100644
index 0000000..2923e00
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_face_bridge/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/saltybot_face_bridge
+[egg_info]
+tag_date = 0
diff --git a/jetson/ros2_ws/src/saltybot_face_bridge/setup.py b/jetson/ros2_ws/src/saltybot_face_bridge/setup.py
new file mode 100644
index 0000000..e297bf9
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_face_bridge/setup.py
@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = "saltybot_face_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/face_bridge.launch.py"]),
+        (f"share/{package_name}/config", ["config/face_bridge_params.yaml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="sl-controls",
+    maintainer_email="sl-controls@saltylab.local",
+    description="Face display bridge for orchestrator state mapping",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "face_bridge_node = saltybot_face_bridge.face_bridge_node:main",
+        ],
+    },
+)
diff --git a/jetson/ros2_ws/src/saltybot_social/saltybot_social/mesh_comms_node.py b/jetson/ros2_ws/src/saltybot_social/saltybot_social/mesh_comms_node.py
index 02b9618..0fee141 100644
--- a/jetson/ros2_ws/src/saltybot_social/saltybot_social/mesh_comms_node.py
+++ b/jetson/ros2_ws/src/saltybot_social/saltybot_social/mesh_comms_node.py
@@ -178,7 +178,7 @@ class MeshCommsNode(Node):
         msg = MeshPeer()
         msg.header.stamp          = self.get_clock().now().to_msg()
         msg.robot_id              = self._robot_id
-        msg.namespace             = self._ns
+        msg.ros_namespace         = self._ns
         msg.social_state          = state
         msg.active_person_ids     = active_ids
         msg.greeted_person_names  = greeted_names
diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/MeshPeer.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/MeshPeer.msg
index c03d571..e6576f9 100644
--- a/jetson/ros2_ws/src/saltybot_social_msgs/msg/MeshPeer.msg
+++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/MeshPeer.msg
@@ -6,7 +6,7 @@
 std_msgs/Header header
 
 string  robot_id                # e.g. "saltybot_1"
-string  namespace               # ROS2 namespace, e.g. "/saltybot_1" (empty = default)
+string  ros_namespace           # ROS2 namespace, e.g. "/saltybot_1" (empty = default)
 
 # Current social pipeline state (mirrors orchestrator PipelineState)
 string  social_state            # "idle" | "listening" | "thinking" | "speaking" | "throttled"
-- 
2.47.2