- ROS2 node for balance mode PID parameter management via pyvesc UART
- Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff
- Startup ramp: gradual acceleration from 0 to full output over configurable duration
- IMU integration: subscribe to /imu/data for pitch/roll angle computation
- State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry
- Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data
- Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency
- Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implement circular buffer bag recorder with:
- Configurable topics recording
- Last N minutes circular buffer (default 30min)
- Manual save trigger via /saltybot/save_bag service
- Auto-save on crash with signal handlers
- Storage management (7-day TTL, 50GB quota)
- Compression via zstd
- Optional rsync to NAS for backup
- Periodic maintenance (cleanup expired, enforce quota)
Saves to /home/seb/rosbags/ by default.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
