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feat: operations dashboard (Issue #412) #418

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sl-jetson wants to merge 0 commits from sl-webui/issue-412-ops-dashboard into main
pull from: sl-webui/issue-412-ops-dashboard
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sl-jetson commented 2026-03-04 22:45:36 -05:00
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Real-time telemetry dashboard - battery, motors, IMU, LIDAR, social, system health, odometry

Real-time telemetry dashboard - battery, motors, IMU, LIDAR, social, system health, odometry
sl-jetson added 2 commits 2026-03-04 22:45:36 -05:00 
- Update battery_low_pct from 15% to 20% for auto-dock trigger (Issue #410)
- Add social mood publisher for charging animation display
- Trigger face charging animation (happy mood) when entering CHARGING state
- ArUco marker ID 42 detection via RealSense D435i (already configured)
- Approach sequence: detect → align → slow → contact → verify charging
- 360° search then expand capability (DETECTING state handles search)
- Safety abort timeouts already implemented in FSM state machine
Comprehensive real-time telemetry dashboard consolidating:
- Battery state & power (10Hz): voltage, current, SOC
- Motor PWM control (10Hz): left/right duty cycle display
- IMU attitude gauges (10Hz): roll, pitch, yaw visualization
- LIDAR polar map (1Hz): 360° obstacle visualization
- Social state (1Hz): speech detection, face ID
- System health (1Hz): CPU/GPU temps, RAM/disk usage
- 2D odometry trail (10Hz): position history map

Responsive 3-column grid layout (1-3 cols based on viewport).
Dark theme with mobile optimization. Canvas-based visualizations.
Real-time ROS subscriptions via rosbridge. Auto-scaling meters.
Quaternion to Euler angle conversion. 500-point trail history.

ROS Topics (10Hz critical / 1Hz system):
- /saltybot/imu → sensor_msgs/Imu (attitude)
- /diagnostics → diagnostic_msgs/DiagnosticArray (power, temps)
- /saltybot/balance_state → std_msgs/String (motor commands)
- /scan → sensor_msgs/LaserScan (LIDAR)
- /odom → nav_msgs/Odometry (position trail)
- /social/speech/is_speaking → std_msgs/Bool (voice activity)
- /social/face/active → std_msgs/String (face ID)

Build: ✓ 126 modules, 281.64 KB main bundle

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-04 23:59:06 -05:00

Pull request closed

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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#418
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