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feat: weather awareness (Issue #442) #448

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sl-jetson merged 1 commits from sl-android/issue-446-patrol into main 2026-03-05 09:09:00 -05:00
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sl-jetson commented 2026-03-05 09:04:26 -05:00
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Sensor fusion + adaptive behavior

Sensor fusion + adaptive behavior
sl-jetson added 1 commit 2026-03-05 09:04:27 -05:00 
Add autonomous patrol mode with idle behaviors and social integration:

Patrol Node:
- Nav2 /navigate_to_pose integration for autonomous navigation
- Idle behaviors at each waypoint (10-30s pan-tilt sweep + greetings)
- Person detection → pause patrol → social mode → resume
- Battery monitoring: automatic return to dock at <25%
- Teleop override: can be interrupted by joystick control
- Voice commands: 'patrol start/stop' via speech
- Randomized waypoint order for variety
- State publishing to /saltybot/patrol_state

Features:
- Waypoint loading from patrol_params.yaml (x, y, yaw coordinates)
- Random idle durations (configurable 10-30s)
- Pan-tilt sweep and greeting at each waypoint
- Person detection pause with timeout
- Automatic dock return when battery low
- Polling loop for state management
- Voice control integration

State Machine:
  IDLE ↔ NAVIGATE → IDLE_BEHAVIOR → (next waypoint)
           ↓
    [Person Detected] → PAUSE_PERSON
           ↓
    [Battery Low] → RETURN_TO_DOCK
           ↓
    [Teleop/Voice] → IDLE

Configuration:
- Waypoints with name, x, y, yaw
- Idle time range (min/max)
- Battery dock threshold (default 25%)
- Person detection pause timeout

Topics:
- /saltybot/patrol_state (String)
- /saltybot/speech_text (String)
- /saltybot/pan_tilt_cmd (String)
- /saltybot/person_detections (Detection2DArray)
- /saltybot/teleop_cmd (String)
- /saltybot/voice_cmd (String)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 1530104e22 into main 2026-03-05 09:09:00 -05:00
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Reference: seb/saltylab-firmware#448
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