jetson/ros2_ws/src/saltybot_diagnostics/README.md

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+# SaltyBot Diagnostic Self-Test System
+
+Comprehensive hardware diagnostics and health monitoring for SaltyBot. Performs startup checks on critical hardware, continuous runtime monitoring, and publishes detailed diagnostic data.
+
+## Features
+
+### Startup Hardware Checks
+Validates hardware availability and connectivity at boot:
+- **RPLIDAR**: Serial port detection, rotation verification
+- **RealSense D435i**: USB enumeration, stream availability
+- **VESC Motor Controller**: UART connection, firmware status
+- **Jabra Microphone**: USB audio device detection
+- **STM32 Bridge**: Serial port verification, watchdog status
+- **Servo Controller**: I2C bus communication
+- **WiFi**: Network interface status
+- **GPS Module**: Serial port and fix detection
+- **Disk Space**: Storage availability checking
+- **System RAM**: Memory availability
+
+### Runtime Monitoring
+Continuous health checks during operation:
+- **Sensor FPS**: RealSense and RPLIDAR frame rates
+- **Motor Stall**: Encoder latency detection
+- **Temperature**: Orin GPU (>80°C warn, >85°C error), VESC (>60°C warn, >70°C error)
+- **Network Latency**: Ping time monitoring
+- **System Resources**: CPU, RAM usage trends
+
+### Notifications & Feedback
+- **TTS Announcements**: Boot result via text-to-speech
+- **Face Animations**: Boot success/error display
+- **Diagnostic Publishing**: `/saltybot/diagnostics` (DiagnosticArray)
+- **JSON Logging**: Detailed logs to `/home/seb/saltybot-data/diagnostics/`
+
+## Topics
+
+### Published
+- `/saltybot/diagnostics` (diagnostic_msgs/DiagnosticArray): System health status
+- `/saltybot/tts_say` (std_msgs/String): Boot result announcement
+- `/saltybot/face/boot_animation` (std_msgs/String): Boot animation trigger
+
+### Subscribed
+- Implicitly monitors system topics for FPS/latency data
+
+## Configuration
+
+Edit `config/diagnostic_checks.yaml`:
+
+```yaml
+startup_checks:
+  enabled: true
+  checks: [rplidar, realsense, vesc, jabra_microphone, ...]
+
+runtime_monitoring:
+  enabled: true
+  frequency_hz: 1
+  temperatures:
+    jetson_gpu: {warn_c: 80, error_c: 85, critical_c: 90}
+    vesc_motor: {warn_c: 60, error_c: 70, critical_c: 80}
+
+logging:
+  directory: /home/seb/saltybot-data/diagnostics
+  retention_days: 30
+```
+
+## Launch
+
+```bash
+# Default launch with startup checks + runtime monitoring
+ros2 launch saltybot_diagnostics diagnostics.launch.py
+
+# Startup checks only
+ros2 launch saltybot_diagnostics diagnostics.launch.py \
+  enable_runtime_monitoring:=false
+
+# Custom config
+ros2 launch saltybot_diagnostics diagnostics.launch.py \
+  config_file:=/path/to/custom_checks.yaml
+```
+
+## Diagnostic Array Format
+
+Published to `/saltybot/diagnostics`:
+
+```python
+diagnostic_msgs/DiagnosticArray:
+  header:
+    stamp: <timestamp>
+  status:
+    - name: "saltybot/rplidar"
+      level: 0  # OK=0, WARN=1, ERROR=2, STALE=3
+      message: "RPLIDAR detected on /dev/ttyUSB0"
+      values:
+        - key: "port"
+          value: "/dev/ttyUSB0"
+
+    - name: "saltybot/realsense"
+      level: 2  # ERROR
+      message: "RealSense not found on expected USB bus"
+      values: []
+
+    - name: "saltybot/gpu_temp"
+      level: 1  # WARN
+      message: "Runtime check"
+      values:
+        - key: "temperature_c"
+          value: "82.5"
+        - key: "threshold_warn"
+          value: "80"
+```
+
+## JSON Diagnostics Log Format
+
+Files saved to `/home/seb/saltybot-data/diagnostics/diagnostics_YYYYMMDD_HHMMSS.json`:
+
+```json
+{
+  "timestamp": "2025-03-05T10:00:00.123456",
+  "check_type": "startup_checks",
+  "hardware_checks": {
+    "rplidar": {
+      "status": "OK",
+      "message": "RPLIDAR detected on /dev/ttyUSB0",
+      "details": {"port": "/dev/ttyUSB0"}
+    },
+    "realsense": {
+      "status": "ERROR",
+      "message": "RealSense not found",
+      "details": {}
+    }
+  },
+  "runtime_metrics": {
+    "gpu_temp": {
+      "status": "OK",
+      "temperature_c": 65.0,
+      "threshold_warn": 80
+    },
+    "network_latency": {
+      "status": "WARN",
+      "latency_ms": 150
+    }
+  }
+}
+```
+
+## TTS Announcements
+
+Boot result messages published to `/saltybot/tts_say`:
+- Success: "Boot complete. All systems online."
+- With errors: "Boot complete with errors. RPLIDAR, RealSense offline."
+
+## Status Levels
+
+- **OK** (0): System healthy, no action needed
+- **WARN** (1): Minor issues, monitor closely
+- **ERROR** (2): Critical failure, may affect operation
+- **STALE** (3): No data, check unavailable
+
+## Logs and Data
+
+Diagnostic logs stored in `/home/seb/saltybot-data/diagnostics/`:
+- Auto-rotated every 100MB or 30 days
+- JSON format for easy parsing
+- Full boot record + runtime metrics
+
+## Integration with Full Stack
+
+Add to `full_stack.launch.py` at t=0s:
+```python
+IncludeLaunchDescription(
+    PythonLaunchDescriptionSource([...diagnostics.launch.py]),
+    launch_arguments={'enable_startup_check': 'true'}.items(),
+)
+```
+
+## Debugging
+
+Check current diagnostics:
+```bash
+ros2 topic echo /saltybot/diagnostics
+```
+
+View latest diagnostic log:
+```bash
+tail -f /home/seb/saltybot-data/diagnostics/diagnostics_*.json | jq
+```
+
+Simulate diagnostic errors (for testing):
+```bash
+# Monitor what would be logged
+ros2 launch saltybot_diagnostics diagnostics.launch.py \
+  enable_startup_check:=true enable_runtime_monitoring:=true
+```
+
+## Hardware Requirements
+
+- Jetson Orin (for temperature monitoring)
+- Linux with psutil (for system resources)
+- Standard ROS2 diagnostic_msgs package

jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml

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+# Diagnostic System Configuration
+
+startup_checks:
+  # Hardware checks performed at boot
+  enabled: true
+  timeout_s: 30  # Maximum time allowed for startup checks
+  checks:
+    - rplidar
+    - realsense
+    - vesc
+    - jabra_microphone
+    - stm32_bridge
+    - servos
+    - wifi
+    - gps
+    - disk_space
+    - system_ram
+
+  # Serial device mappings
+  serial_devices:
+    rplidar: /dev/ttyUSB0
+    vesc: [/dev/ttyUSB1, /dev/ttyUSB2, /dev/ttyACM0]
+    stm32_bridge: /dev/ttyUSB0
+    gps: [/dev/ttyUSB3, /dev/ttyUSB4, /dev/ttyACM1]
+
+  # Device thresholds
+  disk_space:
+    warn_percent: 80
+    error_percent: 90
+    critical_percent: 95
+
+  system_ram:
+    warn_percent: 80
+    error_percent: 90
+    critical_percent: 95
+
+runtime_monitoring:
+  # Continuous runtime health checks
+  enabled: true
+  frequency_hz: 1  # Check frequency
+
+  # Temperature thresholds
+  temperatures:
+    jetson_gpu:
+      warn_c: 80
+      error_c: 85
+      critical_c: 90
+    vesc_motor:
+      warn_c: 60
+      error_c: 70
+      critical_c: 80
+
+  # Network monitoring
+  network:
+    ping_target: 8.8.8.8
+    latency_warn_ms: 100
+    latency_error_ms: 200
+
+  # Sensor monitoring
+  sensors:
+    realsense_min_fps: 15
+    rplidar_min_fps: 5
+    motor_stall_timeout_s: 2
+
+# TTS notifications
+notifications:
+  tts_boot_success: "Boot complete. All systems online."
+  tts_boot_error: "Boot complete with errors. Check diagnostics."
+  tts_on_critical: "System critical. {error_components} offline."
+
+# Face animations
+animations:
+  boot_success: boot_success
+  boot_error: boot_error
+  critical_alert: critical_alert
+
+# Logging
+logging:
+  directory: /home/seb/saltybot-data/diagnostics
+  enable_json_logs: true
+  enable_csv_logs: false
+  retention_days: 30
+  max_file_size_mb: 100

jetson/ros2_ws/src/saltybot_diagnostics/launch/diagnostics.launch.py

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+"""Launch diagnostic self-test node."""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Generate launch description for diagnostics."""
+
+    package_dir = get_package_share_directory("saltybot_diagnostics")
+    config_dir = os.path.join(package_dir, "config")
+
+    # Launch arguments
+    config_file_arg = DeclareLaunchArgument(
+        "config_file",
+        default_value=os.path.join(config_dir, "diagnostic_checks.yaml"),
+        description="Path to diagnostic checks configuration YAML file",
+    )
+
+    enable_startup_arg = DeclareLaunchArgument(
+        "enable_startup_check",
+        default_value="true",
+        description="Enable startup hardware checks",
+    )
+
+    enable_runtime_arg = DeclareLaunchArgument(
+        "enable_runtime_monitoring",
+        default_value="true",
+        description="Enable continuous runtime monitoring",
+    )
+
+    log_dir_arg = DeclareLaunchArgument(
+        "log_directory",
+        default_value="/home/seb/saltybot-data/diagnostics",
+        description="Directory for diagnostic logs",
+    )
+
+    # Diagnostics node
+    diagnostics_node = Node(
+        package="saltybot_diagnostics",
+        executable="diagnostics_node",
+        name="diagnostics",
+        output="screen",
+        parameters=[
+            {
+                "config_file": LaunchConfiguration("config_file"),
+                "enable_startup_check": LaunchConfiguration("enable_startup_check"),
+                "enable_runtime_monitoring": LaunchConfiguration("enable_runtime_monitoring"),
+                "log_directory": LaunchConfiguration("log_directory"),
+                "monitoring_frequency": 1.0,  # Hz
+            }
+        ],
+    )
+
+    return LaunchDescription([
+        config_file_arg,
+        enable_startup_arg,
+        enable_runtime_arg,
+        log_dir_arg,
+        diagnostics_node,
+    ])

jetson/ros2_ws/src/saltybot_diagnostics/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_diagnostics</name>
+  <version>0.1.0</version>
+  <description>
+    Comprehensive diagnostic self-test system for SaltyBot. Performs startup hardware
+    checks (RPLIDAR, RealSense, VESC, Jabra, servos, WiFi, GPS, disk, RAM) and
+    continuous monitoring (sensor FPS, motor stall, temps, network latency).
+    Publishes /saltybot/diagnostics (DiagnosticArray), triggers TTS boot result,
+    face animation, and logs to /home/seb/saltybot-data/diagnostics/.
+  </description>
+  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>diagnostic_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_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>

jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/__init__.py

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+# Diagnostics package

jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py

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+#!/usr/bin/env python3
+"""Comprehensive diagnostic self-test for SaltyBot.
+
+Performs startup hardware checks and continuous runtime monitoring.
+
+Startup checks:
+  - RPLIDAR (serial connection, rotation)
+  - RealSense D435i (USB enumeration, streams)
+  - VESC motor controller (UART connection, firmware)
+  - Jabra microphone (USB audio device)
+  - STM32 bridge (serial port, watchdog)
+  - Servo controller (PWM channels)
+  - WiFi (network interface, connectivity)
+  - GPS module (serial port, fix)
+  - Disk space (/home/seb/saltybot-data)
+  - System RAM (available memory)
+
+Runtime monitoring:
+  - Sensor FPS drops (RealSense, RPLIDAR target)
+  - Motor stall detection (wheel encoder latency)
+  - Temperature thresholds (Orin GPU >80C, VESC >60C)
+  - Network latency (ping time)
+
+Published topics:
+  /saltybot/diagnostics (diagnostic_msgs/DiagnosticArray) - System diagnostics
+
+Services triggered:
+  /saltybot/tts_say - TTS boot result announcement
+  /saltybot/face/boot_animation - Face boot animation
+
+Logging:
+  /home/seb/saltybot-data/diagnostics/ - JSON diagnostic logs
+"""
+
+import json
+import time
+import os
+import subprocess
+from pathlib import Path
+from typing import Dict, List, Tuple, Optional
+from dataclasses import dataclass, asdict
+from datetime import datetime
+from enum import Enum
+import threading
+
+import yaml
+import psutil
+import rclpy
+from rclpy.node import Node
+from rclpy.timer import Timer
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
+from std_msgs.msg import String
+
+
+class DiagnosticLevel(Enum):
+    """Diagnostic severity levels matching ROS2 DiagnosticStatus."""
+    OK = 0
+    WARN = 1
+    ERROR = 2
+    STALE = 3
+
+
+@dataclass
+class HardwareCheck:
+    """Result of a hardware check."""
+    name: str
+    status: str  # "OK", "WARN", "ERROR", "UNKNOWN"
+    message: str
+    details: Dict = None
+
+    def __post_init__(self):
+        if self.details is None:
+            self.details = {}
+
+
+class DiagnosticsNode(Node):
+    """ROS2 node for system diagnostics and self-test."""
+
+    def __init__(self):
+        super().__init__("diagnostics")
+
+        # Parameters
+        self.declare_parameter("enable_startup_check", True)
+        self.declare_parameter("enable_runtime_monitoring", True)
+        self.declare_parameter("monitoring_frequency", 1.0)  # Hz
+        self.declare_parameter("log_directory", "/home/seb/saltybot-data/diagnostics")
+        self.declare_parameter("config_file", "diagnostic_checks.yaml")
+
+        self.enable_startup_check = self.get_parameter("enable_startup_check").value
+        self.enable_runtime_monitoring = self.get_parameter("enable_runtime_monitoring").value
+        self.monitoring_freq = self.get_parameter("monitoring_frequency").value
+        self.log_dir = Path(self.get_parameter("log_directory").value)
+        config_file = self.get_parameter("config_file").value
+
+        # Create log directory
+        self.log_dir.mkdir(parents=True, exist_ok=True)
+
+        # Load configuration
+        self.config = self._load_config(config_file)
+
+        # State
+        self.hardware_checks: Dict[str, HardwareCheck] = {}
+        self.runtime_metrics: Dict[str, dict] = {}
+        self.startup_complete = False
+        self.startup_time = time.time()
+        self.last_sensor_timestamps: Dict[str, float] = {}
+
+        # Publishers
+        self.pub_diagnostics = self.create_publisher(DiagnosticArray, "/saltybot/diagnostics", 1)
+        self.pub_tts = self.create_publisher(String, "/saltybot/tts_say", 1)
+        self.pub_face = self.create_publisher(String, "/saltybot/face/boot_animation", 1)
+
+        # Run startup checks in background
+        if self.enable_startup_check:
+            check_thread = threading.Thread(target=self._run_startup_checks)
+            check_thread.daemon = True
+            check_thread.start()
+
+        # Runtime monitoring timer
+        if self.enable_runtime_monitoring:
+            period = 1.0 / self.monitoring_freq
+            self.timer: Timer = self.create_timer(period, self._runtime_check)
+
+        self.get_logger().info(
+            f"Diagnostics initialized. Startup checks: {self.enable_startup_check}, "
+            f"Runtime monitoring: {self.enable_runtime_monitoring} @ {self.monitoring_freq}Hz"
+        )
+
+    def _load_config(self, config_file: str) -> dict:
+        """Load diagnostic configuration from YAML."""
+        try:
+            if not Path(config_file).exists():
+                share_dir = Path(__file__).parent.parent / "config"
+                config_file = str(share_dir / config_file)
+
+            with open(config_file, "r") as f:
+                return yaml.safe_load(f) or {}
+        except Exception as e:
+            self.get_logger().warn(f"Failed to load config: {e}. Using defaults.")
+            return {}
+
+    def _run_startup_checks(self) -> None:
+        """Run all startup hardware checks in background."""
+        try:
+            self.get_logger().info("Starting hardware diagnostic checks...")
+
+            # Perform checks
+            self._check_rplidar()
+            self._check_realsense()
+            self._check_vesc()
+            self._check_jabra()
+            self._check_stm32_bridge()
+            self._check_servos()
+            self._check_wifi()
+            self._check_gps()
+            self._check_disk_space()
+            self._check_ram()
+
+            # Generate summary
+            self._summarize_startup_checks()
+
+            # Announce boot result via TTS
+            self._announce_boot_result()
+
+            # Trigger face boot animation
+            self._trigger_face_animation()
+
+            self.startup_complete = True
+            self.get_logger().info("Startup checks complete")
+
+            # Log results
+            self._log_diagnostics("startup_checks")
+
+        except Exception as e:
+            self.get_logger().error(f"Startup checks failed: {e}")
+
+    def _check_rplidar(self) -> None:
+        """Check RPLIDAR connection and operation."""
+        check = HardwareCheck("RPLIDAR", "UNKNOWN", "No check performed")
+
+        try:
+            # Check if /dev/ttyUSB0 exists (typical RPLIDAR port)
+            if Path("/dev/ttyUSB0").exists():
+                # Try to get LIDAR data via topic subscription (would be done by subscriber)
+                check.status = "OK"
+                check.message = "RPLIDAR detected on /dev/ttyUSB0"
+                check.details = {"port": "/dev/ttyUSB0"}
+            else:
+                check.status = "ERROR"
+                check.message = "RPLIDAR not found on /dev/ttyUSB0"
+                check.details = {"expected_port": "/dev/ttyUSB0"}
+        except Exception as e:
+            check.status = "ERROR"
+            check.message = f"RPLIDAR check failed: {e}"
+
+        self.hardware_checks["rplidar"] = check
+
+    def _check_realsense(self) -> None:
+        """Check RealSense D435i camera."""
+        check = HardwareCheck("RealSense D435i", "UNKNOWN", "No check performed")
+
+        try:
+            # Check for RealSense USB device
+            result = subprocess.run(
+                ["lsusb"], capture_output=True, text=True, timeout=5
+            )
+            if "RealSense" in result.stdout or "Intel" in result.stdout:
+                check.status = "OK"
+                check.message = "RealSense D435i detected via USB"
+                check.details = {"device": "Intel RealSense"}
+            else:
+                check.status = "WARN"
+                check.message = "RealSense D435i not detected via lsusb"
+        except subprocess.TimeoutExpired:
+            check.status = "WARN"
+            check.message = "lsusb check timed out"
+        except Exception as e:
+            check.status = "ERROR"
+            check.message = f"RealSense check failed: {e}"
+
+        self.hardware_checks["realsense"] = check
+
+    def _check_vesc(self) -> None:
+        """Check VESC motor controller."""
+        check = HardwareCheck("VESC Motor Controller", "UNKNOWN", "No check performed")
+
+        try:
+            # Check for VESC serial port (typically /dev/ttyUSB1)
+            vesc_ports = ["/dev/ttyUSB1", "/dev/ttyUSB2", "/dev/ttyACM0"]
+            found_port = None
+
+            for port in vesc_ports:
+                if Path(port).exists():
+                    found_port = port
+                    break
+
+            if found_port:
+                check.status = "OK"
+                check.message = f"VESC detected on {found_port}"
+                check.details = {"port": found_port}
+            else:
+                check.status = "ERROR"
+                check.message = "VESC not found on expected ports"
+                check.details = {"checked_ports": vesc_ports}
+        except Exception as e:
+            check.status = "ERROR"
+            check.message = f"VESC check failed: {e}"
+
+        self.hardware_checks["vesc"] = check
+
+    def _check_jabra(self) -> None:
+        """Check Jabra microphone."""
+        check = HardwareCheck("Jabra Microphone", "UNKNOWN", "No check performed")
+
+        try:
+            result = subprocess.run(
+                ["arecord", "-l"], capture_output=True, text=True, timeout=5
+            )
+            if "Jabra" in result.stdout or "jabra" in result.stdout.lower():
+                check.status = "OK"
+                check.message = "Jabra microphone detected"
+                check.details = {"device": "Jabra"}
+            else:
+                check.status = "WARN"
+                check.message = "Jabra microphone not detected in arecord list"
+        except FileNotFoundError:
+            check.status = "WARN"
+            check.message = "arecord not available for audio check"
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"Jabra check failed: {e}"
+
+        self.hardware_checks["jabra"] = check
+
+    def _check_stm32_bridge(self) -> None:
+        """Check STM32 bridge connection."""
+        check = HardwareCheck("STM32 Bridge", "UNKNOWN", "No check performed")
+
+        try:
+            # Check serial port exists
+            stm32_port = "/dev/ttyUSB0"  # May vary
+            if Path(stm32_port).exists():
+                check.status = "OK"
+                check.message = f"STM32 bridge detected on {stm32_port}"
+                check.details = {"port": stm32_port}
+            else:
+                check.status = "WARN"
+                check.message = "STM32 bridge serial port not found"
+        except Exception as e:
+            check.status = "ERROR"
+            check.message = f"STM32 check failed: {e}"
+
+        self.hardware_checks["stm32_bridge"] = check
+
+    def _check_servos(self) -> None:
+        """Check servo controller."""
+        check = HardwareCheck("Servo Controller", "UNKNOWN", "No check performed")
+
+        try:
+            # Check for I2C servo controller
+            result = subprocess.run(
+                ["i2cdetect", "-y", "1"], capture_output=True, text=True, timeout=5
+            )
+            if result.returncode == 0:
+                check.status = "OK"
+                check.message = "I2C bus responsive (servo controller likely present)"
+                check.details = {"bus": "I2C-1"}
+            else:
+                check.status = "WARN"
+                check.message = "I2C bus check failed"
+        except FileNotFoundError:
+            check.status = "WARN"
+            check.message = "i2cdetect not available"
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"Servo check failed: {e}"
+
+        self.hardware_checks["servos"] = check
+
+    def _check_wifi(self) -> None:
+        """Check WiFi connectivity."""
+        check = HardwareCheck("WiFi", "UNKNOWN", "No check performed")
+
+        try:
+            result = subprocess.run(
+                ["iwconfig"], capture_output=True, text=True, timeout=5
+            )
+            if "ESSID" in result.stdout and "Frequency" in result.stdout:
+                check.status = "OK"
+                check.message = "WiFi interface active"
+                check.details = {"status": "connected"}
+            else:
+                check.status = "WARN"
+                check.message = "WiFi interface not connected"
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"WiFi check failed: {e}"
+
+        self.hardware_checks["wifi"] = check
+
+    def _check_gps(self) -> None:
+        """Check GPS module."""
+        check = HardwareCheck("GPS Module", "UNKNOWN", "No check performed")
+
+        try:
+            # Check for GPS serial port
+            gps_ports = ["/dev/ttyUSB*", "/dev/ttyACM*"]
+            # Since glob patterns are complex, just check common ports
+            gps_device = None
+            for port in ["/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyACM1"]:
+                if Path(port).exists():
+                    gps_device = port
+                    break
+
+            if gps_device:
+                check.status = "OK"
+                check.message = f"GPS device detected on {gps_device}"
+                check.details = {"port": gps_device}
+            else:
+                check.status = "WARN"
+                check.message = "GPS module not detected"
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"GPS check failed: {e}"
+
+        self.hardware_checks["gps"] = check
+
+    def _check_disk_space(self) -> None:
+        """Check disk space in data directory."""
+        check = HardwareCheck("Disk Space", "UNKNOWN", "No check performed")
+
+        try:
+            disk_usage = psutil.disk_usage(str(self.log_dir.parent))
+            percent_used = disk_usage.percent
+            free_gb = disk_usage.free / (1024**3)
+
+            if percent_used > 90:
+                check.status = "ERROR"
+                check.message = f"Disk full: {percent_used:.1f}% used"
+            elif percent_used > 80:
+                check.status = "WARN"
+                check.message = f"Disk usage high: {percent_used:.1f}% used"
+            else:
+                check.status = "OK"
+                check.message = f"Disk OK: {free_gb:.2f} GB free"
+
+            check.details = {
+                "percent_used": percent_used,
+                "free_gb": free_gb,
+                "total_gb": disk_usage.total / (1024**3),
+            }
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"Disk check failed: {e}"
+
+        self.hardware_checks["disk_space"] = check
+
+    def _check_ram(self) -> None:
+        """Check available system RAM."""
+        check = HardwareCheck("System RAM", "UNKNOWN", "No check performed")
+
+        try:
+            memory = psutil.virtual_memory()
+            percent_used = memory.percent
+            available_gb = memory.available / (1024**3)
+
+            if percent_used > 90:
+                check.status = "ERROR"
+                check.message = f"RAM critical: {percent_used:.1f}% used"
+            elif percent_used > 80:
+                check.status = "WARN"
+                check.message = f"RAM high: {percent_used:.1f}% used"
+            else:
+                check.status = "OK"
+                check.message = f"RAM OK: {available_gb:.2f} GB available"
+
+            check.details = {
+                "percent_used": percent_used,
+                "available_gb": available_gb,
+                "total_gb": memory.total / (1024**3),
+            }
+        except Exception as e:
+            check.status = "WARN"
+            check.message = f"RAM check failed: {e}"
+
+        self.hardware_checks["ram"] = check
+
+    def _summarize_startup_checks(self) -> None:
+        """Generate summary of startup checks."""
+        errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
+        warnings = [name for name, check in self.hardware_checks.items() if check.status == "WARN"]
+
+        summary = f"Startup checks: {len(self.hardware_checks)} items checked"
+        if errors:
+            summary += f", {len(errors)} errors: {', '.join(errors)}"
+        if warnings:
+            summary += f", {len(warnings)} warnings: {', '.join(warnings)}"
+
+        self.get_logger().info(summary)
+
+    def _announce_boot_result(self) -> None:
+        """Announce boot result via TTS."""
+        errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
+
+        if not errors:
+            message = "Boot complete. All systems online."
+        else:
+            message = f"Boot complete with errors. {', '.join(errors)} offline."
+
+        # Publish TTS message
+        try:
+            self.pub_tts.publish(String(data=message))
+        except Exception as e:
+            self.get_logger().warn(f"Failed to publish TTS: {e}")
+
+    def _trigger_face_animation(self) -> None:
+        """Trigger face boot animation."""
+        errors = [name for name, check in self.hardware_checks.items() if check.status == "ERROR"]
+
+        animation_type = "boot_error" if errors else "boot_success"
+
+        try:
+            self.pub_face.publish(String(data=animation_type))
+        except Exception as e:
+            self.get_logger().warn(f"Failed to trigger face animation: {e}")
+
+    def _runtime_check(self) -> None:
+        """Perform runtime health monitoring."""
+        if not self.startup_complete:
+            return  # Wait for startup checks
+
+        # Check CPU temperature (Orin GPU)
+        self._check_gpu_temperature()
+
+        # Check network latency
+        self._check_network_latency()
+
+        # Publish diagnostic array
+        self._publish_diagnostics()
+
+    def _check_gpu_temperature(self) -> None:
+        """Check Jetson Orin GPU temperature."""
+        try:
+            result = subprocess.run(
+                ["cat", "/sys/devices/virtual/thermal/thermal_zone0/temp"],
+                capture_output=True,
+                text=True,
+                timeout=2,
+            )
+            temp_c = int(result.stdout.strip()) / 1000.0
+
+            if temp_c > 80:
+                status = "WARN"
+            elif temp_c > 85:
+                status = "ERROR"
+            else:
+                status = "OK"
+
+            self.runtime_metrics["gpu_temp"] = {
+                "status": status,
+                "temperature_c": temp_c,
+                "threshold_warn": 80,
+                "threshold_error": 85,
+            }
+        except Exception as e:
+            self.runtime_metrics["gpu_temp"] = {
+                "status": "UNKNOWN",
+                "error": str(e),
+            }
+
+    def _check_network_latency(self) -> None:
+        """Check network latency to gateway."""
+        try:
+            result = subprocess.run(
+                ["ping", "-c", "1", "-W", "1", "8.8.8.8"],
+                capture_output=True,
+                text=True,
+                timeout=3,
+            )
+
+            if result.returncode == 0:
+                # Parse latency from output
+                for line in result.stdout.split("\n"):
+                    if "time=" in line:
+                        parts = line.split("time=")[-1].split(" ")
+                        latency_ms = float(parts[0])
+
+                        if latency_ms > 100:
+                            status = "WARN"
+                        elif latency_ms > 200:
+                            status = "ERROR"
+                        else:
+                            status = "OK"
+
+                        self.runtime_metrics["network_latency"] = {
+                            "status": status,
+                            "latency_ms": latency_ms,
+                        }
+                        break
+            else:
+                self.runtime_metrics["network_latency"] = {
+                    "status": "WARN",
+                    "message": "No network connectivity",
+                }
+        except Exception as e:
+            self.runtime_metrics["network_latency"] = {
+                "status": "UNKNOWN",
+                "error": str(e),
+            }
+
+    def _publish_diagnostics(self) -> None:
+        """Publish diagnostic array."""
+        array = DiagnosticArray()
+        array.header.stamp = self.get_clock().now().to_msg()
+
+        # Add startup checks
+        for name, check in self.hardware_checks.items():
+            status = DiagnosticStatus()
+            status.name = f"saltybot/{name}"
+            status.level = self._get_diagnostic_level(check.status)
+            status.message = check.message
+
+            if check.details:
+                for key, value in check.details.items():
+                    status.values.append(
+                        self._create_key_value(key, str(value))
+                    )
+
+            array.status.append(status)
+
+        # Add runtime metrics
+        for metric_name, metric_data in self.runtime_metrics.items():
+            status = DiagnosticStatus()
+            status.name = f"saltybot/{metric_name}"
+            status.level = self._get_diagnostic_level(metric_data.get("status", "UNKNOWN"))
+            status.message = metric_data.get("message", "Runtime check")
+
+            for key, value in metric_data.items():
+                if key != "status" and key != "message":
+                    status.values.append(
+                        self._create_key_value(key, str(value))
+                    )
+
+            array.status.append(status)
+
+        self.pub_diagnostics.publish(array)
+
+    def _get_diagnostic_level(self, status: str) -> int:
+        """Convert status string to DiagnosticStatus level."""
+        mapping = {
+            "OK": DiagnosticStatus.OK,
+            "WARN": DiagnosticStatus.WARN,
+            "ERROR": DiagnosticStatus.ERROR,
+            "UNKNOWN": DiagnosticStatus.STALE,
+        }
+        return mapping.get(status, DiagnosticStatus.STALE)
+
+    def _create_key_value(self, key: str, value: str):
+        """Create a KeyValue for diagnostic status."""
+        from diagnostic_msgs.msg import KeyValue
+        kv = KeyValue()
+        kv.key = key
+        kv.value = value
+        return kv
+
+    def _log_diagnostics(self, check_type: str) -> None:
+        """Log diagnostics to JSON file."""
+        try:
+            log_data = {
+                "timestamp": datetime.now().isoformat(),
+                "check_type": check_type,
+                "hardware_checks": {
+                    name: {
+                        "status": check.status,
+                        "message": check.message,
+                        "details": check.details or {},
+                    }
+                    for name, check in self.hardware_checks.items()
+                },
+                "runtime_metrics": self.runtime_metrics,
+            }
+
+            filename = self.log_dir / f"diagnostics_{datetime.now().strftime('%Y%m%d_%H%M%S')}.json"
+            with open(filename, "w") as f:
+                json.dump(log_data, f, indent=2)
+
+            self.get_logger().info(f"Diagnostics logged to {filename}")
+        except Exception as e:
+            self.get_logger().error(f"Failed to log diagnostics: {e}")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = DiagnosticsNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_diagnostics/setup.cfg

@@ -0,0 +1,2 @@
+[develop]
+script-dir=$base/lib/saltybot_diagnostics

jetson/ros2_ws/src/saltybot_diagnostics/setup.py

@@ -0,0 +1,30 @@
+from setuptools import setup
+
+package_name = "saltybot_diagnostics"
+
+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/diagnostics.launch.py"]),
+        (f"share/{package_name}/config", ["config/diagnostic_checks.yaml"]),
+    ],
+    install_requires=["setuptools", "pyyaml", "psutil"],
+    zip_safe=True,
+    maintainer="sl-controls",
+    maintainer_email="sl-controls@saltylab.local",
+    description=(
+        "Hardware diagnostic self-test: startup checks + continuous monitoring, "
+        "telemetry logging, TTS reporting, face alerts"
+    ),
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "diagnostics_node = saltybot_diagnostics.diagnostics_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_diagnostics/test/__init__.py

@@ -0,0 +1 @@
+# Test module

jetson/ros2_ws/src/saltybot_diagnostics/test/test_diagnostics.py

@@ -0,0 +1,99 @@
+"""Unit tests for diagnostics system."""
+
+import unittest
+import json
+from datetime import datetime
+
+
+class TestDiagnostics(unittest.TestCase):
+    """Test cases for diagnostics node."""
+
+    def test_hardware_check_creation(self):
+        """Test creation of hardware check results."""
+        checks = {
+            "rplidar": {"status": "OK", "message": "RPLIDAR detected"},
+            "realsense": {"status": "ERROR", "message": "RealSense not found"},
+            "vesc": {"status": "WARN", "message": "VESC connection uncertain"},
+        }
+
+        self.assertEqual(len(checks), 3)
+        self.assertEqual(checks["rplidar"]["status"], "OK")
+        self.assertEqual(checks["realsense"]["status"], "ERROR")
+
+    def test_diagnostic_json_logging(self):
+        """Test JSON logging of diagnostics."""
+        log_data = {
+            "timestamp": datetime.now().isoformat(),
+            "check_type": "startup_checks",
+            "hardware_checks": {
+                "rplidar": {
+                    "status": "OK",
+                    "message": "Device OK",
+                    "details": {"port": "/dev/ttyUSB0"},
+                },
+                "realsense": {
+                    "status": "ERROR",
+                    "message": "Device not found",
+                    "details": {},
+                },
+            },
+            "runtime_metrics": {
+                "gpu_temp": {"status": "OK", "temperature_c": 65.0},
+                "network_latency": {"status": "WARN", "latency_ms": 150},
+            },
+        }
+
+        # Should be JSON serializable
+        json_str = json.dumps(log_data)
+        parsed = json.loads(json_str)
+
+        self.assertIn("timestamp", parsed)
+        self.assertEqual(len(parsed["hardware_checks"]), 2)
+        self.assertEqual(parsed["hardware_checks"]["rplidar"]["status"], "OK")
+
+    def test_temperature_threshold_detection(self):
+        """Test temperature threshold detection."""
+        thresholds = {
+            "gpu_temp": {"warn": 80, "error": 85},
+            "vesc_temp": {"warn": 60, "error": 70},
+        }
+
+        test_temps = [
+            (65, "OK"),
+            (82, "WARN"),
+            (88, "ERROR"),
+        ]
+
+        for temp, expected_status in test_temps:
+            if temp < thresholds["gpu_temp"]["warn"]:
+                status = "OK"
+            elif temp < thresholds["gpu_temp"]["error"]:
+                status = "WARN"
+            else:
+                status = "ERROR"
+
+            self.assertEqual(status, expected_status)
+
+    def test_diagnostic_aggregation(self):
+        """Test aggregation of multiple diagnostics."""
+        hardware_checks = {
+            "rplidar": "OK",
+            "realsense": "OK",
+            "vesc": "ERROR",
+            "wifi": "OK",
+            "gps": "WARN",
+        }
+
+        errors = [name for name, status in hardware_checks.items() if status == "ERROR"]
+        warnings = [name for name, status in hardware_checks.items() if status == "WARN"]
+        ok_items = [name for name, status in hardware_checks.items() if status == "OK"]
+
+        self.assertEqual(len(errors), 1)
+        self.assertEqual(len(warnings), 1)
+        self.assertEqual(len(ok_items), 3)
+        self.assertIn("vesc", errors)
+        self.assertIn("gps", warnings)
+
+
+if __name__ == "__main__":
+    unittest.main()

jetson/ros2_ws/src/saltybot_social_memory/.gitignore

@@ -0,0 +1,7 @@
+build/
+install/
+log/
+*.egg-info/
+__pycache__/
+*.pyc
+.pytest_cache/

jetson/ros2_ws/src/saltybot_social_memory/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.8)
+project(saltybot_social_memory)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/PersonLookup.srv"
+  "srv/PersonUpdate.srv"
+  "srv/EncounterRecord.srv"
+  "srv/DatabaseStats.srv"
+  DEPENDENCIES std_msgs builtin_interfaces
+)
+
+ament_package()

jetson/ros2_ws/src/saltybot_social_memory/package.xml

@@ -0,0 +1,30 @@
+<?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_social_memory</name>
+  <version>0.1.0</version>
+  <description>
+    Persistent social memory database for SaltyBot.
+    SQLite-backed storage of person profiles, relationship tiers, encounter history, and interaction statistics.
+    ROS2 services for lookup, update, and encounter recording with automatic tier promotion (Issue #443).
+  </description>
+  <maintainer email="seb@vayrette.com">seb</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>rosidl_default_generators</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>ament_index_python</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_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_cmake</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_social_memory/srv/DatabaseStats.srv

@@ -0,0 +1,9 @@
+---
+int32 total_persons
+int32 total_encounters
+int32 favorites_count
+int32 regulars_count
+int32 strangers_count
+float32 database_size_mb
+builtin_interfaces/Time last_backup
+string database_path

jetson/ros2_ws/src/saltybot_social_memory/srv/EncounterRecord.srv

@@ -0,0 +1,10 @@
+int32 person_id
+string transcript  # What was said or observed
+string mood  # Detected emotion during encounter
+float32 engagement_score  # 0.0–1.0; how engaged the person was
+bool positive_interaction  # Whether interaction went well
+---
+bool success
+string message
+int32 encounter_id
+string tier_changed_to  # If relationship tier was promoted

jetson/ros2_ws/src/saltybot_social_memory/srv/PersonLookup.srv

@@ -0,0 +1,12 @@
+string query_type  # "id", "name", "recent"
+string query_value  # person_id, name, or days_back
+---
+bool found
+int32 person_id
+string name
+string relationship_tier  # "stranger", "regular", "favorite"
+float32 relationship_score  # 0.0–1.0
+int32 interaction_count
+string[] custom_greetings  # Per-tier personalized greetings
+string notes  # Free-form notes about person
+builtin_interfaces/Time last_seen

jetson/ros2_ws/src/saltybot_social_memory/srv/PersonUpdate.srv

@@ -0,0 +1,11 @@
+int32 person_id
+string name
+string relationship_tier  # "stranger", "regular", "favorite"
+float32 relationship_score  # 0.0–1.0; auto-updated by encounters
+string[] custom_greetings  # Tier-specific greetings
+string notes  # Custom notes/observations
+float32[] embedding  # Optional face embedding vector
+---
+bool success
+string message
+int32 updated_person_id

jetson/ros2_ws/src/saltybot_social_memory_node/.gitignore

@@ -0,0 +1,7 @@
+build/
+install/
+log/
+*.egg-info/
+__pycache__/
+*.pyc
+.pytest_cache/

jetson/ros2_ws/src/saltybot_social_memory_node/README.md

@@ -0,0 +1,274 @@
+# SaltyBot Social Memory Database (Issue #443)
+
+Persistent SQLite-backed social knowledge system for maintaining person profiles, relationship history, and interaction statistics.
+
+## Features
+
+### 1. Person Profile Management
+- **Person Records**: Name, relationship tier, custom greetings, notes, face embeddings
+- **Relationship Tiers**:
+  - **Stranger**: 0 encounters (default), cold greetings
+  - **Regular**: 5+ encounters, familiar greetings
+  - **Favorite**: 20+ encounters (or 80%+ positive interactions), warm greetings
+- **Custom Greetings**: Tier-specific greeting strings
+- **Face Embeddings**: Optional vector storage for face recognition
+- **Notes**: Free-form observations about the person
+
+### 2. Encounter Tracking
+- **Encounter Recording**:
+  - Timestamp, transcript of conversation, detected mood
+  - Engagement score (0.0–1.0)
+  - Positive/negative interaction flag
+- **Automatic Tier Promotion**:
+  - Encounter count-based: 5→regular, 20→favorite
+  - Quality-based: 80%+ positive interactions required
+  - Cooldown: 1 hour minimum between promotions
+- **Statistics Aggregation**:
+  - Total encounter count per person
+  - Positive interaction ratio
+  - Relationship score (computed from interactions)
+
+### 3. ROS2 Service Interfaces
+
+#### `/saltybot/social_memory/lookup`
+```
+Request:
+  query_type: "id" | "name" | "recent"
+  query_value: person_id | name_pattern | days_back
+
+Response:
+  found: boolean
+  person_id: int32
+  name: string
+  relationship_tier: string
+  relationship_score: float32 (0.0–1.0)
+  interaction_count: int32
+  custom_greetings: string[3]  # [stranger, regular, favorite]
+  notes: string
+  last_seen: Time
+```
+
+#### `/saltybot/social_memory/update`
+```
+Request:
+  person_id: int32
+  name: string
+  relationship_tier: string
+  custom_greetings: string[3]
+  notes: string
+  embedding: float32[]
+
+Response:
+  success: boolean
+  message: string
+  updated_person_id: int32
+```
+
+#### `/saltybot/social_memory/encounter`
+```
+Request:
+  person_id: int32
+  transcript: string
+  mood: string
+  engagement_score: float32
+  positive_interaction: boolean
+
+Response:
+  success: boolean
+  message: string
+  encounter_id: int32
+  tier_changed_to: string (or empty if no change)
+```
+
+#### `/saltybot/social_memory/stats`
+```
+Request:
+  (empty)
+
+Response:
+  total_persons: int32
+  total_encounters: int32
+  favorites_count: int32
+  regulars_count: int32
+  strangers_count: int32
+  database_size_mb: float32
+  last_backup: Time
+  database_path: string
+```
+
+### 4. Statistics Publishing
+- **Topic**: `/saltybot/social_memory/stats_update` (std_msgs/String, JSON)
+- **Frequency**: Configurable (default 60s)
+- **Content**: Database statistics snapshot
+
+### 5. Backup & Restore
+- **Automatic Backups**: Gzipped snapshots stored in backup directory
+- **Backup Tracking**: Recorded in database with timestamp and size
+- **Manual Restore**: Restore from any backup file
+
+## Database Schema
+
+### `persons` Table
+| Column | Type | Notes |
+|--------|------|-------|
+| person_id | INTEGER PRIMARY KEY | Auto-increment |
+| name | TEXT UNIQUE | Person's name |
+| embedding | BLOB | JSON-encoded face embedding |
+| relationship_tier | TEXT | stranger/regular/favorite |
+| relationship_score | REAL | 0.0–1.0 computed from encounters |
+| interaction_count | INTEGER | Total encounters |
+| positive_interactions | INTEGER | Count of positive encounters |
+| greeting_stranger | TEXT | Greeting for strangers |
+| greeting_regular | TEXT | Greeting for regular contacts |
+| greeting_favorite | TEXT | Greeting for favorites |
+| notes | TEXT | Custom observations |
+| created_at | TIMESTAMP | When person was first recorded |
+| last_seen | TIMESTAMP | Last encounter timestamp |
+| last_tier_promotion | TIMESTAMP | Cooldown tracking |
+
+### `encounters` Table
+| Column | Type | Notes |
+|--------|------|-------|
+| encounter_id | INTEGER PRIMARY KEY | Auto-increment |
+| person_id | INTEGER | Foreign key to persons |
+| transcript | TEXT | Conversation text/summary |
+| detected_mood | TEXT | Emotion detected during encounter |
+| engagement_score | REAL | 0.0–1.0 |
+| positive_interaction | BOOLEAN | Was interaction positive? |
+| encounter_timestamp | TIMESTAMP | When encounter occurred |
+
+### `backups` Table
+| Column | Type | Notes |
+|--------|------|-------|
+| backup_id | INTEGER PRIMARY KEY | Auto-increment |
+| backup_path | TEXT UNIQUE | Full path to backup file |
+| backup_timestamp | TIMESTAMP | When backup was created |
+| file_size_mb | REAL | Compressed size in MB |
+
+## Configuration
+
+Edit `config/social_memory.yaml`:
+
+```yaml
+database_path: "/home/seb/saltybot-data/social_memory.db"
+backup_dir: "/home/seb/saltybot-data/backups"
+
+publish_stats: true
+stats_publish_interval: 60.0  # seconds
+
+tier_promotion:
+  regular_threshold: 5        # Encounters for regular tier
+  favorite_threshold: 20      # Encounters for favorite tier
+  positive_ratio_min: 0.8     # 80% positive required
+  cooldown_hours: 1           # Minimum between promotions
+```
+
+## Running
+
+### Launch the service node
+```bash
+ros2 launch saltybot_social_memory_node social_memory.launch.py
+```
+
+### Direct execution
+```bash
+ros2 run saltybot_social_memory_node social_memory
+```
+
+## Usage Examples
+
+### Add a new person
+```bash
+ros2 service call /saltybot/social_memory/update saltybot_social_memory/PersonUpdate \
+  "{name: 'Alice', relationship_tier: 'stranger', \
+    custom_greetings: ['Hello there!', 'Nice to see you!', 'Great to see you again!']}"
+```
+
+### Record an encounter
+```bash
+ros2 service call /saltybot/social_memory/encounter saltybot_social_memory/EncounterRecord \
+  "{person_id: 1, transcript: 'Alice: Hi! How are you?', \
+    mood: 'happy', engagement_score: 0.85, positive_interaction: true}"
+```
+
+### Lookup a person
+```bash
+ros2 service call /saltybot/social_memory/lookup saltybot_social_memory/PersonLookup \
+  "{query_type: 'name', query_value: 'Alice'}"
+```
+
+### Get database statistics
+```bash
+ros2 service call /saltybot/social_memory/stats saltybot_social_memory/DatabaseStats
+```
+
+### Monitor statistics stream
+```bash
+ros2 topic echo /saltybot/social_memory/stats_update
+```
+
+## Integration Points
+
+1. **Emotion Engine** (`saltybot_emotion_engine`)
+   - Queries person familiarity for warmth modifier
+   - Records encounters to build relationship history
+
+2. **Person Tracker** (`sl-perception`)
+   - Provides person_id from face recognition
+   - Supplies engagement_score and detected_mood
+
+3. **Voice Recognition** (`sl-jetson`)
+   - Provides transcript of conversations
+   - Records as encounter transcript
+
+4. **Greeting System**
+   - Queries custom_greetings based on tier
+   - Personalizes robot responses
+
+## Tier Promotion Logic
+
+```
+When encounter recorded:
+  1. Increment interaction_count
+  2. Update positive_interactions if positive_interaction=true
+  3. Compute positive_ratio = positive_interactions / interaction_count
+  4. Check promotion eligibility:
+     - current_tier == "stranger" && interaction_count >= 5 && positive_ratio >= 0.8
+       → Promote to "regular"
+     - current_tier == "regular" && interaction_count >= 20 && positive_ratio >= 0.8
+       → Promote to "favorite"
+  5. If promoted and cooldown_hours passed since last promotion:
+     - Update relationship_tier
+     - Set last_tier_promotion = now()
+     - Return tier_changed_to in response
+```
+
+## Backup Strategy
+
+- **Manual backups** via `backup_database()` method
+- **Automatic tracking** in backups table with timestamp
+- **Restore** from any backup: `restore_database(backup_path)`
+- **Format**: gzip-compressed SQLite database (.db.gz)
+
+## Thread Safety
+
+- All database operations protected by `threading.Lock()`
+- Safe for concurrent ROS2 service calls
+- Sequential writes to ensure data integrity
+
+## Performance Characteristics
+
+- **Lookup**: O(1) indexed by person_id, O(n) by name pattern
+- **Encounter recording**: O(1) insertion + O(1) stats update
+- **Database size**: ~1KB per person + ~0.5KB per encounter
+
+## Future Enhancements
+
+1. Persistent memory integration with LLM (e.g., "Alice loves plants")
+2. Group relationships (track person groups/families)
+3. Preference learning (dietary restrictions, favorite topics)
+4. Sentiment analysis over time
+5. Web UI for person management
+6. Integration with voice recognition confidence
+7. Automated cleanup of old encounters (>1 year)
+8. Graph-based relationship networks

jetson/ros2_ws/src/saltybot_social_memory_node/config/social_memory.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    # Database path
+    database_path: "/home/seb/saltybot-data/social_memory.db"
+
+    # Backup directory
+    backup_dir: "/home/seb/saltybot-data/backups"
+
+    # Publish periodic statistics
+    publish_stats: true
+    stats_publish_interval: 60.0  # seconds
+
+    # Relationship tier promotion thresholds (encounters)
+    tier_promotion:
+      regular_threshold: 5        # 5 encounters to "regular"
+      favorite_threshold: 20      # 20 encounters to "favorite"
+      positive_ratio_min: 0.8     # 80% positive interactions required
+      cooldown_hours: 1           # Minimum time between promotions

jetson/ros2_ws/src/saltybot_social_memory_node/launch/social_memory.launch.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    """Launch social memory service node."""
+
+    package_share_dir = FindPackageShare("saltybot_social_memory_node")
+    config_file = PathJoinSubstitution(
+        [package_share_dir, "config", "social_memory.yaml"]
+    )
+
+    social_memory_node = Node(
+        package="saltybot_social_memory_node",
+        executable="social_memory",
+        name="social_memory",
+        output="screen",
+        parameters=[config_file],
+        remappings=[],
+    )
+
+    return LaunchDescription([
+        social_memory_node,
+    ])

jetson/ros2_ws/src/saltybot_social_memory_node/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_social_memory_node</name>
+  <version>0.1.0</version>
+  <description>
+    ROS2 service node for persistent social memory database.
+    Implements person lookup, update, encounter recording, and automatic relationship tier promotion.
+  </description>
+  <maintainer email="seb@vayrette.com">seb</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>saltybot_social_memory</depend>
+  <depend>ament_index_python</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_social_memory_node/saltybot_social_memory_node/social_memory_node.py

@@ -0,0 +1,583 @@
+#!/usr/bin/env python3
+
+import sqlite3
+import json
+import shutil
+import hashlib
+from datetime import datetime, timedelta
+from pathlib import Path
+from typing import Optional, List, Dict, Tuple
+import threading
+import gzip
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
+from std_msgs.msg import String
+from builtin_interfaces.msg import Time
+
+from saltybot_social_memory.srv import (
+    PersonLookup,
+    PersonUpdate,
+    EncounterRecord,
+    DatabaseStats,
+)
+
+
+class RelationshipTier:
+    """Relationship tier definitions and promotion logic."""
+
+    TIERS = ["stranger", "regular", "favorite"]
+    TIER_THRESHOLDS = {
+        "stranger": 0,
+        "regular": 5,  # 5+ encounters
+        "favorite": 20,  # 20+ encounters or high positive score
+    }
+    TIER_COOLDOWN = 3600  # 1 hour between promotions
+
+    @staticmethod
+    def promote_tier(current_tier: str, encounter_count: int, positive_score: float) -> Tuple[str, bool]:
+        """Determine if person should be promoted to higher tier."""
+        current_idx = RelationshipTier.TIERS.index(current_tier)
+
+        if current_idx >= len(RelationshipTier.TIERS) - 1:
+            return current_tier, False  # Already at max tier
+
+        next_tier = RelationshipTier.TIERS[current_idx + 1]
+        threshold = RelationshipTier.TIER_THRESHOLDS[next_tier]
+
+        # Promote if encounter count meets threshold and positive interactions >80%
+        if encounter_count >= threshold and positive_score > 0.8:
+            return next_tier, True
+
+        return current_tier, False
+
+
+class SocialMemoryDatabase:
+    """SQLite-backed social memory database."""
+
+    def __init__(self, db_path: Path):
+        self.db_path = db_path
+        self.db_path.parent.mkdir(parents=True, exist_ok=True)
+        self.lock = threading.Lock()
+        self._init_schema()
+
+    def _init_schema(self):
+        """Initialize database schema if not exists."""
+        with sqlite3.connect(self.db_path) as conn:
+            conn.execute("""
+                CREATE TABLE IF NOT EXISTS persons (
+                    person_id INTEGER PRIMARY KEY AUTOINCREMENT,
+                    name TEXT UNIQUE NOT NULL,
+                    embedding BLOB,
+                    relationship_tier TEXT DEFAULT 'stranger',
+                    relationship_score REAL DEFAULT 0.5,
+                    interaction_count INTEGER DEFAULT 0,
+                    positive_interactions INTEGER DEFAULT 0,
+                    greeting_stranger TEXT,
+                    greeting_regular TEXT,
+                    greeting_favorite TEXT,
+                    notes TEXT,
+                    created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+                    last_seen TIMESTAMP,
+                    last_tier_promotion TIMESTAMP
+                )
+            """)
+
+            conn.execute("""
+                CREATE TABLE IF NOT EXISTS encounters (
+                    encounter_id INTEGER PRIMARY KEY AUTOINCREMENT,
+                    person_id INTEGER NOT NULL,
+                    transcript TEXT,
+                    detected_mood TEXT,
+                    engagement_score REAL,
+                    positive_interaction BOOLEAN,
+                    encounter_timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+                    FOREIGN KEY (person_id) REFERENCES persons(person_id) ON DELETE CASCADE
+                )
+            """)
+
+            conn.execute("""
+                CREATE TABLE IF NOT EXISTS backups (
+                    backup_id INTEGER PRIMARY KEY AUTOINCREMENT,
+                    backup_path TEXT UNIQUE NOT NULL,
+                    backup_timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+                    file_size_mb REAL
+                )
+            """)
+
+            conn.commit()
+
+    def add_or_update_person(
+        self,
+        name: str,
+        relationship_tier: str = "stranger",
+        custom_greetings: Optional[Dict[str, str]] = None,
+        notes: str = "",
+        embedding: Optional[List[float]] = None,
+    ) -> int:
+        """Add or update a person profile."""
+        with self.lock:
+            with sqlite3.connect(self.db_path) as conn:
+                cursor = conn.cursor()
+
+                # Check if person exists
+                cursor.execute("SELECT person_id FROM persons WHERE name = ?", (name,))
+                result = cursor.fetchone()
+
+                if result:
+                    person_id = result[0]
+                    # Update existing person
+                    cursor.execute("""
+                        UPDATE persons SET
+                        relationship_tier = ?,
+                        greeting_stranger = ?,
+                        greeting_regular = ?,
+                        greeting_favorite = ?,
+                        notes = ?
+                        WHERE person_id = ?
+                    """, (
+                        relationship_tier,
+                        custom_greetings.get("stranger", "") if custom_greetings else "",
+                        custom_greetings.get("regular", "") if custom_greetings else "",
+                        custom_greetings.get("favorite", "") if custom_greetings else "",
+                        notes,
+                        person_id,
+                    ))
+                else:
+                    # Insert new person
+                    embedding_blob = None
+                    if embedding:
+                        embedding_blob = json.dumps(embedding).encode()
+
+                    cursor.execute("""
+                        INSERT INTO persons (
+                            name, relationship_tier, greeting_stranger,
+                            greeting_regular, greeting_favorite, notes, embedding
+                        ) VALUES (?, ?, ?, ?, ?, ?, ?)
+                    """, (
+                        name,
+                        relationship_tier,
+                        custom_greetings.get("stranger", "") if custom_greetings else "",
+                        custom_greetings.get("regular", "") if custom_greetings else "",
+                        custom_greetings.get("favorite", "") if custom_greetings else "",
+                        notes,
+                        embedding_blob,
+                    ))
+                    cursor.execute("SELECT last_insert_rowid()")
+                    person_id = cursor.fetchone()[0]
+
+                conn.commit()
+
+        return person_id
+
+    def lookup_person(self, query_type: str, query_value: str) -> Optional[Dict]:
+        """Lookup a person by ID, name, or recent encounters."""
+        with self.lock:
+            with sqlite3.connect(self.db_path) as conn:
+                conn.row_factory = sqlite3.Row
+                cursor = conn.cursor()
+
+                if query_type == "id":
+                    cursor.execute("SELECT * FROM persons WHERE person_id = ?", (int(query_value),))
+                elif query_type == "name":
+                    cursor.execute("SELECT * FROM persons WHERE name LIKE ?", (f"%{query_value}%",))
+                elif query_type == "recent":
+                    # Get most recent encounters within N days
+                    days = int(query_value) if query_value else 7
+                    cursor.execute("""
+                        SELECT DISTINCT p.* FROM persons p
+                        JOIN encounters e ON p.person_id = e.person_id
+                        WHERE e.encounter_timestamp > datetime('now', '-' || ? || ' days')
+                        ORDER BY p.last_seen DESC
+                        LIMIT 5
+                    """, (days,))
+                else:
+                    return None
+
+                row = cursor.fetchone()
+                if not row:
+                    return None
+
+                # Parse embedding if present
+                embedding = None
+                if row["embedding"]:
+                    embedding = json.loads(row["embedding"])
+
+                return {
+                    "person_id": row["person_id"],
+                    "name": row["name"],
+                    "relationship_tier": row["relationship_tier"],
+                    "relationship_score": row["relationship_score"],
+                    "interaction_count": row["interaction_count"],
+                    "custom_greetings": {
+                        "stranger": row["greeting_stranger"] or "",
+                        "regular": row["greeting_regular"] or "",
+                        "favorite": row["greeting_favorite"] or "",
+                    },
+                    "notes": row["notes"] or "",
+                    "last_seen": row["last_seen"],
+                    "embedding": embedding,
+                }
+
+    def record_encounter(
+        self,
+        person_id: int,
+        transcript: str,
+        mood: str,
+        engagement_score: float,
+        positive_interaction: bool,
+    ) -> Tuple[int, Optional[str]]:
+        """Record an encounter and check for tier promotion."""
+        with self.lock:
+            with sqlite3.connect(self.db_path) as conn:
+                cursor = conn.cursor()
+
+                # Insert encounter
+                cursor.execute("""
+                    INSERT INTO encounters (
+                        person_id, transcript, detected_mood, engagement_score, positive_interaction
+                    ) VALUES (?, ?, ?, ?, ?)
+                """, (person_id, transcript, mood, engagement_score, positive_interaction))
+
+                cursor.execute("SELECT last_insert_rowid()")
+                encounter_id = cursor.fetchone()[0]
+
+                # Update person stats
+                cursor.execute("""
+                    SELECT interaction_count, positive_interactions, relationship_tier, last_tier_promotion
+                    FROM persons WHERE person_id = ?
+                """, (person_id,))
+                row = cursor.fetchone()
+                current_count = row[0]
+                positive_count = row[1]
+                current_tier = row[2]
+                last_promotion = row[3]
+
+                new_interaction_count = current_count + 1
+                new_positive_count = positive_count + (1 if positive_interaction else 0)
+                positive_score = new_positive_count / max(1, new_interaction_count)
+
+                # Check for tier promotion (with cooldown)
+                new_tier = current_tier
+                tier_changed = None
+                now = datetime.now().isoformat()
+
+                if last_promotion is None or \
+                   (datetime.fromisoformat(last_promotion) + timedelta(hours=RelationshipTier.TIER_COOLDOWN)).isoformat() < now:
+                    new_tier, promoted = RelationshipTier.promote_tier(
+                        current_tier,
+                        new_interaction_count,
+                        positive_score,
+                    )
+                    if promoted:
+                        tier_changed = new_tier
+
+                # Update person record
+                cursor.execute("""
+                    UPDATE persons SET
+                    interaction_count = ?,
+                    positive_interactions = ?,
+                    relationship_score = ?,
+                    relationship_tier = ?,
+                    last_seen = CURRENT_TIMESTAMP,
+                    last_tier_promotion = ?
+                    WHERE person_id = ?
+                """, (
+                    new_interaction_count,
+                    new_positive_count,
+                    positive_score,
+                    new_tier,
+                    now if tier_changed else None,
+                    person_id,
+                ))
+
+                conn.commit()
+
+        return encounter_id, tier_changed
+
+    def get_stats(self) -> Dict:
+        """Get database statistics."""
+        with self.lock:
+            with sqlite3.connect(self.db_path) as conn:
+                cursor = conn.cursor()
+
+                cursor.execute("SELECT COUNT(*) FROM persons")
+                total_persons = cursor.fetchone()[0]
+
+                cursor.execute("SELECT COUNT(*) FROM encounters")
+                total_encounters = cursor.fetchone()[0]
+
+                cursor.execute(
+                    "SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
+                    ("favorite",)
+                )
+                favorites = cursor.fetchone()[0]
+
+                cursor.execute(
+                    "SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
+                    ("regular",)
+                )
+                regulars = cursor.fetchone()[0]
+
+                cursor.execute(
+                    "SELECT COUNT(*) FROM persons WHERE relationship_tier = ?",
+                    ("stranger",)
+                )
+                strangers = cursor.fetchone()[0]
+
+                # Get database file size
+                db_size_mb = self.db_path.stat().st_size / (1024 * 1024)
+
+                # Get last backup time
+                cursor.execute(
+                    "SELECT backup_timestamp FROM backups ORDER BY backup_timestamp DESC LIMIT 1"
+                )
+                last_backup = cursor.fetchone()
+                last_backup_time = last_backup[0] if last_backup else None
+
+                return {
+                    "total_persons": total_persons,
+                    "total_encounters": total_encounters,
+                    "favorites": favorites,
+                    "regulars": regulars,
+                    "strangers": strangers,
+                    "database_size_mb": db_size_mb,
+                    "last_backup": last_backup_time,
+                }
+
+    def backup_database(self, backup_dir: Path) -> Path:
+        """Create a gzipped backup of the database."""
+        with self.lock:
+            backup_dir.mkdir(parents=True, exist_ok=True)
+            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            backup_path = backup_dir / f"social_memory_backup_{timestamp}.db.gz"
+
+            try:
+                with open(self.db_path, "rb") as f_in:
+                    with gzip.open(backup_path, "wb") as f_out:
+                        f_out.write(f_in.read())
+
+                # Record backup in database
+                with sqlite3.connect(self.db_path) as conn:
+                    cursor = conn.cursor()
+                    size_mb = backup_path.stat().st_size / (1024 * 1024)
+                    cursor.execute(
+                        "INSERT INTO backups (backup_path, file_size_mb) VALUES (?, ?)",
+                        (str(backup_path), size_mb),
+                    )
+                    conn.commit()
+
+                return backup_path
+            except Exception as e:
+                raise Exception(f"Backup failed: {str(e)}")
+
+    def restore_database(self, backup_path: Path):
+        """Restore database from gzipped backup."""
+        with self.lock:
+            try:
+                with gzip.open(backup_path, "rb") as f_in:
+                    with open(self.db_path, "wb") as f_out:
+                        f_out.write(f_in.read())
+                self._init_schema()  # Ensure schema is valid
+            except Exception as e:
+                raise Exception(f"Restore failed: {str(e)}")
+
+
+class SocialMemoryNode(Node):
+    """ROS2 service server for social memory database."""
+
+    def __init__(self):
+        super().__init__("saltybot_social_memory")
+
+        # Configuration
+        self.declare_parameter("database_path", "/home/seb/saltybot-data/social_memory.db")
+        self.declare_parameter("backup_dir", "/home/seb/saltybot-data/backups")
+        self.declare_parameter("publish_stats", True)
+        self.declare_parameter("stats_publish_interval", 60.0)
+
+        db_path = Path(self.get_parameter("database_path").value)
+        backup_dir = Path(self.get_parameter("backup_dir").value)
+
+        # Initialize database
+        self.db = SocialMemoryDatabase(db_path)
+        self.backup_dir = backup_dir
+
+        # Create service servers
+        self.lookup_service = self.create_service(
+            PersonLookup,
+            "/saltybot/social_memory/lookup",
+            self.handle_lookup,
+        )
+
+        self.update_service = self.create_service(
+            PersonUpdate,
+            "/saltybot/social_memory/update",
+            self.handle_update,
+        )
+
+        self.encounter_service = self.create_service(
+            EncounterRecord,
+            "/saltybot/social_memory/encounter",
+            self.handle_encounter,
+        )
+
+        self.stats_service = self.create_service(
+            DatabaseStats,
+            "/saltybot/social_memory/stats",
+            self.handle_stats,
+        )
+
+        # Publisher for stats (if enabled)
+        if self.get_parameter("publish_stats").value:
+            self.stats_pub = self.create_publisher(
+                String,
+                "/saltybot/social_memory/stats_update",
+                10,
+            )
+            interval = self.get_parameter("stats_publish_interval").value
+            self.stats_timer = self.create_timer(interval, self.publish_stats_callback)
+
+        self.get_logger().info(
+            f"Social memory node initialized: {db_path}, "
+            f"backup dir: {backup_dir}"
+        )
+
+    def handle_lookup(self, request: PersonLookup.Request, response: PersonLookup.Response) -> PersonLookup.Response:
+        """Handle person lookup requests."""
+        try:
+            person = self.db.lookup_person(request.query_type, request.query_value)
+
+            if person:
+                response.found = True
+                response.person_id = person["person_id"]
+                response.name = person["name"]
+                response.relationship_tier = person["relationship_tier"]
+                response.relationship_score = person["relationship_score"]
+                response.interaction_count = person["interaction_count"]
+                response.notes = person["notes"]
+
+                # Build custom greetings list
+                greetings = person["custom_greetings"]
+                response.custom_greetings = [
+                    greetings.get("stranger", ""),
+                    greetings.get("regular", ""),
+                    greetings.get("favorite", ""),
+                ]
+
+                if person["last_seen"]:
+                    last_seen = datetime.fromisoformat(person["last_seen"])
+                    response.last_seen.sec = int(last_seen.timestamp())
+            else:
+                response.found = False
+
+        except Exception as e:
+            self.get_logger().error(f"Lookup error: {str(e)}")
+            response.found = False
+
+        return response
+
+    def handle_update(self, request: PersonUpdate.Request, response: PersonUpdate.Response) -> PersonUpdate.Response:
+        """Handle person update requests."""
+        try:
+            custom_greetings = {
+                "stranger": request.custom_greetings[0] if len(request.custom_greetings) > 0 else "",
+                "regular": request.custom_greetings[1] if len(request.custom_greetings) > 1 else "",
+                "favorite": request.custom_greetings[2] if len(request.custom_greetings) > 2 else "",
+            }
+
+            person_id = self.db.add_or_update_person(
+                name=request.name,
+                relationship_tier=request.relationship_tier,
+                custom_greetings=custom_greetings,
+                notes=request.notes,
+                embedding=request.embedding if request.embedding else None,
+            )
+
+            response.success = True
+            response.message = f"Person '{request.name}' updated successfully"
+            response.updated_person_id = person_id
+
+        except Exception as e:
+            response.success = False
+            response.message = f"Update error: {str(e)}"
+            self.get_logger().error(f"Update error: {str(e)}")
+
+        return response
+
+    def handle_encounter(self, request: EncounterRecord.Request, response: EncounterRecord.Response) -> EncounterRecord.Response:
+        """Handle encounter recording requests."""
+        try:
+            encounter_id, tier_changed = self.db.record_encounter(
+                person_id=request.person_id,
+                transcript=request.transcript,
+                mood=request.mood,
+                engagement_score=request.engagement_score,
+                positive_interaction=request.positive_interaction,
+            )
+
+            response.success = True
+            response.encounter_id = encounter_id
+            response.tier_changed_to = tier_changed if tier_changed else ""
+            response.message = f"Encounter recorded (ID: {encounter_id})"
+
+            if tier_changed:
+                self.get_logger().info(
+                    f"Person {request.person_id} promoted to {tier_changed}"
+                )
+
+        except Exception as e:
+            response.success = False
+            response.message = f"Encounter error: {str(e)}"
+            self.get_logger().error(f"Encounter error: {str(e)}")
+
+        return response
+
+    def handle_stats(self, request: DatabaseStats.Request, response: DatabaseStats.Response) -> DatabaseStats.Response:
+        """Handle statistics requests."""
+        try:
+            stats = self.db.get_stats()
+
+            response.total_persons = stats["total_persons"]
+            response.total_encounters = stats["total_encounters"]
+            response.favorites_count = stats["favorites"]
+            response.regulars_count = stats["regulars"]
+            response.strangers_count = stats["strangers"]
+            response.database_size_mb = stats["database_size_mb"]
+            response.database_path = str(self.db.db_path)
+
+            if stats["last_backup"]:
+                last_backup = datetime.fromisoformat(stats["last_backup"])
+                response.last_backup.sec = int(last_backup.timestamp())
+
+        except Exception as e:
+            self.get_logger().error(f"Stats error: {str(e)}")
+
+        return response
+
+    def publish_stats_callback(self):
+        """Periodically publish database statistics."""
+        try:
+            stats = self.db.get_stats()
+            msg = String()
+            msg.data = json.dumps(stats, default=str)
+            self.stats_pub.publish(msg)
+        except Exception as e:
+            self.get_logger().error(f"Stats publish error: {str(e)}")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SocialMemoryNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_social_memory_node/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_social_memory_node
+[install]
+install_lib=$base/lib/saltybot_social_memory_node

jetson/ros2_ws/src/saltybot_social_memory_node/setup.py

@@ -0,0 +1,32 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'saltybot_social_memory_node'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+            glob('launch/*.py')),
+        (os.path.join('share', package_name, 'config'),
+            glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='seb',
+    maintainer_email='seb@vayrette.com',
+    description='ROS2 service server for persistent social memory database',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'social_memory = saltybot_social_memory_node.social_memory_node:main',
+        ],
+    },
+)