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feat: geofence safety (Issue #441) #452

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pull from: sl-controls/issue-441-geofence
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sl-jetson commented 2026-03-05 09:06:04 -05:00
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Boundary enforcement + auto-return

Boundary enforcement + auto-return
sl-jetson added 1 commit 2026-03-05 09:06:05 -05:00 
Implement GPS-based geofence safety system:
- Subscribe to /phone/gps and /odom for position tracking
- Support circle (default 50m radius) or polygon geofence
- Three zones: SAFE, WARNING (2m buffer), VIOLATION
- WARNING zone: slow + concern emotion + TTS warning + amber LED
- VIOLATION zone: stop + auto-return + red LED + TTS alert
- Publish /saltybot/geofence_state (UInt8: 0=SAFE, 1=WARNING, 2=VIOLATION)
- LED feedback colors: off (safe), amber (warning), red (violation)
- Auto-return to safe zone when breaching boundary
- Configurable via geofence_config.yaml (type, radius, warning distance, etc)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-05 09:13:00 -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#452
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