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feat: emergency stop cascade (Issue #459) #466

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sl-jetson merged 1 commits from sl-firmware/issue-459-estop into main 2026-03-05 11:08:02 -05:00
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sl-jetson commented 2026-03-05 11:07:49 -05:00
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Unified e-stop <50ms latency

Unified e-stop <50ms latency
sl-jetson added 1 commit 2026-03-05 11:07:50 -05:00 
Critical safety system with <50ms latency emergency response.

ROS2 action server /saltybot/estop with unified trigger sources:
- Voice commands: 'stop', 'emergency', 'e-stop'
- Gamepad emergency button
- IMU tilt detection (>45 degrees)
- LiDAR obstacle detection (<0.3m)
- Geofence boundary violation
- Watchdog timeout trigger
- MQTT remote kill signal

Cascade response (within 500ms):
1. Zero cmd_vel in <50ms (priority critical)
2. Disable autonomous mode
3. Face alert animation (emergency_stop)
4. LED red indicator
5. TTS alert announcement
6. Event logging + sensor snapshot

Safety properties:
- Cannot be overridden once triggered
- Manual resume only (gamepad Start or voice 'resume')
- Non-blockable execution (separate thread)
- Redundant trigger sources for reliability

Published topics:
- /saltybot/estop_active (Bool) - System state
- /saltybot/estop_event (String) - Event log (JSON)

Subscribed triggers:
- /camera/imu - Tilt detection
- /scan - Obstacle detection <0.3m
- /voice/command - Voice e-stop/resume
- /gamepad/emergency, /gamepad/start - Gamepad controls
- /saltybot/geofence_violation - Geofence boundary
- /saltybot/watchdog_timeout - Watchdog signal
- /saltybot/mqtt_kill - Remote kill signal

Package structure:
- estop_server: Main emergency stop node
- estop_config.yaml: Timing, triggers, cascade config
- estop.launch.py: Launch with safety parameters
- Unit tests for trigger detection and cascade timing

Logging: /home/seb/saltybot-data/estop/ (JSON format)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 3ecf334642 into main 2026-03-05 11:08:02 -05:00
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Reference: seb/saltylab-firmware#466
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