Implement automatic mission logging with bag recorder:
- Auto-records to ~/.saltybot-data/bags/ with 30min rotation
- Records mission-critical topics: /scan, /cmd_vel, /odom, /tf, /camera/color/image_raw/compressed, /saltybot/diagnostics
- MCAP format (preferred) with fallback to sqlite3 with zstd compression
- Services: /saltybot/save_bag, /saltybot/start_recording, /saltybot/stop_recording
- FIFO 20GB disk limit with automatic cleanup of oldest bags
- Auto-starts on launch, auto-saves on graceful shutdown
Changes:
- Updated bag_recorder_node.py with new parameters and services
- Changed default bag_dir to ~/.saltybot-data/bags/
- Set max_storage_gb to 20 (FIFO limit)
- Changed storage_format to MCAP by default
- Added start/stop recording service callbacks
- Updated package.xml description for mission logging
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- Integrate saltybot_docking package into full_stack.launch.py
- Auto-trigger docking when battery drops to 20% (configurable via battery_low_pct)
- Launch docking at t=7s (after sensors, before Nav2)
- Add /saltybot/docking_state publisher (std_msgs/String) for state monitoring
- Update docking_params.yaml:
- battery_low_pct: 15% → 20% per Issue #489
- Add references to Issue #475 for conservative FC+hoverboard speeds
- Docking behavior includes:
- ArUco marker or IR beacon detection for dock location
- Nav2-based approach to pre-dock pose (~1m away)
- Visual servoing final alignment with contact detection
- Auto-undocking on full charge (80%) or command
- Integration with power management for mission interruption/resumption
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
