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feat: Autonomous behavior tree coordinator (Issue #482) #510

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sl-jetson wants to merge 0 commits from sl-webui/issue-482-behavior-tree into main
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sl-jetson commented 2026-03-06 11:42:42 -05:00
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sl-jetson added 2 commits 2026-03-06 11:42:43 -05:00 
State machine: idle → patrol → investigate → interact → return
- IDLE: Waiting for activation or battery recovery
- PATROL: Autonomous patrolling with curiosity-driven exploration (#470)
- INVESTIGATE: Approach and track detected persons
- INTERACT: Social interaction with face recognition and gestures
- RETURN: Navigate back to home/dock with recovery behaviors

Integrations:
- Patrol mode (#446): Waypoint routes with geofence (#441)
- Curiosity behavior (#470): Autonomous exploration
- Person following: Approach detected persons
- Emergency stop cascade (#459): Highest priority safety
- Geofence constraint (#441): Keep patrol within boundaries

Blackboard variables:
- battery_level: Current battery percentage
- person_detected: Person detection state
- current_mode: Current behavior tree state
- home_pose: Home/dock location

Files:
- behavior_trees/autonomous_coordinator.xml: BehaviorTree definition
- launch/autonomous_mode.launch.py: Full launch setup
- saltybot_bringup/bt_nodes.py: Custom BT node plugins
- BEHAVIOR_TREE_README.md: Documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-07 09:20:12 -05:00

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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#510
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