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feat: Launch parameter profiles (Issue #506) #518

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sl-jetson commented 2026-03-06 16:43:23 -05:00
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sl-jetson added 5 commits 2026-03-06 16:43:24 -05:00 
Implement profile-based parameter overrides for Nav2, costmap, and behavior
server configurations. Profiles predefine parameter sets for different
deployment scenarios.

New files:
- config/profiles/indoor.yaml: Conservative (0.2 m/s, tight geofence, no GPS)
- config/profiles/outdoor.yaml: Moderate (0.5 m/s, wide geofence, GPS-enabled)
- config/profiles/demo.yaml: Agile (0.3 m/s, tricks/social features enabled)
- saltybot_bringup/profile_loader.py: YAML loader and parameter merger utility

Supports: ros2 launch saltybot_bringup full_stack.launch.py profile:=<profile>

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Add profile argument and documentation to full_stack.launch.py for
Issue #506 launch parameter profiles. Updated to support:
- profile:=indoor (conservative)
- profile:=outdoor (moderate)
- profile:=demo (agile with tricks/social features)

Changes:
- Add profile_arg declaration
- Add profile substitution handle
- Update docstring with profile examples
- Ready for profile-based Nav2 parameter overrides

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Add profile argument to nav2.launch.py to accept launch profile parameter
and log profile selection for debugging/monitoring.

Changes:
- Add profile_arg declaration with choices (indoor/outdoor/demo)
- Add profile substitution and log output
- Update docstring with profile documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- profile_indoor.yaml: Conservative settings (0.4 m/s, 0.35m inflation)
- profile_outdoor.yaml: Moderate settings (0.8 m/s, 0.3m inflation)
- profile_demo.yaml: Agile settings (0.6 m/s, 0.32m inflation)

Each profile customizes velocity limits, costmap inflation, and obstacle detection.
Add comprehensive integration testing for complete ROS2 system stack:

Integration Tests (test_integration_full_stack.py):
  - Verifies all ROS2 nodes launch successfully
  - Checks critical topics are published (sensors, nav, control)
  - Validates system component health and stability
  - Tests launch file validity and configuration
  - Covers indoor/outdoor/follow modes

Launch Testing (test_launch_full_stack.py):
  - Validates launch file syntax and configuration
  - Verifies all required packages are installed
  - Checks launch sequence timing
  - Validates conditional logic for optional components

Test Coverage:
  ✓ SLAM/RTAB-Map (indoor mode)
  ✓ Nav2 navigation stack
  ✓ Perception (YOLOv8n person detection)
  ✓ Control (cmd_vel bridge, STM32 bridge)
  ✓ Audio pipeline and monitoring
  ✓ Sensors (LIDAR, RealSense, UWB, CSI cameras)
  ✓ Battery and temperature monitoring
  ✓ Autonomous docking behavior
  ✓ TF2 tree and odometry

Usage:
  pytest test/test_integration_full_stack.py -v
  pytest test/test_launch_full_stack.py -v

Documentation:
  See test/README_INTEGRATION_TESTS.md for detailed information.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-07 09:20:13 -05:00

Pull request closed

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Reference: seb/saltylab-firmware#518
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