# SaltyBot Android/Termux Phone Node (Issue #420)

Android phone node for SaltyBot via Termux. Provides camera, GPS, IMU sensors and local OpenClaw LLM inference.

## Setup

On phone (Termux):
```bash
bash termux-bootstrap.sh
mkdir -p ~/saltybot_workspace/src
cd ~/saltybot_workspace && colcon build
```

## Running

```bash
cd ~/saltybot_workspace && source install/setup.bash
ros2 launch saltybot_phone phone_bringup.py
```

## Topics

| Topic | Type | Description |
|-------|------|-------------|
| `/phone/camera/image_raw` | Image | Camera frames 320x240@15Hz |
| `/phone/gps` | NavSatFix | GPS location |
| `/phone/imu` | Imu | Accelerometer data |
| `/saltybot/speech_text` | String | Input from Jetson |
| `/saltybot/chat_response` | String | LLM output to Jetson |

## Power Management

```bash
nohup bash ~/power-management.sh > ~/power-mgmt.log 2>&1 &
```

Reduces CPU activity on low battery (<25%) or critical battery (<15%).

## Configuration

Edit `config/phone.yaml` to adjust frame rates and LLM parameters.

## Issue #420 Completion

✅ Termux bootstrap
✅ Camera / GPS / IMU nodes
✅ OpenClaw chat (local LLM)
✅ WebSocket bridge to Orin
✅ Termux:Boot auto-start
✅ Power management