eb37f160ce
Add complete phone node infrastructure: ROS2 Package (saltybot_phone): - camera_node: /phone/camera/image_raw (320x240, 15 FPS) - gps_node: /phone/gps (NavSatFix via termux-api) - imu_node: /phone/imu (accelerometer data) - openclaw_chat_node: Local LLM inference Subscribes /saltybot/speech_text Publishes /saltybot/chat_response - ws_bridge: WebSocket bridge to Jetson Orin (:9090) Phone Scripts: - termux-bootstrap.sh: Complete Termux setup - power-management.sh: Battery/thermal monitoring - README.md: Setup documentation Architecture: - Termux on Android phone - WiFi/USB tether to Jetson Orin - ROS2 topic bridge for sensors - Local LLM for on-device chat (Phi-2) - Termux:Boot auto-start - Power management for extended runtime Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
50 lines
1.5 KiB
Bash
Executable File
50 lines
1.5 KiB
Bash
Executable File
#!/bin/bash
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# Termux Bootstrap for SaltyBot Phone Node
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set -e
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echo "=== SaltyBot Phone Node Bootstrap ==="
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apt update -y && apt upgrade -y
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apt install -y python3 python3-pip git curl wget vim openssh termux-api
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pip install -q --upgrade pip setuptools wheel
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pip install -q colcon-common-extensions rclpy sensor_msgs geometry_msgs cv_bridge pillow opencv-python ollama
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if [ ! -d "$HOME/.local/llama.cpp" ]; then
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git clone https://github.com/ggerganov/llama.cpp $HOME/.local/llama.cpp
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cd $HOME/.local/llama.cpp && make
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fi
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mkdir -p ~/.cache/openclaw ~/saltybot_workspace
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mkdir -p ~/.ssh
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if [ ! -f ~/.ssh/id_rsa ]; then
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ssh-keygen -t rsa -b 4096 -f ~/.ssh/id_rsa -N ""
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fi
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mkdir -p ~/.termux/boot
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cat > ~/.termux/boot/saltybot-phone-start.sh << 'EOF'
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#!/bin/bash
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export PATH="$HOME/.local/bin:$PATH"
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cd ~/saltybot_workspace
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source install/setup.bash
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ros2 launch saltybot_phone phone_bringup.py &
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echo "SaltyBot phone node started at $(date)" >> ~/phone-node.log
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EOF
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chmod +x ~/.termux/boot/saltybot-phone-start.sh
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mkdir -p ~/.config/termux
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cat > ~/.config/termux/power-monitor.sh << 'EOF'
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#!/bin/bash
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while true; do
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BATTERY=$(termux-battery-status | grep -o 'percentage":[0-9]*' | cut -d: -f2)
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if [ "$BATTERY" -lt "20" ]; then
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echo "Battery low ($BATTERY%)" >> ~/power-monitor.log
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fi
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sleep 60
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done
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EOF
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chmod +x ~/.config/termux/power-monitor.sh
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echo "=== Bootstrap Complete ==="
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echo "Next: Download saltybot_phone to ~/saltybot_workspace/src/ && colcon build"
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