saltylab-firmware

Go to file

sl-jetson 7c4e46aaa1 feat: STM32-to-Jetson ROS2 serial bridge node

saltybot_bridge ROS2 Python package (ament_python):
- serial_bridge_node.py: reads USB CDC JSON telemetry from STM32F722 at 50Hz
  Parses exact firmware format: {"p","r","e","ig","m","s","y"} (all ×10 ints)
  State enum: 0=DISARMED, 1=ARMED, 2=TILT_FAULT (matched to balance_state_t)
- Publishes sensor_msgs/Imu on /saltybot/imu (pitch/roll/yaw as angular_velocity)
- Publishes std_msgs/String on /saltybot/balance_state (full PID JSON diagnostics)
- Publishes diagnostic_msgs/DiagnosticArray on /diagnostics (OK/WARN/ERROR by state)
- Auto-reconnects on serial disconnect; IMU fault frames → ERROR diagnostic
- launch/bridge.launch.py with serial_port + baud_rate launch args
- config/bridge_params.yaml (921600 baud, /dev/ttyACM0)
- test/test_parse.py: 8 unit tests covering normal, fault, edge cases (all pass)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 17:11:02 -05:00

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

fix: correct roll axis mapping + add yaw telemetry (issues #12 , #13 )

2026-02-28 15:07:04 -05:00

jetson

feat: STM32-to-Jetson ROS2 serial bridge node