sl-controls bc97c027c4 feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM ...

Two new packages:
- saltybot_emergency_msgs: EmergencyEvent.msg, RecoveryAction.msg
- saltybot_emergency: threat_detector, alert_manager, recovery_sequencer, emergency_fsm, emergency_node

Implements:
- ObstacleDetector: MAJOR <30cm, CRITICAL <10cm; suppressed when not moving
- FallDetector: MINOR/MAJOR/CRITICAL tilt thresholds; floor-drop edge detection
- StuckDetector: MAJOR after 3s wheel stall (cmd>threshold, actual~0)
- BumpDetector: jerk = |Δ|a||/dt with gravity removal; MAJOR/CRITICAL thresholds
- AlertManager: per-(type,level) suppression; MAJOR×N within window → CRITICAL escalation
- RecoverySequencer: REVERSING→TURNING→RETRYING FSM; max_retries before GAVE_UP
- EmergencyFSM: NOMINAL→STOPPING→RECOVERING→ESCALATED; acknowledge to clear
- EmergencyNode: 20Hz ROS2 node; /saltybot/emergency, /saltybot/e_stop, cmd_vel mux

59/59 tests passing.

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

2026-03-02 10:46:04 -05:00

..

saltybot_adaptive_pid

feat(controls): adaptive PID balance controller with gain scheduling (Issue #136)

2026-03-02 09:38:46 -05:00

saltybot_bridge

feat(bridge): battery management node (Issue #125)

2026-03-02 09:27:06 -05:00

saltybot_bringup

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)

2026-03-02 09:17:54 -05:00

saltybot_calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106)

2026-03-02 08:38:24 -05:00

saltybot_cameras

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

saltybot_cellular

feat: SIM7600X 4G cellular + GPS driver (#58)

2026-03-01 00:42:18 -05:00

saltybot_description

feat: Phase 2a URDF robot description for SLAM and Nav2

2026-02-28 22:57:58 -05:00

saltybot_docking

feat(#158): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_docking_msgs

feat(#158): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_dynamic_obs_msgs

feat(jetson): add dynamic obstacle tracking package (issue #176)

2026-03-02 10:44:32 -05:00

saltybot_dynamic_obstacles

feat(jetson): add dynamic obstacle tracking package (issue #176)

2026-03-02 10:44:32 -05:00

saltybot_emergency

feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:46:04 -05:00

saltybot_emergency_msgs

feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:46:04 -05:00

saltybot_fleet

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)

2026-03-02 09:36:17 -05:00

saltybot_fleet_msgs

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)

2026-03-02 09:36:17 -05:00

saltybot_follower

feat: UWB follow-me system (#57) — saltybot_uwb package + sensor fusion

2026-03-01 00:48:03 -05:00

saltybot_mapping

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)

2026-03-02 09:17:54 -05:00

saltybot_mode_switch

feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104)

2026-03-02 08:38:49 -05:00

saltybot_night_vision

feat(jetson): add saltybot_night_vision package (issue #168)

2026-03-02 10:36:21 -05:00

saltybot_outdoor

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

saltybot_panoramic

feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105)

2026-03-02 08:41:40 -05:00

saltybot_perception

feat: person detection + tracking (YOLOv8n TensorRT)

2026-02-28 23:21:24 -05:00

saltybot_routes

feat: route recording + autonomous replay (#71)

2026-03-01 01:07:06 -05:00

saltybot_rover_driver

feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110)

2026-03-02 09:03:28 -05:00

saltybot_scene

feat(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141)

2026-03-02 09:59:53 -05:00

saltybot_scene_msgs

feat(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141)

2026-03-02 09:59:53 -05:00

saltybot_segmentation

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_segmentation_costmap

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_social

feat(social): multi-camera gesture recognition — MediaPipe Hands + Pose (Issue #140)

2026-03-02 10:10:54 -05:00

saltybot_social_enrollment

feat(social): person enrollment system — SQLite gallery + voice trigger (Issue #87)

2026-03-01 23:32:26 -05:00

saltybot_social_face

feat(social): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80)

2026-03-01 23:31:48 -05:00

saltybot_social_msgs

feat(social): multi-camera gesture recognition — MediaPipe Hands + Pose (Issue #140)

2026-03-02 10:10:54 -05:00

saltybot_social_nav

feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91)

2026-03-01 23:15:00 -05:00

saltybot_social_personality

feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84)

2026-03-01 23:56:05 -05:00

saltybot_social_tests

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

saltybot_social_tracking

feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92)

2026-03-01 23:59:10 -05:00

saltybot_speed_controller

feat: outdoor adaptive speed controller (saltybot_speed_controller)

2026-03-01 01:06:50 -05:00

saltybot_surround

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

saltybot_tank_driver

feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122)

2026-03-02 09:14:37 -05:00

saltybot_terrain_adaptation

feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_terrain_msgs

feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_uwb

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00

saltybot_uwb_msgs

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00

saltybot_visual_odom

feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157)

2026-03-02 10:15:32 -05:00