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sl-webui 50d1ebbdcc feat: Behavior tree coordinator for autonomous mode (Issue #482 )

State machine: idle → patrol → investigate → interact → return
- IDLE: Waiting for activation or battery recovery
- PATROL: Autonomous patrolling with curiosity-driven exploration (#470)
- INVESTIGATE: Approach and track detected persons
- INTERACT: Social interaction with face recognition and gestures
- RETURN: Navigate back to home/dock with recovery behaviors

Integrations:
- Patrol mode (#446): Waypoint routes with geofence (#441)
- Curiosity behavior (#470): Autonomous exploration
- Person following: Approach detected persons
- Emergency stop cascade (#459): Highest priority safety
- Geofence constraint (#441): Keep patrol within boundaries

Blackboard variables:
- battery_level: Current battery percentage
- person_detected: Person detection state
- current_mode: Current behavior tree state
- home_pose: Home/dock location

Files:
- behavior_trees/autonomous_coordinator.xml: BehaviorTree definition
- launch/autonomous_mode.launch.py: Full launch setup
- saltybot_bringup/bt_nodes.py: Custom BT node plugins
- BEHAVIOR_TREE_README.md: Documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 14:42:57 -05:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

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

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

.pio/build

fix: rename MeshPeer namespace field to ros_namespace (Issue #392 )

2026-03-04 12:42:35 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301 )