sl-controls
292c73fb60
Implement GPS-based geofence safety system: - Subscribe to /phone/gps and /odom for position tracking - Support circle (default 50m radius) or polygon geofence - Three zones: SAFE, WARNING (2m buffer), VIOLATION - WARNING zone: slow + concern emotion + TTS warning + amber LED - VIOLATION zone: stop + auto-return + red LED + TTS alert - Publish /saltybot/geofence_state (UInt8: 0=SAFE, 1=WARNING, 2=VIOLATION) - LED feedback colors: off (safe), amber (warning), red (violation) - Auto-return to safe zone when breaching boundary - Configurable via geofence_config.yaml (type, radius, warning distance, etc) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>