feat: full stack master launch with profiles (Issue #447)
Master saltybot_bringup.launch.py with:
- Profile support (full/minimal/headless) for flexible deployments
- Boot order: hardware → perception → control → social → monitoring
- Dependency-ordered launch with 30-second boot timeout
- Consolidated saltybot_params.yaml with all stack parameters
- Stack state publisher (/saltybot/stack_state)
- Post-launch diagnostics self-test
- Graceful shutdown support (motors first)
Boot sequence (Issue #447):
- t=0s: hardware (robot description, STM32 bridge)
- t=2-6s: perception (sensors, cameras, detection, SLAM)
- t=2-14s: control (cmd_vel bridge, follower, Nav2)
- t=17-19s: social & monitoring (rosbridge, stack state)
Features:
- full profile: complete stack (SLAM, Nav2, detection, follower)
- minimal profile: hardware + control only
- headless profile: sensors + control (no CSI cameras)
- Configurable modes: indoor (SLAM+Nav2), outdoor (GPS nav), follow
Parameters consolidated in config/saltybot_params.yaml:
- Hardware (bridge, motors)
- Perception (sensors, detection, SLAM)
- Control (follower, Nav2)
- Social (TTS, gestures, face tracking)
- Monitoring (rosbridge, health checks)
New: stack_state_monitor_node.py (publishes stack boot state)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson
2d144f5bcc