sl-firmware
381549b33f
Critical safety system with <50ms latency emergency response. ROS2 action server /saltybot/estop with unified trigger sources: - Voice commands: 'stop', 'emergency', 'e-stop' - Gamepad emergency button - IMU tilt detection (>45 degrees) - LiDAR obstacle detection (<0.3m) - Geofence boundary violation - Watchdog timeout trigger - MQTT remote kill signal Cascade response (within 500ms): 1. Zero cmd_vel in <50ms (priority critical) 2. Disable autonomous mode 3. Face alert animation (emergency_stop) 4. LED red indicator 5. TTS alert announcement 6. Event logging + sensor snapshot Safety properties: - Cannot be overridden once triggered - Manual resume only (gamepad Start or voice 'resume') - Non-blockable execution (separate thread) - Redundant trigger sources for reliability Published topics: - /saltybot/estop_active (Bool) - System state - /saltybot/estop_event (String) - Event log (JSON) Subscribed triggers: - /camera/imu - Tilt detection - /scan - Obstacle detection <0.3m - /voice/command - Voice e-stop/resume - /gamepad/emergency, /gamepad/start - Gamepad controls - /saltybot/geofence_violation - Geofence boundary - /saltybot/watchdog_timeout - Watchdog signal - /saltybot/mqtt_kill - Remote kill signal Package structure: - estop_server: Main emergency stop node - estop_config.yaml: Timing, triggers, cascade config - estop.launch.py: Launch with safety parameters - Unit tests for trigger detection and cascade timing Logging: /home/seb/saltybot-data/estop/ (JSON format) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>