sl-controls
de9a835cc2
Adds saltybot_cellular ROS2 package for the Waveshare SIM7600X 4G HAT
(SIMCom SIM7600A-H) providing GPS telemetry, modem monitoring, and
MQTT relay over cellular for remote operation.
gps_driver_node:
- Opens /dev/ttyUSB2 (NMEA), optionally sends AT+CGPS=1 on /dev/ttyUSB0
- Parses GGA (position) + RMC (velocity) from any NMEA talker (GP/GN/GL/GA)
- Validates NMEA checksum before parsing
- Publishes /gps/fix (NavSatFix, covariance from HDOP × ±2.5m CEP)
- Publishes /gps/vel (TwistStamped, ENU vE/vN from course-over-ground)
- Publishes /diagnostics (fix quality, sat count, HDOP)
cellular_manager_node:
- Polls AT+CSQ, AT+CREG?, AT+COPS? every 5s over /dev/ttyUSB0
- Publishes /cellular/status (DiagnosticArray: rssi, network, connected)
- Publishes /cellular/rssi (Int32, dBm) and /cellular/connected (Bool)
- Auto-reconnect via nmcli or pppd when data link drops
mqtt_bridge_node:
- paho-mqtt client (graceful degradation if not installed)
- ROS2→MQTT QoS 0: /saltybot/imu, /gps/fix, /gps/vel, /uwb/ranges,
/person/target, /cellular/status
- MQTT→ROS2 QoS 1: saltybot/cmd→/saltybot/cmd, saltybot/estop→/saltybot/estop
- Per-topic rate limiting (imu:5Hz, gps:1Hz, person:2Hz) → <<50KB/s budget
- Optional TLS, configurable broker/port/prefix/auth
Deliverables:
saltybot_cellular/gps_driver_node.py — 402 lines
saltybot_cellular/cellular_manager_node.py — 362 lines
saltybot_cellular/mqtt_bridge_node.py — 317 lines
config/cellular_params.yaml — full config documented
launch/cellular.launch.py — all nodes, all params as args
test/test_cellular.py — 60 pytest tests, no ROS2
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
1.2 KiB
Python
33 lines
1.2 KiB
Python
from setuptools import setup
|
|
|
|
package_name = "saltybot_cellular"
|
|
|
|
setup(
|
|
name=package_name,
|
|
version="0.1.0",
|
|
packages=[package_name],
|
|
data_files=[
|
|
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
|
|
(f"share/{package_name}", ["package.xml"]),
|
|
(f"share/{package_name}/launch", ["launch/cellular.launch.py"]),
|
|
(f"share/{package_name}/config", ["config/cellular_params.yaml"]),
|
|
],
|
|
install_requires=["setuptools", "pyserial"],
|
|
zip_safe=True,
|
|
maintainer="sl-controls",
|
|
maintainer_email="sl-controls@saltylab.local",
|
|
description="SIM7600X 4G HAT driver: GPS NavSatFix + cellular modem + MQTT bridge",
|
|
license="MIT",
|
|
tests_require=["pytest"],
|
|
entry_points={
|
|
"console_scripts": [
|
|
# NMEA GPS → /gps/fix, /gps/vel
|
|
"gps_driver_node = saltybot_cellular.gps_driver_node:main",
|
|
# AT modem monitor → /cellular/status, /cellular/rssi, /cellular/connected
|
|
"cellular_manager_node = saltybot_cellular.cellular_manager_node:main",
|
|
# ROS2 ↔ MQTT telemetry relay
|
|
"mqtt_bridge_node = saltybot_cellular.mqtt_bridge_node:main",
|
|
],
|
|
},
|
|
)
|