sl-jetson
d421d63c6f
Comprehensive event logging system for SaltyBot with: Features: - MQTT subscription to /saltybot/* state topics (9 event types) - Structured JSON event logging to ~/.saltybot-data/events/YYYY-MM-DD.jsonl - Event types: encounter, voice_command, trick, e-stop, geofence, dock, error, boot, shutdown - Query service (time range + type filter) - Stats publisher (/saltybot/event_stats) with daily summaries - Dashboard live feed (/saltybot/event_feed) - Automatic log rotation: compress >7 days, delete >90 days - CSV export functionality - Thread-safe event processing Components: - EventLogger ROS2 node with background timers - Event dataclass with timestamp/type/source/data - File-based storage (JSONL + compressed archives) - Query API for time/type filtering - CSV export utility - Comprehensive unit tests (15 test cases) Configuration: - Data directory: ~/.saltybot-data/events - Rotation: 7 days compress, 90 days delete - Stats interval: 60 seconds - Rotation check: hourly Launch: - event_logger.launch.py - Standalone launch - Config: event_logger.yaml with topic mappings Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
saltybot_curiosity
Autonomous curiosity behavior for SaltyBot — frontier exploration when idle.
Features
- Idle Detection: Activates after >60s without people
- Frontier Exploration: Random walk toward unexplored areas
- Sound Localization: Turns toward detected sounds
- Object Interest: Approaches colorful/moving objects
- Self-Narration: TTS commentary during exploration
- Safety: Respects geofence, avoids obstacles
- Auto-Timeout: Returns home after 10 minutes
- Curiosity Level: Configurable 0-1.0 activation probability
Launch
ros2 launch saltybot_curiosity curiosity.launch.py
Parameters
curiosity_level: 0.0-1.0 probability of exploring when idle (default: 0.7)idle_threshold_sec: seconds of idle before activation (default: 60)exploration_max_duration_sec: max exploration time in seconds (default: 600)exploration_radius_m: search radius in meters (default: 5.0)pan_tilt_step_deg: pan-tilt sweep step (default: 15)min_sound_activity: sound detection threshold (default: 0.1)
Topics
Publishes
/saltybot/curiosity_state(String): State updates/saltybot/tts_request(String): Self-narration text/saltybot/pan_tilt_cmd(String): Pan-tilt commands/cmd_vel(Twist): Velocity commands (if direct movement)
Subscribes
/saltybot/audio_direction(Float32): Sound bearing (degrees)/saltybot/audio_activity(Bool): Sound detected/saltybot/person_detections(Detection2DArray): People nearby/saltybot/object_detections(Detection2DArray): Interesting objects/saltybot/battery_percent(Float32): Battery level/saltybot/geofence_status(String): Geofence boundary info
State Machine
IDLE → (is_idle && should_explore) → EXPLORING
EXPLORING → (timeout || person detected) → RETURNING
RETURNING → IDLE
Issue #470
Implements autonomous curiosity exploration as specified in Issue #470.