sl-jetson
7b22141142
feat: OTA firmware update (Issue #492)
Complete over-the-air (OTA) firmware update system with:
Features:
- Downloads releases from Gitea (seb/saltylab-firmware)
- Automatic colcon build in staging directory
- Symlink-based atomic deployment
- ROS2 service restart via systemd
- Automatic rollback on build failure
- Version tracking in ~/.saltybot-data/versions.json
- Update history with timestamps
Safety:
- Blocks updates if robot velocity > 0.05 m/s
- Velocity monitoring via odometry subscription
- Backup before update for recovery
Triggers:
- MQTT /saltybot/ota_command: 'check', 'update:<version>', 'rollback'
- /saltybot/ota_status: JSON status updates
- Dashboard integration ready
Configuration:
- Gitea API base, repo info, directories
- Build timeout: 3600s (1 hour)
- Service restart automation
- Backup retention policy
ROS2 package structure complete with launch files and config.