sl-jetson ea26cda76a feat(bridge): battery management node (Issue #125) ...

Add battery_node.py:
- Subscribes /saltybot/telemetry/battery (JSON from stm32_cmd_node)
- Publishes sensor_msgs/BatteryState on /saltybot/battery at 1 Hz
- SoC source priority: STM32 fuel gauge soc_pct field → fallback to
  3S LiPo voltage curve (12-point lookup with linear interpolation)
- Charging detection: current_ma < -100 mA threshold
- Alert levels: WARNING (20%)→speed 60%, CRITICAL (10%)→speed 30%,
  EMERGENCY (5%)→zero /cmd_vel + /saltybot/arm(False) disarm
- /saltybot/battery/alert JSON topic on threshold crossings
- /saltybot/speed_limit Float32 (0.0-1.0) for nav speed capping
- SQLite history logging: /var/log/saltybot/battery.db, 7-day retention
- Hourly prune timer to keep DB bounded

Add test_battery.py (70+ tests, no ROS2 runtime):
- SoC lookup: all curve points, interpolation, clamping, 3S/4S packs
- Alert level thresholds and transitions for all levels
- Speed factor assignments per alert level
- Charging detection logic
- sensor_msgs/BatteryState field population
- SQLite insert/retrieve/prune (in-memory and on-disk)
- JSON telemetry parsing: normal, charging, soc_pct=0 fallback

Add battery_params.yaml, battery.launch.py.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-02 09:27:06 -05:00

..

saltybot_bridge

feat(bridge): battery management node (Issue #125)

2026-03-02 09:27:06 -05:00

saltybot_bringup

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)

2026-03-02 09:17:54 -05:00

saltybot_calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106)

2026-03-02 08:38:24 -05:00

saltybot_cameras

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

saltybot_cellular

feat: SIM7600X 4G cellular + GPS driver (#58)

2026-03-01 00:42:18 -05:00

saltybot_description

feat: Phase 2a URDF robot description for SLAM and Nav2

2026-02-28 22:57:58 -05:00

saltybot_follower

feat: UWB follow-me system (#57) — saltybot_uwb package + sensor fusion

2026-03-01 00:48:03 -05:00

saltybot_mapping

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)

2026-03-02 09:17:54 -05:00

saltybot_mode_switch

feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104)

2026-03-02 08:38:49 -05:00

saltybot_outdoor

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

saltybot_panoramic

feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105)

2026-03-02 08:41:40 -05:00

saltybot_perception

feat: person detection + tracking (YOLOv8n TensorRT)

2026-02-28 23:21:24 -05:00

saltybot_routes

feat: route recording + autonomous replay (#71)

2026-03-01 01:07:06 -05:00

saltybot_rover_driver

feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110)

2026-03-02 09:03:28 -05:00

saltybot_segmentation

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_segmentation_costmap

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_social

feat(social): speech pipeline + LLM conversation + TTS + orchestrator (#81 #83 #85 #89)

2026-03-02 08:23:19 -05:00

saltybot_social_enrollment

feat(social): person enrollment system — SQLite gallery + voice trigger (Issue #87)

2026-03-01 23:32:26 -05:00

saltybot_social_face

feat(social): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80)

2026-03-01 23:31:48 -05:00

saltybot_social_msgs

feat(social): speech pipeline + LLM conversation + TTS + orchestrator (#81 #83 #85 #89)

2026-03-02 08:23:19 -05:00

saltybot_social_nav

feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91)

2026-03-01 23:15:00 -05:00

saltybot_social_personality

feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84)

2026-03-01 23:56:05 -05:00

saltybot_social_tests

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

saltybot_social_tracking

feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92)

2026-03-01 23:59:10 -05:00

saltybot_speed_controller

feat: outdoor adaptive speed controller (saltybot_speed_controller)

2026-03-01 01:06:50 -05:00

saltybot_surround

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

saltybot_tank_driver

feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122)

2026-03-02 09:14:37 -05:00

saltybot_uwb

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00

saltybot_uwb_msgs

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00