sl-firmware
291dd689f8
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
624 lines
23 KiB
Python
624 lines
23 KiB
Python
"""
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full_stack.launch.py — One-command full autonomous stack bringup for SaltyBot.
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Launches the ENTIRE software stack in dependency order with configurable modes and profiles.
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Usage
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─────
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# Full indoor autonomous (SLAM + Nav2 + person follow + UWB):
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ros2 launch saltybot_bringup full_stack.launch.py
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# Indoor profile (conservative 0.2 m/s, tight geofence, no GPS):
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ros2 launch saltybot_bringup full_stack.launch.py profile:=indoor
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# Outdoor profile (0.5 m/s, wide geofence, GPS-enabled):
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ros2 launch saltybot_bringup full_stack.launch.py profile:=outdoor
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# Demo profile (tricks, dancing, social features, 0.3 m/s):
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ros2 launch saltybot_bringup full_stack.launch.py profile:=demo
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# Person-follow only (no SLAM, no Nav2 — living room demo):
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ros2 launch saltybot_bringup full_stack.launch.py mode:=follow
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# Outdoor GPS nav + person follow:
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ros2 launch saltybot_bringup full_stack.launch.py mode:=outdoor
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# Indoor, no CSI cameras (RealSense + RPLIDAR only):
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ros2 launch saltybot_bringup full_stack.launch.py mode:=indoor enable_csi_cameras:=false
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# Simulation / rosbag replay:
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ros2 launch saltybot_bringup full_stack.launch.py use_sim_time:=true enable_bridge:=false
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Modes
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─────
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indoor (default)
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─ RPLIDAR + RealSense D435i sensors
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─ RTAB-Map SLAM (RGB-D + LIDAR, fresh map each boot)
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─ Nav2 navigation stack (planners, controllers, BT navigator)
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─ CSI 4× IMX219 surround cameras (optional, default on)
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─ UWB driver (2-anchor DW3000, publishes /uwb/target)
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─ YOLOv8n person detection (TensorRT)
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─ Person follower with UWB+camera fusion
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─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
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─ rosbridge WebSocket (port 9090)
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outdoor
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─ RPLIDAR + RealSense D435i sensors (no SLAM)
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─ GPS-based outdoor navigation (robot_localization EKF + Nav2)
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─ UWB + person detection + follower
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─ cmd_vel bridge + rosbridge
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follow
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─ RealSense D435i + RPLIDAR only (no SLAM, no Nav2)
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─ UWB + person detection + follower
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─ cmd_vel bridge + rosbridge
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─ Note: obstacle avoidance disabled (no Nav2 local costmap)
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Launch sequence (wall-clock delays — conservative for cold start)
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─────────────────────────────────────────────────────────────────
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t= 0s robot_description (URDF + TF tree)
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t= 0s ESP32-S3 bridge (serial port owner — must be first)
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t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 bridge up)
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t= 2s sensors (RPLIDAR + RealSense)
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t= 4s UWB driver (independent serial device)
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t= 4s CSI cameras (optional, independent)
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t= 5s audio_pipeline (Jabra SPEAK 810: wake word + STT + TTS; Issue #503)
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t= 6s SLAM / outdoor nav (needs sensors; indoor/outdoor mode only)
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t= 6s person detection (needs RealSense up)
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t=14s Nav2 (needs SLAM to have partial map; indoor only)
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t= 9s person follower (needs perception + UWB)
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t=17s rosbridge (last — exposes all topics over WebSocket)
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Safety wiring
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─────────────
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• ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
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• cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
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• ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
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until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
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• follow_enabled:=false disables person follower without stopping the node.
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• To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
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Topics published by this stack
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───────────────────────────────
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/scan RPLIDAR LaserScan
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/camera/color/image_raw RealSense RGB
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/camera/depth/image_rect_raw RealSense depth
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/camera/imu RealSense IMU
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/rtabmap/map OccupancyGrid (indoor only)
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/rtabmap/odom Odometry (indoor only)
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/uwb/target PoseStamped (UWB position, base_link)
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/uwb/ranges UwbRangeArray (raw anchor ranges)
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/person/target PoseStamped (camera position, base_link)
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/person/detections Detection2DArray
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/cmd_vel Twist (from follower or Nav2)
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/saltybot/cmd String (to ESP32-S3)
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/saltybot/imu Imu
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/saltybot/balance_state String
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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GroupAction,
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IncludeLaunchDescription,
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LogInfo,
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TimerAction,
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)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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# ── Convenience: package share paths ──────────────────────────────────────────
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def _pkg(name: str) -> str:
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return get_package_share_directory(name)
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def _launch(pkg: str, *parts: str) -> PythonLaunchDescriptionSource:
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return PythonLaunchDescriptionSource(os.path.join(_pkg(pkg), *parts))
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# ── Mode helpers ───────────────────────────────────────────────────────────────
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def _mode_is(mode_str: str):
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"""IfCondition: true when 'mode' arg == mode_str."""
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return IfCondition(
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PythonExpression(["'", LaunchConfiguration("mode"), f"' == '{mode_str}'"])
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)
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def _mode_in(*modes):
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"""IfCondition: true when 'mode' arg is one of the given strings."""
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mode_set = repr(set(modes))
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return IfCondition(
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PythonExpression(["'", LaunchConfiguration("mode"), f"' in {mode_set}"])
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)
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# ── Main ──────────────────────────────────────────────────────────────────────
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def generate_launch_description():
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# ── Launch arguments ──────────────────────────────────────────────────────
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# Issue #506: Profile argument — overrides mode-based defaults
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profile_arg = DeclareLaunchArgument(
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"profile",
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default_value="indoor",
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choices=["indoor", "outdoor", "demo"],
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description=(
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"Launch profile (Issue #506) — overrides nav2/costmap/behavior params: "
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"indoor (0.2 m/s, tight geofence, no GPS); "
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"outdoor (0.5 m/s, wide geofence, GPS); "
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"demo (0.3 m/s, tricks, social features)"
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),
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)
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mode_arg = DeclareLaunchArgument(
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"mode",
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default_value="indoor",
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choices=["indoor", "outdoor", "follow"],
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description=(
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"Stack mode (legacy) — indoor: SLAM+Nav2+follow; "
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"outdoor: GPS nav+follow; "
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"follow: sensors+UWB+perception+follower only. "
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"Profiles (profile arg) take precedence over mode."
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),
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)
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use_sim_time_arg = DeclareLaunchArgument(
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"use_sim_time",
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default_value="false",
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description="Use /clock from rosbag/simulator instead of wall clock",
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)
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enable_csi_cameras_arg = DeclareLaunchArgument(
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"enable_csi_cameras",
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default_value="true",
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description="Launch 4× IMX219 CSI surround cameras",
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)
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enable_uwb_arg = DeclareLaunchArgument(
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"enable_uwb",
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default_value="true",
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description="Launch UWB driver (requires MaUWB anchors on USB)",
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)
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enable_perception_arg = DeclareLaunchArgument(
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"enable_perception",
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default_value="true",
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description="Launch YOLOv8n person detection (TensorRT)",
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)
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enable_object_detection_arg = DeclareLaunchArgument(
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"enable_object_detection",
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default_value="true",
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description="Launch YOLOv8n general object detection with depth (Issue #468)",
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)
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enable_follower_arg = DeclareLaunchArgument(
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"enable_follower",
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default_value="true",
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description="Launch proportional person-follower controller",
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)
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enable_bridge_arg = DeclareLaunchArgument(
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"enable_bridge",
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default_value="true",
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description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
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)
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enable_rosbridge_arg = DeclareLaunchArgument(
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"enable_rosbridge",
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default_value="true",
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description="Launch rosbridge WebSocket server (port 9090)",
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)
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enable_mission_logging_arg = DeclareLaunchArgument(
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"enable_mission_logging",
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default_value="true",
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description="Launch ROS2 bag recorder for mission logging (Issue #488)",
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)
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enable_docking_arg = DeclareLaunchArgument(
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"enable_docking",
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default_value="true",
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description="Launch autonomous docking behavior (auto-dock at 20% battery, Issue #489)",
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)
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enable_audio_pipeline_arg = DeclareLaunchArgument(
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"enable_audio_pipeline",
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default_value="true",
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description="Audio pipeline: Jabra SPEAK 810 + wake word + STT + TTS (Issue #503)",
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)
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audio_stt_backend_arg = DeclareLaunchArgument(
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"audio_stt_backend",
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default_value="whisper",
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choices=["whisper", "vosk"],
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description="STT backend: whisper (CUDA) or vosk (CPU, low-latency)",
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)
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follow_distance_arg = DeclareLaunchArgument(
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"follow_distance",
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default_value="1.5",
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description="Person-follower target distance (m)",
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)
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max_linear_vel_arg = DeclareLaunchArgument(
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"max_linear_vel",
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default_value="0.5",
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description="Max forward velocity cap (m/s) — forwarded to both follower and cmd_vel bridge",
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)
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uwb_port_a_arg = DeclareLaunchArgument(
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"uwb_port_a",
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default_value="/dev/uwb-anchor0",
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description="UWB anchor-0 serial port (port/left side)",
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)
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uwb_port_b_arg = DeclareLaunchArgument(
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"uwb_port_b",
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default_value="/dev/uwb-anchor1",
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description="UWB anchor-1 serial port (starboard/right side)",
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)
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esp32_port_arg = DeclareLaunchArgument(
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"esp32_port",
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default_value="/dev/esp32-bridge",
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description="ESP32-S3 USB CDC serial port",
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)
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# ── Shared substitution handles ───────────────────────────────────────────
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# Profile argument for parameter override (Issue #506)
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profile = LaunchConfiguration("profile")
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mode = LaunchConfiguration("mode")
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use_sim_time = LaunchConfiguration("use_sim_time")
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follow_distance = LaunchConfiguration("follow_distance")
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max_linear_vel = LaunchConfiguration("max_linear_vel")
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uwb_port_a = LaunchConfiguration("uwb_port_a")
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uwb_port_b = LaunchConfiguration("uwb_port_b")
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esp32_port = LaunchConfiguration("esp32_port")
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# ── t=0s Robot description (URDF + TF tree) ──────────────────────────────
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robot_description = IncludeLaunchDescription(
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_launch("saltybot_description", "launch", "robot_description.launch.py"),
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launch_arguments={"use_sim_time": use_sim_time}.items(),
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)
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# ── t=0s ESP32-S3 bidirectional serial bridge ────────────────────────────────
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esp32_bridge = GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_bridge")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bridge", "launch", "bridge.launch.py"),
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launch_arguments={
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"mode": "bidirectional",
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"serial_port": esp32_port,
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}.items(),
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),
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],
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)
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# ── t=0.5s Mission logging (bag recorder; Issue #488) ───────────────────
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mission_logging = TimerAction(
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period=0.5,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_mission_logging")),
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actions=[
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LogInfo(msg="[full_stack] Starting mission logging recorder"),
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IncludeLaunchDescription(
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_launch("saltybot_bag_recorder", "launch", "bag_recorder.launch.py"),
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),
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],
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),
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],
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)
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# ── t=2s cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
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cmd_vel_bridge = TimerAction(
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period=2.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_bridge")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bridge", "launch", "cmd_vel_bridge.launch.py"),
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launch_arguments={
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"max_linear_vel": max_linear_vel,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=2s Sensors: RPLIDAR + RealSense D435i ──────────────────────────────
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sensors = TimerAction(
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period=2.0,
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bringup", "launch", "sensors.launch.py"),
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),
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],
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)
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# ── t=3s LIDAR obstacle avoidance (360° safety with RPLIDAR A1M8) ────────
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lidar_avoidance = TimerAction(
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period=3.0,
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_lidar_avoidance", "launch", "lidar_avoidance.launch.py"),
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),
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],
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)
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# ── t=4s Optional: 4× IMX219 CSI surround cameras ───────────────────────
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csi_cameras = TimerAction(
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period=4.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_csi_cameras")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_cameras", "launch", "csi_cameras.launch.py"),
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),
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],
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),
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],
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)
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# ── t=4s UWB driver (independent serial — can start early) ──────────────
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uwb_driver = TimerAction(
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period=4.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_uwb")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_uwb", "launch", "uwb.launch.py"),
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launch_arguments={
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"port_a": uwb_port_a,
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"port_b": uwb_port_b,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=6s SLAM — RTAB-Map (indoor only; needs sensors up for ~4s) ─────────
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audio_pipeline = TimerAction(
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period=5.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_audio_pipeline")),
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actions=[
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LogInfo(msg="[full_stack] Starting audio pipeline (Jabra SPEAK 810)"),
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IncludeLaunchDescription(
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_launch("saltybot_audio_pipeline", "launch", "audio_pipeline.launch.py"),
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),
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],
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),
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],
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)
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slam = TimerAction(
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period=6.0,
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actions=[
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GroupAction(
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condition=_mode_is("indoor"),
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actions=[
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LogInfo(msg="[full_stack] Starting RTAB-Map SLAM (indoor mode)"),
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IncludeLaunchDescription(
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_launch("saltybot_bringup", "launch", "slam_rtabmap.launch.py"),
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launch_arguments={
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"use_sim_time": use_sim_time,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=6s Outdoor navigation (outdoor only; no SLAM) ─────────────────────
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outdoor_nav = TimerAction(
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period=6.0,
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actions=[
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GroupAction(
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condition=_mode_is("outdoor"),
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actions=[
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LogInfo(msg="[full_stack] Starting outdoor GPS navigation"),
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IncludeLaunchDescription(
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_launch("saltybot_outdoor", "launch", "outdoor_nav.launch.py"),
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launch_arguments={
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"use_sim_time": use_sim_time,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=6s Person detection (needs RealSense up for ~4s) ──────────────────
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perception = TimerAction(
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period=6.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_perception")),
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actions=[
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LogInfo(msg="[full_stack] Starting YOLOv8n person detection"),
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IncludeLaunchDescription(
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_launch("saltybot_perception", "launch", "person_detection.launch.py"),
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launch_arguments={
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"use_sim_time": use_sim_time,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=6s Object detection (needs RealSense up for ~4s; Issue #468) ──────
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object_detection = TimerAction(
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period=6.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_object_detection")),
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actions=[
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LogInfo(msg="[full_stack] Starting YOLOv8n general object detection"),
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IncludeLaunchDescription(
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_launch("saltybot_object_detection", "launch", "object_detection.launch.py"),
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),
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],
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),
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],
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)
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|
||
# ── t=9s Person follower (needs perception + UWB; ~3s after both start) ─
|
||
follower = TimerAction(
|
||
period=9.0,
|
||
actions=[
|
||
GroupAction(
|
||
condition=IfCondition(LaunchConfiguration("enable_follower")),
|
||
actions=[
|
||
LogInfo(msg="[full_stack] Starting person follower"),
|
||
IncludeLaunchDescription(
|
||
_launch("saltybot_follower", "launch", "person_follower.launch.py"),
|
||
launch_arguments={
|
||
"follow_distance": follow_distance,
|
||
"max_linear_vel": max_linear_vel,
|
||
}.items(),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
)
|
||
|
||
# ── t=7s Docking (auto-dock at 20% battery, Issue #489) ──────────────────
|
||
docking = TimerAction(
|
||
period=7.0,
|
||
actions=[
|
||
GroupAction(
|
||
condition=IfCondition(LaunchConfiguration("enable_docking")),
|
||
actions=[
|
||
LogInfo(msg="[full_stack] Starting autonomous docking (auto-trigger at 20% battery)"),
|
||
IncludeLaunchDescription(
|
||
_launch("saltybot_docking", "launch", "docking.launch.py"),
|
||
launch_arguments={
|
||
"battery_low_pct": "20.0",
|
||
}.items(),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
)
|
||
|
||
# ── t=14s Nav2 (indoor only; SLAM needs ~8s to build initial map) ────────
|
||
nav2 = TimerAction(
|
||
period=14.0,
|
||
actions=[
|
||
GroupAction(
|
||
condition=_mode_is("indoor"),
|
||
actions=[
|
||
LogInfo(msg="[full_stack] Starting Nav2 navigation stack"),
|
||
IncludeLaunchDescription(
|
||
_launch("saltybot_bringup", "launch", "nav2.launch.py"),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
)
|
||
|
||
# ── t=17s rosbridge WebSocket (last — all topics must be alive) ──────────
|
||
rosbridge = TimerAction(
|
||
period=17.0,
|
||
actions=[
|
||
GroupAction(
|
||
condition=IfCondition(LaunchConfiguration("enable_rosbridge")),
|
||
actions=[
|
||
LogInfo(msg="[full_stack] Starting rosbridge (ws://0.0.0.0:9090)"),
|
||
IncludeLaunchDescription(
|
||
_launch("saltybot_bringup", "launch", "rosbridge.launch.py"),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
)
|
||
|
||
# ── Startup banner ────────────────────────────────────────────────────────
|
||
banner = LogInfo(
|
||
msg=["[full_stack] SaltyBot bringup starting — mode=", mode,
|
||
" sim_time=", use_sim_time]
|
||
)
|
||
|
||
# ── Assemble ──────────────────────────────────────────────────────────────
|
||
return LaunchDescription([
|
||
# Arguments
|
||
mode_arg,
|
||
use_sim_time_arg,
|
||
enable_csi_cameras_arg,
|
||
enable_uwb_arg,
|
||
enable_perception_arg,
|
||
enable_object_detection_arg,
|
||
enable_follower_arg,
|
||
enable_bridge_arg,
|
||
enable_rosbridge_arg,
|
||
enable_mission_logging_arg,
|
||
enable_docking_arg,
|
||
enable_audio_pipeline_arg,
|
||
audio_stt_backend_arg,
|
||
follow_distance_arg,
|
||
max_linear_vel_arg,
|
||
uwb_port_a_arg,
|
||
uwb_port_b_arg,
|
||
esp32_port_arg,
|
||
|
||
# Startup banner
|
||
banner,
|
||
|
||
# t=0s
|
||
robot_description,
|
||
esp32_bridge,
|
||
|
||
# t=0.5s
|
||
mission_logging,
|
||
|
||
# t=2s
|
||
sensors,
|
||
cmd_vel_bridge,
|
||
|
||
# t=3s
|
||
lidar_avoidance,
|
||
|
||
# t=4s
|
||
csi_cameras,
|
||
uwb_driver,
|
||
|
||
# t=5s
|
||
audio_pipeline,
|
||
|
||
# t=6s
|
||
slam,
|
||
outdoor_nav,
|
||
perception,
|
||
object_detection,
|
||
|
||
# t=7s
|
||
docking,
|
||
|
||
# t=9s
|
||
follower,
|
||
|
||
# t=14s
|
||
nav2,
|
||
|
||
# t=17s
|
||
rosbridge,
|
||
])
|