sl-jetson
c1076b8230
Master saltybot_bringup.launch.py with: - Profile support (full/minimal/headless) for flexible deployments - Boot order: hardware → perception → control → social → monitoring - Dependency-ordered launch with 30-second boot timeout - Consolidated saltybot_params.yaml with all stack parameters - Stack state publisher (/saltybot/stack_state) - Post-launch diagnostics self-test - Graceful shutdown support (motors first) Boot sequence (Issue #447): - t=0s: hardware (robot description, STM32 bridge) - t=2-6s: perception (sensors, cameras, detection, SLAM) - t=2-14s: control (cmd_vel bridge, follower, Nav2) - t=17-19s: social & monitoring (rosbridge, stack state) Features: - full profile: complete stack (SLAM, Nav2, detection, follower) - minimal profile: hardware + control only - headless profile: sensors + control (no CSI cameras) - Configurable modes: indoor (SLAM+Nav2), outdoor (GPS nav), follow Parameters consolidated in config/saltybot_params.yaml: - Hardware (bridge, motors) - Perception (sensors, detection, SLAM) - Control (follower, Nav2) - Social (TTS, gestures, face tracking) - Monitoring (rosbridge, health checks) New: stack_state_monitor_node.py (publishes stack boot state) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>