saltylab-firmware

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sl-perception d872ea5e34 feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91 )

- saltybot_social_msgs: full message/service definitions (standalone compilation)
- saltybot_social_nav: social navigation orchestrator
  - Follow modes: shadow/lead/side/orbit/loose/tight
  - Voice steering: mode switching + route commands via /social/speech/*
  - A* obstacle avoidance on Nav2/SLAM occupancy grid (8-directional, inflation)
  - MiDaS monocular depth for CSI cameras (TRT FP16 + ONNX fallback)
  - Waypoint teaching + replay with WaypointRoute persistence
  - High-speed EUC tracking (5.5 m/s = ~20 km/h)
  - Predictive position extrapolation (0.3s ahead at high speed)
- Launch: social_nav.launch.py (social_nav + midas_depth + waypoint_teacher)
- Config: social_nav_params.yaml
- Script: build_midas_trt_engine.py (ONNX -> TRT FP16)

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

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat: SIM7600X mount + LTE/GNSS antenna brackets

2026-03-01 00:59:47 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm

2026-03-01 17:49:17 -05:00

include

feat(safety): remote e-stop over 4G MQTT (Issue #63 )