eb37f160ce
Add complete phone node infrastructure: ROS2 Package (saltybot_phone): - camera_node: /phone/camera/image_raw (320x240, 15 FPS) - gps_node: /phone/gps (NavSatFix via termux-api) - imu_node: /phone/imu (accelerometer data) - openclaw_chat_node: Local LLM inference Subscribes /saltybot/speech_text Publishes /saltybot/chat_response - ws_bridge: WebSocket bridge to Jetson Orin (:9090) Phone Scripts: - termux-bootstrap.sh: Complete Termux setup - power-management.sh: Battery/thermal monitoring - README.md: Setup documentation Architecture: - Termux on Android phone - WiFi/USB tether to Jetson Orin - ROS2 topic bridge for sensors - Local LLM for on-device chat (Phi-2) - Termux:Boot auto-start - Power management for extended runtime Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
51 lines
1.2 KiB
Markdown
51 lines
1.2 KiB
Markdown
# SaltyBot Android/Termux Phone Node (Issue #420)
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Android phone node for SaltyBot via Termux. Provides camera, GPS, IMU sensors and local OpenClaw LLM inference.
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## Setup
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On phone (Termux):
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```bash
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bash termux-bootstrap.sh
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mkdir -p ~/saltybot_workspace/src
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cd ~/saltybot_workspace && colcon build
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```
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## Running
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```bash
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cd ~/saltybot_workspace && source install/setup.bash
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ros2 launch saltybot_phone phone_bringup.py
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```
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## Topics
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| Topic | Type | Description |
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|-------|------|-------------|
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| `/phone/camera/image_raw` | Image | Camera frames 320x240@15Hz |
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| `/phone/gps` | NavSatFix | GPS location |
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| `/phone/imu` | Imu | Accelerometer data |
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| `/saltybot/speech_text` | String | Input from Jetson |
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| `/saltybot/chat_response` | String | LLM output to Jetson |
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## Power Management
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```bash
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nohup bash ~/power-management.sh > ~/power-mgmt.log 2>&1 &
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```
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Reduces CPU activity on low battery (<25%) or critical battery (<15%).
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## Configuration
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Edit `config/phone.yaml` to adjust frame rates and LLM parameters.
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## Issue #420 Completion
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✅ Termux bootstrap
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✅ Camera / GPS / IMU nodes
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✅ OpenClaw chat (local LLM)
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✅ WebSocket bridge to Orin
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✅ Termux:Boot auto-start
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✅ Power management
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