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saltylab-firmware/jetson/ros2_ws/src/saltybot_cellular/launch/cellular.launch.py
sl-controls de9a835cc2 feat: SIM7600X 4G cellular + GPS driver (#58) 
Adds saltybot_cellular ROS2 package for the Waveshare SIM7600X 4G HAT
(SIMCom SIM7600A-H) providing GPS telemetry, modem monitoring, and
MQTT relay over cellular for remote operation.

gps_driver_node:
  - Opens /dev/ttyUSB2 (NMEA), optionally sends AT+CGPS=1 on /dev/ttyUSB0
  - Parses GGA (position) + RMC (velocity) from any NMEA talker (GP/GN/GL/GA)
  - Validates NMEA checksum before parsing
  - Publishes /gps/fix (NavSatFix, covariance from HDOP × ±2.5m CEP)
  - Publishes /gps/vel (TwistStamped, ENU vE/vN from course-over-ground)
  - Publishes /diagnostics (fix quality, sat count, HDOP)

cellular_manager_node:
  - Polls AT+CSQ, AT+CREG?, AT+COPS? every 5s over /dev/ttyUSB0
  - Publishes /cellular/status (DiagnosticArray: rssi, network, connected)
  - Publishes /cellular/rssi (Int32, dBm) and /cellular/connected (Bool)
  - Auto-reconnect via nmcli or pppd when data link drops

mqtt_bridge_node:
  - paho-mqtt client (graceful degradation if not installed)
  - ROS2→MQTT QoS 0: /saltybot/imu, /gps/fix, /gps/vel, /uwb/ranges,
      /person/target, /cellular/status
  - MQTT→ROS2 QoS 1: saltybot/cmd→/saltybot/cmd, saltybot/estop→/saltybot/estop
  - Per-topic rate limiting (imu:5Hz, gps:1Hz, person:2Hz) → <<50KB/s budget
  - Optional TLS, configurable broker/port/prefix/auth

Deliverables:
  saltybot_cellular/gps_driver_node.py      — 402 lines
  saltybot_cellular/cellular_manager_node.py — 362 lines
  saltybot_cellular/mqtt_bridge_node.py      — 317 lines
  config/cellular_params.yaml               — full config documented
  launch/cellular.launch.py                 — all nodes, all params as args
  test/test_cellular.py                     — 60 pytest tests, no ROS2

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 00:42:18 -05:00

195 lines
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"""
cellular.launch.py — Launch all saltybot_cellular nodes.
Starts three nodes:
gps_driver_node — NMEA GPS → /gps/fix, /gps/vel
cellular_manager_node — AT modem monitor → /cellular/status, /cellular/rssi
mqtt_bridge_node — ROS2 ↔ MQTT relay over cellular
Prerequisites:
1. SIM7600X HAT connected via USB → /dev/ttyUSB0-2 must exist
2. Nano-SIM with active data plan inserted
3. NetworkManager profile "saltybot-cellular" configured (for nmcli method):
nmcli connection add type gsm ifname '*' con-name saltybot-cellular apn <your-apn>
Usage:
# Defaults (all params from cellular_params.yaml):
ros2 launch saltybot_cellular cellular.launch.py
# GPS only (skip modem + MQTT):
ros2 launch saltybot_cellular cellular.launch.py \
launch_cellular_manager:=false launch_mqtt_bridge:=false
# Custom MQTT broker:
ros2 launch saltybot_cellular cellular.launch.py mqtt_broker:=192.168.1.100
# Override params file:
ros2 launch saltybot_cellular cellular.launch.py \
params_file:=/path/to/my_cellular_params.yaml
GPS topics:
/gps/fix (sensor_msgs/NavSatFix)
/gps/vel (geometry_msgs/TwistStamped)
Cellular topics:
/cellular/status (diagnostic_msgs/DiagnosticArray)
/cellular/rssi (std_msgs/Int32)
/cellular/connected (std_msgs/Bool)
MQTT relay (ROS2→MQTT):
saltybot/imu, saltybot/gps/fix, saltybot/gps/vel, saltybot/uwb/ranges,
saltybot/person, saltybot/cellular
MQTT relay (MQTT→ROS2):
saltybot/cmd → /saltybot/cmd, saltybot/estop → /saltybot/estop
"""
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def _launch_nodes(context, *args, **kwargs):
params_file = LaunchConfiguration("params_file").perform(context)
def _b(name):
return LaunchConfiguration(name).perform(context).lower() == "true"
def _s(name):
return LaunchConfiguration(name).perform(context)
def _f(name):
return float(LaunchConfiguration(name).perform(context))
def _i(name):
return int(LaunchConfiguration(name).perform(context))
gps_params = {
"gps_port": _s("gps_port"),
"at_port": _s("at_port"),
"baud_rate": _i("baud_rate"),
"publish_rate": _f("gps_publish_rate"),
"frame_id": _s("frame_id"),
"gps_init_enable": _b("gps_init_enable"),
"gps_init_cmd": _s("gps_init_cmd"),
"gps_accuracy": _f("gps_accuracy"),
}
cellular_params = {
"at_port": _s("at_port"),
"baud_rate": _i("baud_rate"),
"poll_rate": _f("cellular_poll_rate"),
"connection_method": _s("connection_method"),
"nmcli_profile": _s("nmcli_profile"),
"apn": _s("apn"),
"reconnect_interval": _f("reconnect_interval"),
}
mqtt_params = {
"mqtt_broker": _s("mqtt_broker"),
"mqtt_port": _i("mqtt_port"),
"mqtt_user": _s("mqtt_user"),
"mqtt_password": _s("mqtt_password"),
"topic_prefix": _s("topic_prefix"),
"tls_enable": _b("tls_enable"),
"tls_ca_cert": _s("tls_ca_cert"),
"imu_rate": _f("imu_rate"),
"gps_rate": _f("gps_rate"),
"person_rate": _f("person_rate"),
"uwb_rate": _f("uwb_rate"),
}
def _node_params(inline):
return [params_file, inline] if params_file else [inline]
nodes = [
Node(
package="saltybot_cellular",
executable="gps_driver_node",
name="gps_driver",
output="screen",
parameters=_node_params(gps_params),
),
]
if _b("launch_cellular_manager"):
nodes.append(Node(
package="saltybot_cellular",
executable="cellular_manager_node",
name="cellular_manager",
output="screen",
parameters=_node_params(cellular_params),
))
if _b("launch_mqtt_bridge"):
nodes.append(Node(
package="saltybot_cellular",
executable="mqtt_bridge_node",
name="mqtt_bridge",
output="screen",
parameters=_node_params(mqtt_params),
))
return nodes
def generate_launch_description():
pkg_share = get_package_share_directory("saltybot_cellular")
default_params = os.path.join(pkg_share, "config", "cellular_params.yaml")
return LaunchDescription([
DeclareLaunchArgument(
"params_file", default_value=default_params,
description="Full path to cellular_params.yaml (overrides inline args)"),
# Node enable/disable
DeclareLaunchArgument(
"launch_cellular_manager", default_value="true",
description="Launch cellular_manager_node"),
DeclareLaunchArgument(
"launch_mqtt_bridge", default_value="true",
description="Launch mqtt_bridge_node"),
# GPS driver
DeclareLaunchArgument("gps_port", default_value="/dev/ttyUSB2"),
DeclareLaunchArgument("at_port", default_value="/dev/ttyUSB0"),
DeclareLaunchArgument("baud_rate", default_value="115200"),
DeclareLaunchArgument("gps_publish_rate", default_value="1.0",
description="GPS publish rate (Hz)"),
DeclareLaunchArgument("frame_id", default_value="gps"),
DeclareLaunchArgument("gps_init_enable", default_value="true",
description="Send AT+CGPS=1 on startup"),
DeclareLaunchArgument("gps_init_cmd", default_value="AT+CGPS=1"),
DeclareLaunchArgument("gps_accuracy", default_value="2.5",
description="GPS CEP accuracy at HDOP=1 (m)"),
# Cellular manager
DeclareLaunchArgument("cellular_poll_rate", default_value="0.2",
description="AT poll rate (Hz)"),
DeclareLaunchArgument("connection_method", default_value="nmcli",
description="nmcli | pppd | none"),
DeclareLaunchArgument("nmcli_profile", default_value="saltybot-cellular"),
DeclareLaunchArgument("apn", default_value=""),
DeclareLaunchArgument("reconnect_interval", default_value="30.0"),
# MQTT bridge
DeclareLaunchArgument("mqtt_broker", default_value="mqtt.saltylab.local"),
DeclareLaunchArgument("mqtt_port", default_value="1883"),
DeclareLaunchArgument("mqtt_user", default_value=""),
DeclareLaunchArgument("mqtt_password", default_value=""),
DeclareLaunchArgument("topic_prefix", default_value="saltybot"),
DeclareLaunchArgument("tls_enable", default_value="false"),
DeclareLaunchArgument("tls_ca_cert", default_value=""),
DeclareLaunchArgument("imu_rate", default_value="5.0"),
DeclareLaunchArgument("gps_rate", default_value="1.0"),
DeclareLaunchArgument("person_rate", default_value="2.0"),
DeclareLaunchArgument("uwb_rate", default_value="1.0"),
OpaqueFunction(function=_launch_nodes),
])
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