sl-controls
de9a835cc2
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>
32 lines
1.0 KiB
XML
32 lines
1.0 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_cellular</name>
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<version>0.1.0</version>
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<description>
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Waveshare SIM7600X 4G HAT driver for SaltyBot.
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Provides GPS (NMEA → NavSatFix), cellular modem monitoring (AT commands),
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and MQTT telemetry relay over 4G LTE.
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Hardware: SIMCom SIM7600A-H, LTE Cat-4, GPS+GLONASS+BeiDou+Galileo.
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</depend>
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<depend>diagnostic_msgs</depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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