sl-firmware
d41a9dfe10
STM32 firmware: - safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active() CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch - usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags - status: status_update() +remote_estop param; both LEDs fast-blink 200ms - main.c: immediate motor cutoff highest-priority; arming gated by !safety_remote_estop_active(); motor estop auto-clear gated; telemetry 'es' field 0-4; status_update() updated to 5 args Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED, cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe. Jetson bridge: - remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s - estop_params.yaml, remote_estop.launch.py - setup.py / package.xml: register node + paho-mqtt dep - docker-compose.yml: remote-estop service - test_remote_estop.py: kill/clear/watchdog/latency unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
19 lines
563 B
Python
19 lines
563 B
Python
from launch import LaunchDescription
|
|
from launch_ros.actions import Node
|
|
import os
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
|
|
def generate_launch_description():
|
|
pkg = get_package_share_directory('saltybot_bridge')
|
|
params_file = os.path.join(pkg, 'config', 'estop_params.yaml')
|
|
return LaunchDescription([
|
|
Node(
|
|
package='saltybot_bridge',
|
|
executable='remote_estop_node',
|
|
name='remote_estop_node',
|
|
parameters=[params_file],
|
|
output='screen',
|
|
),
|
|
])
|