Changelog

All notable changes to HotDog. Format: Keep a Changelog, versions follow SemVer.

[Unreleased]

First complete version of HotDog: substation patrol and inspection on the Deep Robotics Lynx M20, ROS 2 Foxy on Ubuntu 20.04, built on Dharma. CI builds the whole workspace on Foxy and runs every test.

Added

Robot and stack

• The bringup hotdog from the Dharma template: robot.launch.py starts m20_bringup, both Airy, the UniPod MT11, the Dharma stack and the HotDog nodes, each switchable (pod, inspection, patrol, reports, alerts); sim.launch.py runs the stack on dharma_sim.
• Odometry only: the M20's own odometry (camera_init -> body), no mapping, the dock as the map origin, re-anchored before every patrol; sites_dir defaults to ~/.hotdog/sites.
• hotdog_base: both RoboSense Airy through rslidar_sdk, merged, self-filtered and leveled into /lidar/points for the 360° sectors, the protective field and health.
• Layered configuration: the robot profile (ROBOT_PARAMS), config/stack.yaml, this robot's and site's /etc/hotdog/site.yaml (PARAMS_FILE), the env file.

Inspection

• hotdog_inspection and hotdog_interfaces: inspection at every stop point (the follower's hook), points matched by position from <site>/inspection.yaml, targets taught from the pod's view (inspection/add_target).
• Overheat analysis with the UniPod MT11: absolute, over ambient and between similar components (NETA MTS defaults), thermal and visible evidence.
• Partial discharge with the Hertzinno HZ-FA-371 over its HTTP API: one detection after the robot stopped, corona / surface / floating by configurable severities and intensity, sound map and PRPD kept.

Patrols

• hotdog_patrol: patrol/start from the dock on demand or at fixed local times (checks, localization/assume_origin, stand-up, AUTO, route, follower), a summary with the report of every inspection point, back to the dock with charge_start; without a route, the route patrolled last on the site.
• The watchdog: back to the dock below abort.min_battery, after abort.max_duration_min or blocked for abort.hold_timeout_sec; stopped when off the route, lost or the follower is silent; an operator pause, the e-stop or REMOTE is never overruled.
• The way back: the taught route reversed from the nearest waypoint of its first pass, without stop points, to abort.dock_clearance_m before the dock; patrol/return on request, PatrolStatus.RETURNING, returned and battery.

Results

• hotdog_reports: a page per patrol with every finding against the last round and the evidence, day and front pages, retention by age and free space, served read-only on port 8088.
• hotdog_alerts: warning and critical findings with their image, failed, stopped, returned and finished patrols, health ERROR, to Telegram (English or Bahasa Indonesia) and a JSON webhook, spooled on disk while the uplink is down; alerts/test (TELEGRAM_BOT_TOKEN, HOTDOG_WEBHOOK_TOKEN).

Operation

• The hotdog command for operators (scripts/hotdog.sh): status, patrol, return, stop, pause, resume, estop, release, teach, aim, routes, site, anchor, dock, stand, sit, ambient, schedule, reports, alert-test, logs, restart; ros2 run hotdog status for the robot at a glance.
• scripts/setup.sh (tools, repos, rosdep, build, cli, service, timesync), a systemd service that restarts HotDog and prunes old ROS logs, scripts/env.sh, tmux layouts for the robot and the simulator, the Foxy dev container.

Documentation

• The User Manual, the Technician Guide with the parameter reference, and the Site Acceptance Test as A5 PDFs built from Markdown (CI warns when one is stale); commissioning and operations guides; a README in every package.