Merge pull request 'feat: Smooth velocity controller (Issue #652)' (#661) from sl-controls/issue-652-smooth-velocity into main

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/config/aggregator_params.yaml

@@ -0,0 +1,15 @@
+# Diagnostics Aggregator — Issue #658
+# Unified health dashboard aggregating telemetry from all SaltyBot subsystems.
+
+diagnostics_aggregator:
+  ros__parameters:
+    # Publish rate for /saltybot/system_health (Hz)
+    heartbeat_hz: 1.0
+
+    # Seconds without a topic update before a subsystem is marked STALE
+    # Increase for sensors with lower publish rates (e.g. UWB at 5 Hz)
+    stale_timeout_s: 5.0
+
+    # Maximum number of state transitions kept in the in-memory ring buffer
+    # Last 10 transitions are included in each /saltybot/system_health publish
+    transition_log_size: 50

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/launch/diagnostics_aggregator.launch.py

@@ -0,0 +1,44 @@
+"""Launch file for diagnostics aggregator node."""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory("saltybot_diagnostics_aggregator")
+    config_file = os.path.join(pkg_dir, "config", "aggregator_params.yaml")
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            "config_file",
+            default_value=config_file,
+            description="Path to aggregator_params.yaml",
+        ),
+        DeclareLaunchArgument(
+            "heartbeat_hz",
+            default_value="1.0",
+            description="Publish rate for /saltybot/system_health (Hz)",
+        ),
+        DeclareLaunchArgument(
+            "stale_timeout_s",
+            default_value="5.0",
+            description="Seconds without update before subsystem goes STALE",
+        ),
+        Node(
+            package="saltybot_diagnostics_aggregator",
+            executable="diagnostics_aggregator_node",
+            name="diagnostics_aggregator",
+            output="screen",
+            parameters=[
+                LaunchConfiguration("config_file"),
+                {
+                    "heartbeat_hz":    LaunchConfiguration("heartbeat_hz"),
+                    "stale_timeout_s": LaunchConfiguration("stale_timeout_s"),
+                },
+            ],
+        ),
+    ])

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_diagnostics_aggregator</name>
+  <version>0.1.0</version>
+  <description>
+    Diagnostics aggregator for SaltyBot — unified health dashboard node (Issue #658).
+    Subscribes to /vesc/health, /diagnostics, /saltybot/safety_zone/status,
+    /saltybot/pose/status, /saltybot/uwb/status. Aggregates into
+    /saltybot/system_health JSON at 1 Hz. Tracks motors, battery, imu, uwb,
+    lidar, camera, can_bus, estop subsystems with state-transition logging.
+  </description>
+  <maintainer email="sl-firmware@saltylab.local">sl-firmware</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/saltybot_diagnostics_aggregator/aggregator_node.py

@@ -0,0 +1,312 @@
+#!/usr/bin/env python3
+"""Diagnostics aggregator — unified health dashboard node (Issue #658).
+
+Subscribes to telemetry and diagnostics topics from all subsystems, aggregates
+them into a single /saltybot/system_health JSON publish at 1 Hz.
+
+Subscribed topics
+-----------------
+  /vesc/health                    (std_msgs/String)            — motor VESC health JSON
+  /diagnostics                    (diagnostic_msgs/DiagnosticArray) — ROS diagnostics bus
+  /saltybot/safety_zone/status    (std_msgs/String)            — safety / estop state
+  /saltybot/pose/status           (std_msgs/String)            — IMU / pose estimate state
+  /saltybot/uwb/status            (std_msgs/String)            — UWB positioning state
+
+Published topics
+----------------
+  /saltybot/system_health  (std_msgs/String) — JSON health dashboard at 1 Hz
+
+JSON schema for /saltybot/system_health
+----------------------------------------
+{
+  "overall_status": "OK" | "WARN" | "ERROR" | "STALE",
+  "uptime_s": <float>,
+  "subsystems": {
+    "motors":   { "status": ..., "message": ..., "age_s": ..., "previous_status": ... },
+    "battery":  { ... },
+    "imu":      { ... },
+    "uwb":      { ... },
+    "lidar":    { ... },
+    "camera":   { ... },
+    "can_bus":  { ... },
+    "estop":    { ... }
+  },
+  "last_error": { "subsystem": ..., "message": ..., "timestamp": ... } | null,
+  "recent_transitions": [ { "subsystem", "from_status", "to_status",
+                             "message", "timestamp_iso" }, ... ],
+  "timestamp": "<ISO-8601>"
+}
+
+Parameters
+----------
+  heartbeat_hz          float  1.0    Publish rate (Hz)
+  stale_timeout_s       float  5.0    Seconds without update → STALE
+  transition_log_size   int    50     Max recent transitions kept in memory
+"""
+
+import json
+import time
+from collections import deque
+from datetime import datetime, timezone
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from diagnostic_msgs.msg import DiagnosticArray
+
+from .subsystem import (
+    SubsystemState,
+    Transition,
+    STATUS_OK,
+    STATUS_WARN,
+    STATUS_ERROR,
+    STATUS_STALE,
+    STATUS_UNKNOWN,
+    worse,
+    ros_level_to_status,
+    SUBSYSTEM_NAMES as _SUBSYSTEM_NAMES,
+    keyword_to_subsystem as _keyword_to_subsystem,
+)
+
+
+class DiagnosticsAggregatorNode(Node):
+    """Unified health dashboard node."""
+
+    def __init__(self):
+        super().__init__("diagnostics_aggregator")
+
+        # ----------------------------------------------------------------
+        # Parameters
+        # ----------------------------------------------------------------
+        self.declare_parameter("heartbeat_hz",        1.0)
+        self.declare_parameter("stale_timeout_s",     5.0)
+        self.declare_parameter("transition_log_size", 50)
+
+        hz              = float(self.get_parameter("heartbeat_hz").value)
+        stale_timeout   = float(self.get_parameter("stale_timeout_s").value)
+        log_size        = int(self.get_parameter("transition_log_size").value)
+
+        # ----------------------------------------------------------------
+        # Subsystem state table
+        # ----------------------------------------------------------------
+        self._subsystems: dict[str, SubsystemState] = {
+            name: SubsystemState(name=name, stale_timeout_s=stale_timeout)
+            for name in _SUBSYSTEM_NAMES
+        }
+        self._transitions: deque[Transition] = deque(maxlen=log_size)
+        self._last_error: Optional[dict] = None
+        self._start_mono = time.monotonic()
+
+        # ----------------------------------------------------------------
+        # Subscriptions
+        # ----------------------------------------------------------------
+        self.create_subscription(String,        "/vesc/health",
+                                 self._on_vesc_health,       10)
+        self.create_subscription(DiagnosticArray, "/diagnostics",
+                                 self._on_diagnostics,       10)
+        self.create_subscription(String,        "/saltybot/safety_zone/status",
+                                 self._on_safety_zone,       10)
+        self.create_subscription(String,        "/saltybot/pose/status",
+                                 self._on_pose_status,       10)
+        self.create_subscription(String,        "/saltybot/uwb/status",
+                                 self._on_uwb_status,        10)
+
+        # ----------------------------------------------------------------
+        # Publisher
+        # ----------------------------------------------------------------
+        self._pub = self.create_publisher(String, "/saltybot/system_health", 1)
+
+        # ----------------------------------------------------------------
+        # 1 Hz heartbeat timer
+        # ----------------------------------------------------------------
+        self.create_timer(1.0 / max(0.1, hz), self._on_timer)
+
+        self.get_logger().info(
+            f"diagnostics_aggregator: {len(_SUBSYSTEM_NAMES)} subsystems, "
+            f"heartbeat={hz} Hz, stale_timeout={stale_timeout} s"
+        )
+
+    # ----------------------------------------------------------------
+    # Topic callbacks
+    # ----------------------------------------------------------------
+
+    def _on_vesc_health(self, msg: String) -> None:
+        """Parse /vesc/health JSON → motors subsystem."""
+        now = time.monotonic()
+        try:
+            d = json.loads(msg.data)
+            fault = d.get("fault_code", 0)
+            alive = d.get("alive", True)
+            if not alive:
+                status, message = STATUS_STALE, "VESC offline"
+            elif fault != 0:
+                status  = STATUS_ERROR
+                message = f"VESC fault {d.get('fault_name', fault)}"
+            else:
+                status  = STATUS_OK
+                message = (
+                    f"RPM={d.get('rpm', '?')} "
+                    f"I={d.get('current_a', '?')} A "
+                    f"V={d.get('voltage_v', '?')} V"
+                )
+            self._update("motors", status, message, now)
+        except Exception as exc:
+            self.get_logger().debug(f"/vesc/health parse error: {exc}")
+
+    def _on_diagnostics(self, msg: DiagnosticArray) -> None:
+        """Fan /diagnostics entries out to per-subsystem states."""
+        now = time.monotonic()
+        # Accumulate worst status per subsystem across all entries in this array
+        pending: dict[str, tuple[str, str]] = {}  # subsystem → (status, message)
+
+        for ds in msg.status:
+            subsystem = _keyword_to_subsystem(ds.name)
+            if subsystem is None:
+                continue
+            status  = ros_level_to_status(ds.level)
+            message = ds.message or ""
+            if subsystem not in pending:
+                pending[subsystem] = (status, message)
+            else:
+                prev_s, prev_m = pending[subsystem]
+                new_worst = worse(status, prev_s)
+                pending[subsystem] = (
+                    new_worst,
+                    message if new_worst == status else prev_m,
+                )
+
+        for subsystem, (status, message) in pending.items():
+            self._update(subsystem, status, message, now)
+
+    def _on_safety_zone(self, msg: String) -> None:
+        """Parse /saltybot/safety_zone/status JSON → estop subsystem."""
+        now = time.monotonic()
+        try:
+            d = json.loads(msg.data)
+            triggered = d.get("estop_triggered", d.get("triggered", False))
+            active    = d.get("safety_zone_active", d.get("active", True))
+            if triggered:
+                status, message = STATUS_ERROR, "E-stop triggered"
+            elif not active:
+                status, message = STATUS_WARN, "Safety zone inactive"
+            else:
+                status, message = STATUS_OK, "Safety zone active"
+            self._update("estop", status, message, now)
+        except Exception as exc:
+            self.get_logger().debug(f"/saltybot/safety_zone/status parse error: {exc}")
+
+    def _on_pose_status(self, msg: String) -> None:
+        """Parse /saltybot/pose/status JSON → imu subsystem."""
+        now = time.monotonic()
+        try:
+            d = json.loads(msg.data)
+            status_str = d.get("status", "OK").upper()
+            if status_str not in (STATUS_OK, STATUS_WARN, STATUS_ERROR):
+                status_str = STATUS_WARN
+            message = d.get("message", d.get("msg", ""))
+            self._update("imu", status_str, message, now)
+        except Exception as exc:
+            self.get_logger().debug(f"/saltybot/pose/status parse error: {exc}")
+
+    def _on_uwb_status(self, msg: String) -> None:
+        """Parse /saltybot/uwb/status JSON → uwb subsystem."""
+        now = time.monotonic()
+        try:
+            d = json.loads(msg.data)
+            status_str = d.get("status", "OK").upper()
+            if status_str not in (STATUS_OK, STATUS_WARN, STATUS_ERROR):
+                status_str = STATUS_WARN
+            message = d.get("message", d.get("msg", ""))
+            self._update("uwb", status_str, message, now)
+        except Exception as exc:
+            self.get_logger().debug(f"/saltybot/uwb/status parse error: {exc}")
+
+    # ----------------------------------------------------------------
+    # Internal helpers
+    # ----------------------------------------------------------------
+
+    def _update(self, subsystem: str, status: str, message: str, now: float) -> None:
+        """Update subsystem state and record any transition."""
+        s = self._subsystems.get(subsystem)
+        if s is None:
+            return
+        transition = s.update(status, message, now)
+        if transition is not None:
+            self._transitions.append(transition)
+            self.get_logger().info(
+                f"[{subsystem}] {transition.from_status} → {transition.to_status}: {message}"
+            )
+            if transition.to_status == STATUS_ERROR:
+                self._last_error = {
+                    "subsystem": subsystem,
+                    "message":   message,
+                    "timestamp": transition.timestamp_iso,
+                }
+
+    def _apply_stale_checks(self, now: float) -> None:
+        for s in self._subsystems.values():
+            transition = s.apply_stale_check(now)
+            if transition is not None:
+                self._transitions.append(transition)
+                self.get_logger().warn(
+                    f"[{transition.subsystem}] went STALE (no data)"
+                )
+
+    # ----------------------------------------------------------------
+    # Heartbeat timer
+    # ----------------------------------------------------------------
+
+    def _on_timer(self) -> None:
+        now = time.monotonic()
+        self._apply_stale_checks(now)
+
+        # Overall status = worst across all subsystems
+        overall = STATUS_OK
+        for s in self._subsystems.values():
+            overall = worse(overall, s.status)
+        # UNKNOWN does not degrade overall if at least one subsystem is known
+        known = [s for s in self._subsystems.values() if s.status != STATUS_UNKNOWN]
+        if not known:
+            overall = STATUS_UNKNOWN
+
+        uptime = now - self._start_mono
+
+        payload = {
+            "overall_status": overall,
+            "uptime_s":       round(uptime, 1),
+            "subsystems":     {
+                name: s.to_dict(now)
+                for name, s in self._subsystems.items()
+            },
+            "last_error": self._last_error,
+            "recent_transitions": [
+                {
+                    "subsystem":   t.subsystem,
+                    "from_status": t.from_status,
+                    "to_status":   t.to_status,
+                    "message":     t.message,
+                    "timestamp":   t.timestamp_iso,
+                }
+                for t in list(self._transitions)[-10:]  # last 10 in the JSON
+            ],
+            "timestamp": datetime.now(timezone.utc).isoformat(),
+        }
+
+        self._pub.publish(String(data=json.dumps(payload)))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = DiagnosticsAggregatorNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/saltybot_diagnostics_aggregator/subsystem.py

@@ -0,0 +1,148 @@
+"""Subsystem state tracking for the diagnostics aggregator.
+
+Each SubsystemState tracks one logical subsystem (motors, battery, etc.)
+across potentially multiple source topics.  Status priority:
+  ERROR > WARN > STALE > OK > UNKNOWN
+"""
+
+import time
+from dataclasses import dataclass, field
+from typing import Optional
+
+# ---------------------------------------------------------------------------
+# Status constants — ordered by severity (higher index = more severe)
+# ---------------------------------------------------------------------------
+STATUS_UNKNOWN = "UNKNOWN"
+STATUS_OK      = "OK"
+STATUS_STALE   = "STALE"
+STATUS_WARN    = "WARN"
+STATUS_ERROR   = "ERROR"
+
+# ---------------------------------------------------------------------------
+# Subsystem registry and diagnostic keyword routing
+# ---------------------------------------------------------------------------
+SUBSYSTEM_NAMES: list[str] = [
+    "motors", "battery", "imu", "uwb", "lidar", "camera", "can_bus", "estop"
+]
+
+# (keywords-tuple, subsystem-name) — first match wins, lower-cased comparison
+DIAG_KEYWORD_MAP: list[tuple[tuple[str, ...], str]] = [
+    (("vesc", "motor", "esc", "fsesc"),               "motors"),
+    (("battery", "ina219", "lvc", "coulomb", "vbat"),  "battery"),
+    (("imu", "mpu6000", "bno055", "icm42688", "gyro", "accel"), "imu"),
+    (("uwb", "dw1000", "dw3000"),                      "uwb"),
+    (("lidar", "rplidar", "sick", "laser"),             "lidar"),
+    (("camera", "realsense", "oak", "webcam"),          "camera"),
+    (("can", "can_bus", "can_driver"),                  "can_bus"),
+    (("estop", "safety", "emergency", "e-stop"),        "estop"),
+]
+
+
+def keyword_to_subsystem(name: str) -> Optional[str]:
+    """Map a diagnostic status name to a subsystem key, or None."""
+    lower = name.lower()
+    for keywords, subsystem in DIAG_KEYWORD_MAP:
+        if any(kw in lower for kw in keywords):
+            return subsystem
+    return None
+
+
+_SEVERITY: dict[str, int] = {
+    STATUS_UNKNOWN: 0,
+    STATUS_OK:      1,
+    STATUS_STALE:   2,
+    STATUS_WARN:    3,
+    STATUS_ERROR:   4,
+}
+
+
+def worse(a: str, b: str) -> str:
+    """Return the more severe of two status strings."""
+    return a if _SEVERITY.get(a, 0) >= _SEVERITY.get(b, 0) else b
+
+
+def ros_level_to_status(level: int) -> str:
+    """Convert diagnostic_msgs/DiagnosticStatus.level to a status string."""
+    return {0: STATUS_OK, 1: STATUS_WARN, 2: STATUS_ERROR}.get(level, STATUS_UNKNOWN)
+
+
+# ---------------------------------------------------------------------------
+# Transition log entry
+# ---------------------------------------------------------------------------
+@dataclass
+class Transition:
+    """A logged status change for one subsystem."""
+    subsystem: str
+    from_status: str
+    to_status: str
+    message: str
+    timestamp_iso: str      # ISO-8601 wall-clock
+    monotonic_s: float      # time.monotonic() at the transition
+
+
+# ---------------------------------------------------------------------------
+# Per-subsystem state
+# ---------------------------------------------------------------------------
+@dataclass
+class SubsystemState:
+    """Live health state for one logical subsystem."""
+
+    name: str
+    stale_timeout_s: float = 5.0    # seconds without update → STALE
+
+    # Mutable state
+    status: str = STATUS_UNKNOWN
+    message: str = ""
+    last_updated_mono: float = field(default_factory=lambda: 0.0)
+    last_change_mono: float  = field(default_factory=lambda: 0.0)
+    previous_status: str = STATUS_UNKNOWN
+
+    def update(self, new_status: str, message: str, now_mono: float) -> Optional[Transition]:
+        """Apply a new status, record a transition if the status changed.
+
+        Returns a Transition if the status changed, else None.
+        """
+        from datetime import datetime, timezone
+
+        self.last_updated_mono = now_mono
+
+        if new_status == self.status:
+            self.message = message
+            return None
+
+        transition = Transition(
+            subsystem=self.name,
+            from_status=self.status,
+            to_status=new_status,
+            message=message,
+            timestamp_iso=datetime.now(timezone.utc).isoformat(),
+            monotonic_s=now_mono,
+        )
+
+        self.previous_status = self.status
+        self.status = new_status
+        self.message = message
+        self.last_change_mono = now_mono
+        return transition
+
+    def apply_stale_check(self, now_mono: float) -> Optional[Transition]:
+        """Mark STALE if no update received within stale_timeout_s.
+
+        Returns a Transition if newly staled, else None.
+        """
+        if self.last_updated_mono == 0.0:
+            # Never received any data — leave as UNKNOWN
+            return None
+        if (now_mono - self.last_updated_mono) > self.stale_timeout_s:
+            if self.status not in (STATUS_STALE, STATUS_UNKNOWN):
+                return self.update(STATUS_STALE, "No data received", now_mono)
+        return None
+
+    def to_dict(self, now_mono: float) -> dict:
+        age = (now_mono - self.last_updated_mono) if self.last_updated_mono > 0 else None
+        return {
+            "status":           self.status,
+            "message":          self.message,
+            "age_s":            round(age, 2) if age is not None else None,
+            "previous_status":  self.previous_status,
+        }

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_diagnostics_aggregator
+[install]
+install_scripts=$base/lib/saltybot_diagnostics_aggregator

jetson/ros2_ws/src/saltybot_diagnostics_aggregator/setup.py

@@ -0,0 +1,28 @@
+from setuptools import setup
+
+package_name = "saltybot_diagnostics_aggregator"
+
+setup(
+    name=package_name,
+    version="0.1.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
+        (f"share/{package_name}", ["package.xml"]),
+        (f"share/{package_name}/launch", ["launch/diagnostics_aggregator.launch.py"]),
+        (f"share/{package_name}/config", ["config/aggregator_params.yaml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="sl-firmware",
+    maintainer_email="sl-firmware@saltylab.local",
+    description="Diagnostics aggregator — unified health dashboard for SaltyBot",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "diagnostics_aggregator_node = "
+            "saltybot_diagnostics_aggregator.aggregator_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_vesc_driver/config/vesc_params.yaml

@@ -8,3 +8,13 @@ vesc_can_driver:
     wheel_radius: 0.1
     max_speed: 5.0
     command_timeout: 1.0
+
+velocity_smoother:
+  ros__parameters:
+    publish_rate: 50.0
+    max_linear_accel: 1.0
+    max_linear_decel: 2.0
+    max_angular_accel: 1.5
+    max_angular_decel: 3.0
+    max_linear_jerk: 0.0
+    max_angular_jerk: 0.0

jetson/ros2_ws/src/saltybot_vesc_driver/launch/vesc_driver.launch.py

@@ -20,6 +20,13 @@ def generate_launch_description():
                 default_value=config_file,
                 description="Path to configuration YAML file",
             ),
+            Node(
+                package="saltybot_vesc_driver",
+                executable="velocity_smoother_node",
+                name="velocity_smoother",
+                output="screen",
+                parameters=[LaunchConfiguration("config_file")],
+            ),
             Node(
                 package="saltybot_vesc_driver",
                 executable="vesc_driver_node",

jetson/ros2_ws/src/saltybot_vesc_driver/saltybot_vesc_driver/velocity_smoother_node.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+"""
+Smooth velocity controller with accel/decel ramp.
+
+Subscribes to /cmd_vel (geometry_msgs/Twist), applies acceleration
+and deceleration ramps, and publishes smoothed commands to
+/cmd_vel_smoothed at 50 Hz.
+
+E-stop (std_msgs/Bool on /e_stop): immediate zero, bypasses ramp.
+Optional jerk limiting via max_linear_jerk / max_angular_jerk params.
+"""
+
+import math
+
+import rclpy
+from geometry_msgs.msg import Twist
+from rclpy.node import Node
+from std_msgs.msg import Bool
+
+
+class VelocitySmoother(Node):
+    def __init__(self):
+        super().__init__('velocity_smoother')
+
+        # Declare parameters
+        self.declare_parameter('publish_rate', 50.0)           # Hz
+        self.declare_parameter('max_linear_accel', 1.0)        # m/s²
+        self.declare_parameter('max_linear_decel', 2.0)        # m/s²
+        self.declare_parameter('max_angular_accel', 1.5)       # rad/s²
+        self.declare_parameter('max_angular_decel', 3.0)       # rad/s²
+        self.declare_parameter('max_linear_jerk', 0.0)         # m/s³, 0=disabled
+        self.declare_parameter('max_angular_jerk', 0.0)        # rad/s³, 0=disabled
+
+        rate = self.get_parameter('publish_rate').value
+        self.max_lin_acc = self.get_parameter('max_linear_accel').value
+        self.max_lin_dec = self.get_parameter('max_linear_decel').value
+        self.max_ang_acc = self.get_parameter('max_angular_accel').value
+        self.max_ang_dec = self.get_parameter('max_angular_decel').value
+        self.max_lin_jerk = self.get_parameter('max_linear_jerk').value
+        self.max_ang_jerk = self.get_parameter('max_angular_jerk').value
+
+        self._dt = 1.0 / rate
+
+        # State
+        self._target_lin = 0.0
+        self._target_ang = 0.0
+        self._current_lin = 0.0
+        self._current_ang = 0.0
+        self._current_lin_acc = 0.0   # for jerk limiting
+        self._current_ang_acc = 0.0
+        self._e_stop = False
+
+        # Publisher
+        self._pub = self.create_publisher(Twist, '/cmd_vel_smoothed', 10)
+
+        # Subscriptions
+        self.create_subscription(Twist, '/cmd_vel', self._cmd_vel_cb, 10)
+        self.create_subscription(Bool, '/e_stop', self._e_stop_cb, 10)
+
+        # Timer
+        self.create_timer(self._dt, self._timer_cb)
+
+        self.get_logger().info(
+            f'VelocitySmoother ready at {rate:.0f} Hz — '
+            f'lin_acc={self.max_lin_acc} lin_dec={self.max_lin_dec} '
+            f'ang_acc={self.max_ang_acc} ang_dec={self.max_ang_dec}'
+        )
+
+    # ------------------------------------------------------------------
+
+    def _cmd_vel_cb(self, msg: Twist):
+        self._target_lin = msg.linear.x
+        self._target_ang = msg.angular.z
+
+    def _e_stop_cb(self, msg: Bool):
+        self._e_stop = msg.data
+        if self._e_stop:
+            self._target_lin = 0.0
+            self._target_ang = 0.0
+            self._current_lin = 0.0
+            self._current_ang = 0.0
+            self._current_lin_acc = 0.0
+            self._current_ang_acc = 0.0
+            self.get_logger().warn('E-STOP active — motors zeroed immediately')
+
+    # ------------------------------------------------------------------
+
+    def _ramp(
+        self,
+        current: float,
+        target: float,
+        max_acc: float,
+        max_dec: float,
+        current_acc: float,
+        max_jerk: float,
+    ) -> tuple[float, float]:
+        """
+        Advance `current` toward `target` with separate accel/decel limits.
+        Optionally apply jerk limiting to the acceleration.
+        Returns (new_value, new_acc).
+        """
+        error = target - current
+
+        # Choose limit: decelerate if moving away from zero and target is
+        # closer to zero (or past it), else accelerate.
+        if current * error < 0 or (error != 0 and abs(target) < abs(current)):
+            limit = max_dec
+        else:
+            limit = max_acc
+
+        desired_acc = math.copysign(min(abs(error) / self._dt, limit), error)
+        # Clamp so we don't overshoot
+        desired_acc = max(-limit, min(limit, desired_acc))
+
+        if max_jerk > 0.0:
+            max_d_acc = max_jerk * self._dt
+            new_acc = current_acc + max(
+                -max_d_acc, min(max_d_acc, desired_acc - current_acc)
+            )
+        else:
+            new_acc = desired_acc
+
+        delta = new_acc * self._dt
+        # Clamp so we don't overshoot the target
+        if abs(delta) > abs(error):
+            delta = error
+        return current + delta, new_acc
+
+    def _timer_cb(self):
+        if self._e_stop:
+            msg = Twist()
+            self._pub.publish(msg)
+            return
+
+        self._current_lin, self._current_lin_acc = self._ramp(
+            self._current_lin,
+            self._target_lin,
+            self.max_lin_acc,
+            self.max_lin_dec,
+            self._current_lin_acc,
+            self.max_lin_jerk,
+        )
+        self._current_ang, self._current_ang_acc = self._ramp(
+            self._current_ang,
+            self._target_ang,
+            self.max_ang_acc,
+            self.max_ang_dec,
+            self._current_ang_acc,
+            self.max_lin_jerk,  # intentional: use linear jerk scale for angular too if set
+        )
+
+        msg = Twist()
+        msg.linear.x = self._current_lin
+        msg.angular.z = self._current_ang
+        self._pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VelocitySmoother()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

jetson/ros2_ws/src/saltybot_vesc_driver/saltybot_vesc_driver/vesc_driver_node.py

@@ -142,7 +142,7 @@ class VescCanDriver(Node):
         self._rx_thread.start()
 
         # Subscriber
-        self.create_subscription(Twist, '/cmd_vel', self._cmd_vel_cb, 10)
+        self.create_subscription(Twist, '/cmd_vel_smoothed', self._cmd_vel_cb, 10)
 
         # Watchdog + telemetry publish timer
         self.create_timer(1.0 / max(1, tel_hz), self._watchdog_and_publish_cb)

jetson/ros2_ws/src/saltybot_vesc_driver/setup.py

@@ -22,6 +22,7 @@ setup(
     entry_points={
         "console_scripts": [
             "vesc_driver_node = saltybot_vesc_driver.vesc_driver_node:main",
+            "velocity_smoother_node = saltybot_vesc_driver.velocity_smoother_node:main",
         ],
     },
 )

jetson/ros2_ws/src/saltybot_vesc_driver/test/test_velocity_smoother.py

@@ -0,0 +1,237 @@
+#!/usr/bin/env python3
+"""Unit tests for VelocitySmoother ramp logic."""
+
+import math
+import unittest
+from unittest.mock import MagicMock, patch
+
+
+# ---------------------------------------------------------------------------
+# Minimal ROS2 stubs so tests run without a ROS2 installation
+# ---------------------------------------------------------------------------
+
+class _FakeParam:
+    def __init__(self, val):
+        self._val = val
+    @property
+    def value(self):
+        return self._val
+
+
+class _FakeNode:
+    def __init__(self):
+        self._params = {}
+    def declare_parameter(self, name, default):
+        self._params[name] = _FakeParam(default)
+    def get_parameter(self, name):
+        return self._params[name]
+    def create_publisher(self, *a, **kw):
+        return MagicMock()
+    def create_subscription(self, *a, **kw):
+        return MagicMock()
+    def create_timer(self, *a, **kw):
+        return MagicMock()
+    def get_logger(self):
+        log = MagicMock()
+        log.info = MagicMock()
+        log.warn = MagicMock()
+        return log
+
+
+# Patch rclpy and geometry_msgs before importing the module.
+# rclpy.node.Node must be a *real* class so that VelocitySmoother can
+# inherit from it without becoming a MagicMock itself.
+import sys
+
+class _RealNodeBase:
+    """Minimal real base class that stands in for rclpy.node.Node."""
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def declare_parameter(self, name, default):
+        if not hasattr(self, '_params'):
+            self._params = {}
+        self._params[name] = _FakeParam(default)
+
+    def get_parameter(self, name):
+        return self._params[name]
+
+    def create_publisher(self, *a, **kw):
+        return MagicMock()
+
+    def create_subscription(self, *a, **kw):
+        return MagicMock()
+
+    def create_timer(self, *a, **kw):
+        return MagicMock()
+
+    def get_logger(self):
+        log = MagicMock()
+        log.info = MagicMock()
+        log.warn = MagicMock()
+        return log
+
+rclpy_node_mod = MagicMock()
+rclpy_node_mod.Node = _RealNodeBase
+
+rclpy_mock = MagicMock()
+rclpy_mock.node = rclpy_node_mod
+
+sys.modules['rclpy'] = rclpy_mock
+sys.modules['rclpy.node'] = rclpy_node_mod
+sys.modules.setdefault('geometry_msgs', MagicMock())
+sys.modules.setdefault('geometry_msgs.msg', MagicMock())
+sys.modules.setdefault('std_msgs', MagicMock())
+sys.modules.setdefault('std_msgs.msg', MagicMock())
+
+# Provide a real Twist-like object for tests
+class _Twist:
+    class _Vec:
+        x = 0.0
+        y = 0.0
+        z = 0.0
+    def __init__(self):
+        self.linear = self._Vec()
+        self.angular = self._Vec()
+
+sys.modules['geometry_msgs.msg'].Twist = _Twist
+sys.modules['std_msgs.msg'].Bool = MagicMock()
+
+import importlib, os, pathlib
+sys.path.insert(0, str(pathlib.Path(__file__).parents[1] / 'saltybot_vesc_driver'))
+
+# Now we can import the smoother logic directly
+from velocity_smoother_node import VelocitySmoother
+
+
+def _make_smoother(**params):
+    """Create a VelocitySmoother backed by _RealNodeBase with custom params."""
+    defaults = dict(
+        publish_rate=50.0,
+        max_linear_accel=1.0,
+        max_linear_decel=2.0,
+        max_angular_accel=1.5,
+        max_angular_decel=3.0,
+        max_linear_jerk=0.0,
+        max_angular_jerk=0.0,
+    )
+    defaults.update(params)
+
+    # Pre-seed _params before __init__ so declare_parameter picks up overrides.
+    node = VelocitySmoother.__new__(VelocitySmoother)
+    node._params = {k: _FakeParam(v) for k, v in defaults.items()}
+
+    # Monkey-patch declare_parameter so it doesn't overwrite our pre-seeded values
+    original_declare = _RealNodeBase.declare_parameter
+    def _noop_declare(self, name, default):
+        pass  # params already seeded
+    _RealNodeBase.declare_parameter = _noop_declare
+
+    try:
+        VelocitySmoother.__init__(node)
+    finally:
+        _RealNodeBase.declare_parameter = original_declare
+
+    return node
+
+
+# ---------------------------------------------------------------------------
+
+class TestRampLogic(unittest.TestCase):
+
+    def _make(self, **kw):
+        return _make_smoother(**kw)
+
+    def test_ramp_reaches_target_within_expected_steps(self):
+        """From 0 to 1 m/s with accel=1 m/s² at 50 Hz → ~50 steps."""
+        node = self._make(max_linear_accel=1.0, publish_rate=50.0)
+        node._target_lin = 1.0
+        steps = 0
+        while abs(node._current_lin - 1.0) > 0.01 and steps < 200:
+            node._timer_cb()
+            steps += 1
+        self.assertLessEqual(steps, 55, "Should reach 1 m/s within ~55 steps at 50 Hz")
+        self.assertAlmostEqual(node._current_lin, 1.0, places=2)
+
+    def test_decel_faster_than_accel(self):
+        """Deceleration should complete faster than acceleration."""
+        node = self._make(max_linear_accel=1.0, max_linear_decel=2.0, publish_rate=50.0)
+        # Ramp up
+        node._target_lin = 1.0
+        for _ in range(100):
+            node._timer_cb()
+        # Now decelerate
+        node._target_lin = 0.0
+        decel_steps = 0
+        while abs(node._current_lin) > 0.01 and decel_steps < 200:
+            node._timer_cb()
+            decel_steps += 1
+        # Ramp up again to measure accel steps
+        node._current_lin = 0.0
+        node._target_lin = 1.0
+        accel_steps = 0
+        while abs(node._current_lin - 1.0) > 0.01 and accel_steps < 200:
+            node._timer_cb()
+            accel_steps += 1
+        self.assertLess(decel_steps, accel_steps,
+                        "Decel (2 m/s²) should finish in fewer steps than accel (1 m/s²)")
+
+    def test_e_stop_zeros_immediately(self):
+        """E-stop must zero velocity in the same callback, bypassing ramp."""
+        node = self._make()
+        node._current_lin = 2.0
+        node._current_ang = 1.0
+        node._target_lin = 2.0
+        node._target_ang = 1.0
+
+        msg = MagicMock()
+        msg.data = True
+        node._e_stop_cb(msg)
+
+        self.assertEqual(node._current_lin, 0.0)
+        self.assertEqual(node._current_ang, 0.0)
+        self.assertTrue(node._e_stop)
+
+    def test_no_overshoot(self):
+        """Current velocity must never exceed target during ramp-up."""
+        node = self._make(max_linear_accel=1.0, publish_rate=50.0)
+        node._target_lin = 0.5
+        for _ in range(100):
+            node._timer_cb()
+            self.assertLessEqual(node._current_lin, 0.5 + 1e-9)
+
+    def test_negative_velocity_ramp(self):
+        """Ramp works symmetrically for negative targets."""
+        node = self._make(max_linear_accel=1.0, publish_rate=50.0)
+        node._target_lin = -1.0
+        for _ in range(200):
+            node._timer_cb()
+        self.assertAlmostEqual(node._current_lin, -1.0, places=2)
+
+    def test_angular_ramp(self):
+        """Angular velocity ramps correctly."""
+        node = self._make(max_angular_accel=1.5, publish_rate=50.0)
+        node._target_ang = 1.0
+        for _ in range(200):
+            node._timer_cb()
+        self.assertAlmostEqual(node._current_ang, 1.0, places=2)
+
+    def test_ramp_timing_linear(self):
+        """Time to ramp from 0 to v_max ≈ v_max / accel (±10%)."""
+        accel = 1.0  # m/s²
+        v_max = 1.0  # m/s
+        rate = 50.0
+        expected_time = v_max / accel  # 1.0 s
+        node = self._make(max_linear_accel=accel, publish_rate=rate)
+        node._target_lin = v_max
+        steps = 0
+        while abs(node._current_lin - v_max) > 0.01 and steps < 500:
+            node._timer_cb()
+            steps += 1
+        actual_time = steps / rate
+        self.assertAlmostEqual(actual_time, expected_time, delta=expected_time * 0.12,
+                               msg=f"Ramp time {actual_time:.2f}s expected ~{expected_time:.2f}s")
+
+
+if __name__ == '__main__':
+    unittest.main()