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da6a17cdcb
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feat: ROS2 gimbal control node (Issue #548)
saltybot_gimbal ROS2 Python package for pan/tilt camera head control
via JLINK binary protocol over serial to STM32 (Issue #547 C side).
- gimbal_node.py: subscribes /saltybot/gimbal/cmd (Vector3: pan, tilt,
speed), publishes /saltybot/gimbal/state (JSON), /saltybot/gimbal/cmd_echo
- Services: /saltybot/gimbal/home (Trigger), /saltybot/gimbal/look_at
(Trigger + /saltybot/gimbal/look_at_target PointStamped)
- jlink_gimbal.py: JLINK codec matching jlink.h — CMD_GIMBAL_POS=0x0B,
TLM_GIMBAL_STATE=0x84, CRC16-CCITT, deg*10 encoding, speed register
- MotionAxis: trapezoidal velocity profile (configurable accel + speed)
- Configurable limits: pan ±150°, tilt ±45° (gimbal_params.yaml)
- Serial reconnect with configurable retry delay
- 48 unit tests — all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-14 10:34:06 -04:00 |
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