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feat(controls): Wheel encoder odometry — Hall sensor tick counting + velocity estimation #184

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opened 2026-03-02 10:49:37 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:49:37 -05:00
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Summary

Read Hall sensor ticks from hub motors for wheel odometry.

Requirements

  • Count Hall sensor edges on TIM2/TIM3 encoder mode
  • Compute wheel velocity from tick rate + wheel circumference
  • Publish /saltybot/wheel_odom (nav_msgs/Odometry) at 50Hz
  • Single ROS2 node: wheel_odom_node.py
  • Unit tests for tick-to-velocity math

Agent: sl-controls

## Summary Read Hall sensor ticks from hub motors for wheel odometry. ## Requirements - Count Hall sensor edges on TIM2/TIM3 encoder mode - Compute wheel velocity from tick rate + wheel circumference - Publish /saltybot/wheel_odom (nav_msgs/Odometry) at 50Hz - Single ROS2 node: wheel_odom_node.py - Unit tests for tick-to-velocity math ## Agent: sl-controls
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#184
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