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feat(controls): Speed limiter node — enforce max velocity based on terrain, battery, and proximity #194

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opened 2026-03-02 11:01:20 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:01:20 -05:00
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Single ROS2 node. Subscribe to /saltybot/terrain_speed_scale, /saltybot/speed_limit (from battery), /saltybot/emergency. Compute min scale factor, apply to /cmd_vel before forwarding to /saltybot/cmd_vel_limited. Publish /saltybot/speed_limit_info (JSON with active limits). 50Hz. Include unit tests.

Single ROS2 node. Subscribe to /saltybot/terrain_speed_scale, /saltybot/speed_limit (from battery), /saltybot/emergency. Compute min scale factor, apply to /cmd_vel before forwarding to /saltybot/cmd_vel_limited. Publish /saltybot/speed_limit_info (JSON with active limits). 50Hz. Include unit tests.
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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#194
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