seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(controls): cmd_vel multiplexer — priority-based velocity command routing #228

New Issue
Closed
opened 2026-03-02 11:58:15 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:58:15 -05:00
Collaborator
Copy Link

Single ROS2 node. Accept cmd_vel from multiple sources: /teleop/cmd_vel (priority 1), /nav2/cmd_vel (priority 2), /docking/cmd_vel (priority 3). Route highest-priority active source to /cmd_vel output. Source times out after 0.5s of no messages. Publish /saltybot/cmd_vel_mux_status (active source name). 50Hz. Include unit tests.

Single ROS2 node. Accept cmd_vel from multiple sources: /teleop/cmd_vel (priority 1), /nav2/cmd_vel (priority 2), /docking/cmd_vel (priority 3). Route highest-priority active source to /cmd_vel output. Source times out after 0.5s of no messages. Publish /saltybot/cmd_vel_mux_status (active source name). 50Hz. Include unit tests.
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#228
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?