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feat(controls): Smooth acceleration limiter — jerk-limited velocity ramp #241

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opened 2026-03-02 12:15:48 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 12:15:48 -05:00
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Single ROS2 node. Subscribe to /saltybot/cmd_vel_limited. Apply trapezoidal acceleration profile: max_linear_accel 0.5 m/s^2, max_angular_accel 1.0 rad/s^2, max_jerk configurable. Publish smoothed /cmd_vel_smooth at 50Hz. Prevents jerky motion and wheel slip. Include unit tests.

Single ROS2 node. Subscribe to /saltybot/cmd_vel_limited. Apply trapezoidal acceleration profile: max_linear_accel 0.5 m/s^2, max_angular_accel 1.0 rad/s^2, max_jerk configurable. Publish smoothed /cmd_vel_smooth at 50Hz. Prevents jerky motion and wheel slip. 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#241
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