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feat(controls): battery-aware speed limiter — reduce max velocity as battery drops below thresholds #321

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opened 2026-03-03 00:42:23 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 00:42:23 -05:00
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Create a ROS2 node that subscribes to /saltybot/battery_state and publishes a velocity scaling factor on /saltybot/speed_limit_factor (Float32, 0.0-1.0). At 100-50% battery = 1.0 (full speed), 50-25% = 0.7, 25-15% = 0.4, below 15% = 0.0 (stop). Thresholds configurable via ROS params. Other nodes (nav, teleop) should multiply their cmd_vel by this factor.

Create a ROS2 node that subscribes to /saltybot/battery_state and publishes a velocity scaling factor on /saltybot/speed_limit_factor (Float32, 0.0-1.0). At 100-50% battery = 1.0 (full speed), 50-25% = 0.7, 25-15% = 0.4, below 15% = 0.0 (stop). Thresholds configurable via ROS params. Other nodes (nav, teleop) should multiply their cmd_vel by this factor.
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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#321
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