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feat(controls): smooth velocity ramp — acceleration/deceleration limiter for cmd_vel #350

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opened 2026-03-03 13:26:18 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 13:26:18 -05:00
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Create a ROS2 node that subscribes to /cmd_vel (raw) and publishes /cmd_vel_smooth (rate-limited). Apply configurable max linear acceleration (0.5 m/s² default), max angular acceleration (1.0 rad/s² default), and deceleration limits. Smooth step inputs into ramps. Emergency stop (zero velocity input) bypasses ramp for immediate stop. Include tests.

Create a ROS2 node that subscribes to /cmd_vel (raw) and publishes /cmd_vel_smooth (rate-limited). Apply configurable max linear acceleration (0.5 m/s² default), max angular acceleration (1.0 rad/s² default), and deceleration limits. Smooth step inputs into ramps. Emergency stop (zero velocity input) bypasses ramp for immediate stop. Include 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#350
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