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ROS2 gimbal control node for pan/tilt camera head #548

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opened 2026-03-14 09:57:11 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:57:11 -04:00
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Implement ROS2 node on Jetson to control the pan/tilt gimbal via JLINK serial to STM32.

Requirements:

  • Subscribe to /saltybot/gimbal/cmd (geometry_msgs/Vector3: pan, tilt, speed)
  • Publish /saltybot/gimbal/state (current pan/tilt angles)
  • Service: /saltybot/gimbal/home (return to center)
  • Service: /saltybot/gimbal/look_at (compute angles from 3D point + TF)
  • JLINK serial bridge to STM32 gimbal driver
  • Configurable limits (pan ±150deg, tilt ±45deg)
  • Smooth motion profiles

Deliverables:

  • ROS2 Python package: saltybot_gimbal
  • Launch file + params YAML
  • Integration with head tracking node

Assigned to: sl-jetson

Implement ROS2 node on Jetson to control the pan/tilt gimbal via JLINK serial to STM32. **Requirements:** - Subscribe to /saltybot/gimbal/cmd (geometry_msgs/Vector3: pan, tilt, speed) - Publish /saltybot/gimbal/state (current pan/tilt angles) - Service: /saltybot/gimbal/home (return to center) - Service: /saltybot/gimbal/look_at (compute angles from 3D point + TF) - JLINK serial bridge to STM32 gimbal driver - Configurable limits (pan ±150deg, tilt ±45deg) - Smooth motion profiles **Deliverables:** - ROS2 Python package: saltybot_gimbal - Launch file + params YAML - Integration with head tracking node Assigned to: sl-jetson
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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#548
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