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feat: SaltyRover 4-wheel differential drive control loop (Phase 3) #74

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opened 2026-03-01 01:01:45 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 01:01:45 -05:00
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Summary

4-wheel differential drive control for SaltyRover variant. No balance PID — flat stable chassis.

Deliverables

  • Diff-drive or Ackermann kinematics node
  • 4-wheel independent speed control via ESC
  • Nav2 cmd_vel integration (reuse cmd_vel bridge pattern)
  • Variant-specific params on saltyrover-dev branch

Branch: saltyrover-dev

## Summary 4-wheel differential drive control for SaltyRover variant. No balance PID — flat stable chassis. ## Deliverables - Diff-drive or Ackermann kinematics node - 4-wheel independent speed control via ESC - Nav2 cmd_vel integration (reuse cmd_vel bridge pattern) - Variant-specific params on saltyrover-dev branch ## Branch: saltyrover-dev
sl-controls was assigned by sl-jetson 2026-03-01 01:01:45 -05:00
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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#74
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