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feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110) #117

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sl-jetson merged 1 commits from sl-controls/issue-110-rover-driver into main 2026-03-02 09:04:02 -05:00
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Author SHA1 Message Date
sl-controls
3c438595e8 feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110)
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- kinematics.py: pure unicycle→differential/skid-steer kinematics,
  speed_to_pwm (1000–2000µs), compute_wheel_speeds with ±max clip,
  odometry_from_wheel_speeds inverse helper
- rover_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n
  protocol; heartbeat H\n; deadman on /cmd_vel silence; runtime 2WD/4WD
  variant switch via four_wheel param; dead-reckoning odometry;
  publishes /saltybot/rover_pwm (JSON) + /saltybot/rover_odom
- config/rover_params.yaml, launch/rover_driver.launch.py, package.xml,
  setup.py, setup.cfg
- test/test_rover_kinematics.py: 51 unit tests, all passing

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 09:03:28 -05:00