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feat(bridge): binary STM32 command protocol (Issue #119) #128

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sl-jetson merged 2 commits from sl-jetson/issue-119-cmd-protocol into main 2026-03-02 09:26:21 -05:00
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1 changed files with 9 additions and 1 deletions
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10
jetson/ros2_ws/src/saltybot_bridge/setup.py
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@ -13,11 +13,15 @@ setup(
"launch/bridge.launch.py", "launch/bridge.launch.py",
"launch/cmd_vel_bridge.launch.py", "launch/cmd_vel_bridge.launch.py",
"launch/remote_estop.launch.py", "launch/remote_estop.launch.py",
"launch/stm32_cmd.launch.py",
"launch/battery.launch.py",
]), ]),
(f"share/{package_name}/config", [ (f"share/{package_name}/config", [
"config/bridge_params.yaml", "config/bridge_params.yaml",
"config/cmd_vel_bridge_params.yaml", "config/cmd_vel_bridge_params.yaml",
"config/estop_params.yaml", "config/estop_params.yaml",
"config/stm32_cmd_params.yaml",
"config/battery_params.yaml",
]), ]),
], ],
install_requires=["setuptools", "pyserial"], install_requires=["setuptools", "pyserial"],
@ -35,7 +39,11 @@ setup(
"saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main", "saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main",
# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main", "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
"remote_estop_node = saltybot_bridge.remote_estop_node:main", "remote_estop_node = saltybot_bridge.remote_estop_node:main",
# Binary-framed STM32 command node (Issue #119)
"stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main",
# Battery management node (Issue #125)
"battery_node = saltybot_bridge.battery_node:main",
], ],
}, },
) )