|
|
fb3e9f1bf1
|
feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation
Two new ROS2 packages implementing Issue #142:
saltybot_terrain_msgs (ament_cmake)
- Terrain.msg: stamp, surface_type, roughness, incline_rad, grip, slip_ratio, speed_scale
saltybot_terrain_adaptation (ament_python, 50 Hz)
- terrain_analyzer.py: IMU vibration RMS → roughness [0,1] + surface classification
(smooth/tile/carpet/grass/gravel) with hysteresis-protected switching
- incline_detector.py: quaternion pitch → first-order LPF → incline_rad; motor_bias()
- slip_detector.py: cmd_vel vs odom → slip_ratio with EMA smoothing + speed gate
- terrain_adapter.py: TerrainState, TerrainAdapter (speed_scale, pid_scales, motor_bias),
TerrainHistory (rolling deque, JSON type-change log)
- terrain_adaptation_node.py: 50 Hz node; IMU watchdog; publishes terrain JSON + typed msg,
speed_scale, pid_scales (JSON), motor_bias, terrain_history (on type change)
- config/terrain_params.yaml, launch/terrain_adaptation.launch.py
Tests: 60/60 passing (TerrainAnalyzer, SlipDetector, InclineDetector, TerrainAdapter,
TerrainHistory all covered)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-03-02 10:04:36 -05:00 |
|
