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bc45208768
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feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)
Implements speed limiter ROS2 node that enforces safety constraints from:
- Terrain type (via /saltybot/terrain_speed_scale)
- Battery level (via /saltybot/speed_limit)
- Emergency system state (via /saltybot/emergency)
Node computes minimum scale factor and applies to /cmd_vel, forwarding
limited commands to /saltybot/cmd_vel_limited. Publishes JSON telemetry
on /saltybot/speed_limit_info at 50Hz (20ms cycle).
Features:
- Subscription to terrain, battery, and emergency constraints
- Twist velocity scaling with min-of-three constraint logic
- JSON telemetry with timestamp and all scale factors
- 50Hz timer-based publishing for real-time control
- Emergency state mapping (NOMINAL/RECOVERING/STOPPING/ESCALATED)
- Comprehensive unit tests (18 test cases)
Package: saltybot_speed_limiter
Entry point: speed_limiter_node
Launch file: speed_limiter.launch.py
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-02 11:14:10 -05:00 |
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