seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 5 Actions Packages Projects Releases Wiki Activity

feat(perception): wheel encoder differential drive odometry (Issue #184) #318

Merged
sl-jetson merged 1 commits from sl-perception/issue-184-wheel-odom into main 2026-03-03 00:42:28 -05:00
Conversation 0 Commits 1 Files Changed 8 +757

1 Commits

Author SHA1 Message Date
sl-perception
067a871103 feat(perception): wheel encoder differential drive odometry (Issue #184)
Some checks failed
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 7s
Details
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
Details
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Details 
Adds saltybot_bridge_msgs package with WheelTicks.msg (int32 left/right
encoder counts) and a WheelOdomNode that subscribes to
/saltybot/wheel_ticks, integrates midpoint-Euler differential drive
kinematics (handling int32 counter rollover), and publishes
nav_msgs/Odometry on /odom_wheel at 50 Hz with optional TF broadcast.

New files:
  jetson/ros2_ws/src/saltybot_bridge_msgs/
    msg/WheelTicks.msg
    CMakeLists.txt, package.xml

  jetson/ros2_ws/src/saltybot_bringup/
    saltybot_bringup/_wheel_odom.py     — pure kinematics (no ROS2 deps)
    saltybot_bringup/wheel_odom_node.py — 50 Hz timer node + TF broadcast
    test/test_wheel_odom.py             — 42 tests, all passing

Modified:
  saltybot_bringup/package.xml  — add saltybot_bridge_msgs, nav_msgs deps
  saltybot_bringup/setup.py     — add wheel_odom console_script entry

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-03 00:41:39 -05:00