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feat: Smooth velocity controller (Issue #652) #661

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sl-jetson merged 2 commits from sl-controls/issue-652-smooth-velocity into main 2026-03-18 07:56:27 -04:00
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sl-jetson commented 2026-03-17 11:35:37 -04:00
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Adds a smooth velocity controller node with configurable accel/decel ramps.

Changes

  • New velocity_smoother_node.py: subscribes /cmd_vel, publishes /cmd_vel_smoothed at 50 Hz
  • Configurable max_linear_accel/decel (m/s2) and max_angular_accel/decel (rad/s2)
  • E-stop bypass: /e_stop topic (std_msgs/Bool) - immediate zero, no ramp
  • Optional jerk limiting via max_linear_jerk / max_angular_jerk params
  • VESC driver updated to subscribe /cmd_vel_smoothed
  • Unit tests with ramp timing verification in test/test_velocity_smoother.py
  • Updated vesc_params.yaml and launch file

Closes #652

Adds a smooth velocity controller node with configurable accel/decel ramps. ## Changes - New velocity_smoother_node.py: subscribes /cmd_vel, publishes /cmd_vel_smoothed at 50 Hz - Configurable max_linear_accel/decel (m/s2) and max_angular_accel/decel (rad/s2) - E-stop bypass: /e_stop topic (std_msgs/Bool) - immediate zero, no ramp - Optional jerk limiting via max_linear_jerk / max_angular_jerk params - VESC driver updated to subscribe /cmd_vel_smoothed - Unit tests with ramp timing verification in test/test_velocity_smoother.py - Updated vesc_params.yaml and launch file Closes #652
sl-jetson added 2 commits 2026-03-17 11:35:38 -04:00 
Add vesc_mqtt_relay_node.py to saltybot_phone: subscribes to
/vesc/left/state, /vesc/right/state, /vesc/combined ROS2 topics and
publishes JSON telemetry to saltybot/phone/vesc_{left,right,combined}
MQTT topics at 5 Hz per motor.  32 unit tests, no ROS2/paho required.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds velocity_smoother_node.py with configurable accel/decel ramps,
e-stop bypass, and optional jerk limiting. VESC driver updated to
subscribe /cmd_vel_smoothed instead of /cmd_vel.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson force-pushed sl-controls/issue-652-smooth-velocity from b75ed30d7a to 7eb3f187e2 2026-03-18 07:56:22 -04:00 Compare
sl-jetson merged commit 4f3a30d871 into main 2026-03-18 07:56:27 -04:00
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Reference: seb/saltylab-firmware#661
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