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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
Conversation 0 Commits 2 Files Changed 20 +1657 -1

2 Commits

Author SHA1 Message Date
sl-controls
7eb3f187e2 feat: Smooth velocity controller (Issue #652) 
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>
 2026-03-18 07:56:16 -04:00
sl-android
a50dbe7e56 feat: VESC CAN telemetry MQTT relay (Issue #656) 
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>
 2026-03-18 07:56:02 -04:00