saltybot_pid_autotune 0.1.0 PID auto-tuner for SaltyBot using Astrom-Hagglund relay feedback method. Service-triggered relay oscillation measures ultimate gain (Ku) and ultimate period (Tu), then computes Ziegler-Nichols PD gains. Safety abort on >25deg tilt. sl-controls MIT rclpy geometry_msgs sensor_msgs std_msgs std_srvs ament_python ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python