sl-controls
9733f5f097
New package: saltybot_mode_switch
mode_logic.py (pure, no ROS2 dep — 72/72 tests pass):
State machine: RC → RAMP_TO_AUTO → AUTO → RAMP_TO_RC → RC
• CH6 (axes[5] > 0.5) requests AUTO; CH6 low → RAMP_TO_RC
• Stick >10% in AUTO/RAMP_TO_AUTO/RAMP_TO_RC → instant RC (no ramp)
• Sticks neutral ≥ 2 s after override → override cleared → RAMP_TO_AUTO
• RC link lost (Joy silent > 0.5 s) → instant RC from any state
• SLAM fix lost → RAMP_TO_RC (graceful exit from AUTO)
• No AUTO entry without slam_ok AND rc_link_ok
blend_alpha: 0.0 (RC) → linear ramp over 500 ms → 1.0 (AUTO)
led_pattern: solid_yellow(RC) | blink_green_slow(ramp) |
solid_green(AUTO) | blink_orange_fast(slam lost) |
blink_red_fast(RC link lost)
mode_switch_node.py (ROS2, 20 Hz):
Sub: /rc/joy (Joy), /saltybot/balance_state (String),
/slam_toolbox/pose_with_covariance_stamped (PoseWithCovarianceStamped)
Pub: /saltybot/control_mode (String JSON: mode+blend_alpha+slam_ok+rc_link_ok+override_active)
/saltybot/led_pattern (String)
cmd_vel_mux_node.py (ROS2, 20 Hz):
Sub: /cmd_vel_auto (Twist from Nav2/follower), /saltybot/control_mode
Pub: /cmd_vel (Twist to bridge, scaled by blend_alpha)
Note: remap Nav2/follower output to /cmd_vel_auto in launch.
Tests: 72/72 pass (no ROS2 runtime required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
34 lines
1.0 KiB
Python
34 lines
1.0 KiB
Python
from setuptools import setup, find_packages
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import os
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from glob import glob
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package_name = "saltybot_mode_switch"
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setup(
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name=package_name,
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version="0.1.0",
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packages=find_packages(exclude=["test"]),
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data_files=[
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("share/ament_index/resource_index/packages",
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[f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(os.path.join("share", package_name, "config"),
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glob("config/*.yaml")),
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(os.path.join("share", package_name, "launch"),
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glob("launch/*.py")),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description="Autonomous/RC mode switch with 500 ms blend ramp (Issue #104)",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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f"mode_switch_node = {package_name}.mode_switch_node:main",
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f"cmd_vel_mux_node = {package_name}.cmd_vel_mux_node:main",
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],
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},
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)
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