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sl-controls fb3e9f1bf1 feat(#142 ): terrain adaptation — surface detection, speed/PID/bias adaptation

Two new ROS2 packages implementing Issue #142:

saltybot_terrain_msgs (ament_cmake)
- Terrain.msg: stamp, surface_type, roughness, incline_rad, grip, slip_ratio, speed_scale

saltybot_terrain_adaptation (ament_python, 50 Hz)
- terrain_analyzer.py: IMU vibration RMS → roughness [0,1] + surface classification
  (smooth/tile/carpet/grass/gravel) with hysteresis-protected switching
- incline_detector.py: quaternion pitch → first-order LPF → incline_rad; motor_bias()
- slip_detector.py: cmd_vel vs odom → slip_ratio with EMA smoothing + speed gate
- terrain_adapter.py: TerrainState, TerrainAdapter (speed_scale, pid_scales, motor_bias),
  TerrainHistory (rolling deque, JSON type-change log)
- terrain_adaptation_node.py: 50 Hz node; IMU watchdog; publishes terrain JSON + typed msg,
  speed_scale, pid_scales (JSON), motor_bias, terrain_history (on type change)
- config/terrain_params.yaml, launch/terrain_adaptation.launch.py

Tests: 60/60 passing (TerrainAnalyzer, SlipDetector, InclineDetector, TerrainAdapter,
TerrainHistory all covered)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-02 10:04:36 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108 )

2026-03-02 08:50:22 -05:00

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat(mechanical): universal sensor mount rail system (Issue #138 )

2026-03-02 09:46:27 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm