sl-controls
173b538f44
Implement priority-based velocity command routing with timeout-based fallback: - Teleop (priority 1) > Nav2 (priority 2) > Docking (priority 3) - 0.5s timeout per source: inactive sources are skipped in priority selection - When no source is active, publish zero command for safety Features: - 50Hz multiplexing frequency with configurable parameters - JSON status publishing (/saltybot/cmd_vel_mux_status) for telemetry - Automatic priority escalation: teleop preempts nav2, nav2 preempts docking - Fallback chain: if teleop times out, nav2 takes over; if nav2 times out, docking active - Zero command safety: all sources timeout = immediate motor stop Test Coverage: - 20+ unit tests covering enum, initialization, subscriptions - Priority selection logic (teleop preemption, nav2 preemption) - Timeout detection and source fallback - Realistic scenario tests (teleop release, priority escalation chains) - JSON status format validation Config: frequency=50Hz, source_timeout=0.5s Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>