sl-controls
fc87862603
Implements ROS2 adaptive PID gain scheduler for SaltyBot with: - Subscribes to /saltybot/speed_scale for speed conditions - Subscribes to /saltybot/terrain_roughness for surface conditions - Adjusts PID gains dynamically: * P gain increases with terrain roughness (better response on rough) * D gain decreases at low speed (prevent oscillation when slow) * I gain scales with both conditions for stability - Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains - Configurable scaling factors for each gain modulation - Includes 18+ unit tests for gain scheduling logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>