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sl-controls 4fed80f36d feat: SaltyRover 4-wheel diff-drive control loop (#74 )

Adds saltyrover_drive ROS2 package — 4-wheel differential drive controller
for the stable SaltyRover chassis (no balance PID required).

rover_drive_node:
  - Subscribes /cmd_vel (Twist), converts to left/right wheel speeds
  - Tank-style kinematics: v_left = linear.x - angular.z × sep/2
  - FL/RL share left speed, FR/RR share right speed (paired axles)
  - Publishes /rover/wheel_speeds (JSON: {"cmd":"drive4","fl":N,"fr":N,"rl":N,"rr":N})
  - Trapezoidal ramp: accel 2.0 m/s², decel 4.0 m/s² (stable chassis allows faster ramps)
  - cmd_vel watchdog (0.5s timeout → zero speeds)
  - max_speed 3.0 m/s (±1000 STM32 ticks)

rover_odom_node:
  - Dead-reckoning odometry from /cmd_vel (encoder-ready for future HW)
  - Publishes /odom (nav_msgs/Odometry) + TF odom→base_link
  - Forward Euler pose integration at 50 Hz

52/52 unit tests: kinematics, int scaling, JSON builder, full pipeline,
trapezoidal ramp, odometry integration, quaternion conversion.

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

2026-03-01 01:14:27 -05:00

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

Merge pull request 'feat: Auto-detect magnetometer + barometer (#24 )' (#27 ) from sl-firmware/mag-baro-detect into main

2026-02-28 18:45:25 -05:00

jetson

feat: SaltyRover 4-wheel diff-drive control loop (#74 )