sl-controls
2919e629e9
Implements saltybot_velocity_smoother package: - Subscribes to /odom, applies digital Butterworth low-pass filter - Filters linear (x,y,z) and angular (x,y,z) velocity components independently - Publishes smoothed odometry on /odom_smooth - Reduces encoder jitter and improves state estimation stability - Configurable filter order (1-4), cutoff frequency (Hz), publish rate - Can be enabled/disabled via enable_smoothing parameter - Comprehensive test suite: 18+ tests covering filter behavior, edge cases, scenarios Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>