sl-controls
bfd291cbdd
Implements ROS2 geofence enforcer for SaltyBot with: - Loads polygon geofence from params (list of x/y vertices) - Subscribes to /odom for real-time robot position - Point-in-polygon ray casting algorithm for boundary checking - Publishes Bool on /saltybot/geofence_breach on boundary violation - Optional enforcement flag for cmd_vel zeroing - Configurable safety margin - Includes 20+ unit tests for geometry and breach detection Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
23 lines
716 B
XML
23 lines
716 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_geofence</name>
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<version>0.1.0</version>
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<description>Geofence boundary enforcer for SaltyBot</description>
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<maintainer email="sl-controls@saltylab.local">SaltyLab Controls</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>nav_msgs</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<test_depend>pytest</test_depend>
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<test_depend>nav_msgs</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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