9d2b19104f
Add saltybot_uwb_geofence ROS2 package — Jetson-side node that subscribes to /saltybot/pose/authoritative (UWB+IMU fused PoseWithCovarianceStamped), enforces configurable polygon speed-limit zones (YAML), and publishes speed-limited /cmd_vel_limited with smooth ramp transitions. Emergency boundary: if robot exits outer polygon, cmd_vel is zeroed and /saltybot/geofence_violation (Bool) is latched True, triggering the existing e-stop cascade. Publishes /saltybot/geofence/status (JSON). Pure-geometry helpers (zone_checker.py) have no ROS2 dependency; 35 unit tests pass (pytest). ESP32 UWB firmware untouched. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
28 lines
884 B
Python
28 lines
884 B
Python
from setuptools import setup, find_packages
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setup(
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name="saltybot_uwb_geofence",
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version="0.1.0",
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packages=find_packages(),
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data_files=[
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(
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"share/ament_index/resource_index/packages",
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["resource/saltybot_uwb_geofence"],
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),
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("share/saltybot_uwb_geofence", ["package.xml"]),
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("share/saltybot_uwb_geofence/config", ["config/uwb_geofence_zones.yaml"]),
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("share/saltybot_uwb_geofence/launch", ["launch/uwb_geofence.launch.py"]),
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],
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install_requires=["setuptools", "pyyaml"],
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zip_safe=True,
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author="SaltyLab UWB",
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author_email="sl-uwb@saltylab.local",
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description="UWB geofence speed limiter for SaltyBot (Issue #657)",
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license="MIT",
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entry_points={
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"console_scripts": [
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"uwb_geofence_node=saltybot_uwb_geofence.uwb_geofence_node:main",
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],
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},
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)
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