sl-controls
c86abdd1b8
- ROS2 node for balance mode PID parameter management via pyvesc UART - Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff - Startup ramp: gradual acceleration from 0 to full output over configurable duration - IMU integration: subscribe to /imu/data for pitch/roll angle computation - State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry - Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data - Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency - Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
27 lines
896 B
XML
27 lines
896 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_voice_command</name>
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<version>0.1.0</version>
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<description>Simple voice command interpreter for SaltyBot (Issue #409)</description>
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<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>saltybot_social_msgs</depend>
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<exec_depend>python3-pip</exec_depend>
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<exec_depend>python3-fuzzy</exec_depend>
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<exec_depend>piper-tts</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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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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