sl-controls
bc97c027c4
Two new packages: - saltybot_emergency_msgs: EmergencyEvent.msg, RecoveryAction.msg - saltybot_emergency: threat_detector, alert_manager, recovery_sequencer, emergency_fsm, emergency_node Implements: - ObstacleDetector: MAJOR <30cm, CRITICAL <10cm; suppressed when not moving - FallDetector: MINOR/MAJOR/CRITICAL tilt thresholds; floor-drop edge detection - StuckDetector: MAJOR after 3s wheel stall (cmd>threshold, actual~0) - BumpDetector: jerk = |Δ|a||/dt with gravity removal; MAJOR/CRITICAL thresholds - AlertManager: per-(type,level) suppression; MAJOR×N within window → CRITICAL escalation - RecoverySequencer: REVERSING→TURNING→RETRYING FSM; max_retries before GAVE_UP - EmergencyFSM: NOMINAL→STOPPING→RECOVERING→ESCALATED; acknowledge to clear - EmergencyNode: 20Hz ROS2 node; /saltybot/emergency, /saltybot/e_stop, cmd_vel mux 59/59 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>