sl-perception
067a871103
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Adds saltybot_bridge_msgs package with WheelTicks.msg (int32 left/right
encoder counts) and a WheelOdomNode that subscribes to
/saltybot/wheel_ticks, integrates midpoint-Euler differential drive
kinematics (handling int32 counter rollover), and publishes
nav_msgs/Odometry on /odom_wheel at 50 Hz with optional TF broadcast.
New files:
jetson/ros2_ws/src/saltybot_bridge_msgs/
msg/WheelTicks.msg
CMakeLists.txt, package.xml
jetson/ros2_ws/src/saltybot_bringup/
saltybot_bringup/_wheel_odom.py — pure kinematics (no ROS2 deps)
saltybot_bringup/wheel_odom_node.py — 50 Hz timer node + TF broadcast
test/test_wheel_odom.py — 42 tests, all passing
Modified:
saltybot_bringup/package.xml — add saltybot_bridge_msgs, nav_msgs deps
saltybot_bringup/setup.py — add wheel_odom console_script entry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
45 lines
1.8 KiB
XML
45 lines
1.8 KiB
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_bringup</name>
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<version>0.1.0</version>
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<description>SaltyBot launch files — full autonomous stack bringup (sensors, SLAM, Nav2, UWB, perception, follower)</description>
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<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
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<license>MIT</license>
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<exec_depend>rplidar_ros</exec_depend>
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<exec_depend>realsense2_camera</exec_depend>
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<exec_depend>realsense2_description</exec_depend>
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<exec_depend>slam_toolbox</exec_depend>
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<exec_depend>rtabmap_ros</exec_depend>
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<exec_depend>nav2_bringup</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>tf2_ros</exec_depend>
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<exec_depend>rosbridge_server</exec_depend>
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<exec_depend>image_transport</exec_depend>
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<exec_depend>image_transport_plugins</exec_depend>
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<!-- SaltyBot packages included by full_stack.launch.py -->
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<exec_depend>saltybot_bridge</exec_depend>
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<exec_depend>saltybot_cameras</exec_depend>
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<exec_depend>saltybot_description</exec_depend>
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<exec_depend>saltybot_follower</exec_depend>
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<exec_depend>saltybot_outdoor</exec_depend>
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<exec_depend>saltybot_perception</exec_depend>
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<!-- HSV color segmentation messages (Issue #274) -->
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<exec_depend>saltybot_scene_msgs</exec_depend>
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<!-- Wheel encoder messages + odometry (Issue #184) -->
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<exec_depend>saltybot_bridge_msgs</exec_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>saltybot_uwb</exec_depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</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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