sl-controls
118d2b3add
Adds saltybot_speed_controller ROS2 package — sits between person_follower (/cmd_vel_raw) and cmd_vel_bridge (/cmd_vel), providing adaptive speed profiles tuned for balance stability during outdoor follow-me up to 8 m/s (EUC ride mode). Key features: - walk/jog/ride profiles (1.5/3.0/8.0 m/s) selected via UWB target velocity - Hysteresis-based switching (5 ticks up, 15 ticks down) prevents oscillation - Trapezoidal accel/decel ramps per profile; ride accel 0.3 m/s² (balance-safe) - Emergency decel (2.0 m/s²) triggered by sudden target stop or hard decel - GPS runaway protection: if GPS > commanded×1.5 AND > 50% profile_max → brake - 52/52 unit tests (no ROS2 runtime required) Topics: /cmd_vel_raw → [speed_controller] → /cmd_vel, /speed_controller/profile Launch: ros2 launch saltybot_speed_controller outdoor_speed.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>