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>
32 lines
1.0 KiB
Python
32 lines
1.0 KiB
Python
from setuptools import setup
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package_name = "saltybot_speed_controller"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/outdoor_speed.launch.py"]),
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(f"share/{package_name}/config", ["config/speed_profiles.yaml"]),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description=(
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"Outdoor adaptive speed controller: walk/jog/ride profiles "
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"with trapezoidal accel limits and GPS runaway protection"
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),
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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# Adaptive speed profile node: /cmd_vel_raw → /cmd_vel
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"speed_controller_node = saltybot_speed_controller.speed_controller_node:main",
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],
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},
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)
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