sl-perception
5dcaa7bd49
Implements Phase 3 ride-once-replay-forever route system. saltybot_routes package: - route_recorder_node: samples GPS+odom+heading at 1Hz during follow-me rides; 2m waypoint spacing; JSON-Lines .jsonl on NVMe /data/routes/; services start_recording/stop_recording/save/discard - route_replayer_node: loads .jsonl, GPS->ENU flat-earth conversion, heading->quaternion, 3m subsampling for Nav2 navigate_through_poses; 2m GPS tolerance (SIM7600X +-2.5m); pause/resume/stop services - route_manager_node: list/info/delete services for saved routes - route_system.launch.py: all three nodes with shared params - route_params.yaml: waypoint_spacing_m=2.0, replay_spacing_m=3.0 GPS: /gps/fix from SIM7600X (PR #65) UWB: /uwb/target from follow-me (PR #66) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
35 lines
1.1 KiB
Python
35 lines
1.1 KiB
Python
import os
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from glob import glob
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from setuptools import find_packages, setup
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package_name = 'saltybot_routes'
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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=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@saltylab.io',
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description='Route recording and autonomous replay — ride once, replay forever.',
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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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'route_recorder_node = saltybot_routes.route_recorder_node:main',
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'route_replayer_node = saltybot_routes.route_replayer_node:main',
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'route_manager_node = saltybot_routes.route_manager_node:main',
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],
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},
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)
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