sl-controls
7cfb98aec1
Implement SCS/STS serial protocol driver for Waveshare ST3215 servos at 1Mbps daisy-chain configuration. Pan and tilt servos on single UART. Features: - SCSServoBus class: Low-level protocol handler with packet construction - Position write commands with configurable speed (0-1000) - Position and temperature readback from servos - PanTiltNode: ROS2 node with target tracking control loop - Subscribes to /saltybot/target_track for centroid position - Proportional control to keep target centered in D435i FOV - Publishes /pan_tilt/state with angles and temperatures - Publishes /pan_tilt/command for servo position monitoring - 30 Hz control loop, 1 Hz telemetry loop - Configurable servo limits and speeds Servos: 0.24° resolution, 0-4095 position range Camera: 87° × 58° field of view Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
29 lines
930 B
XML
29 lines
930 B
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_pan_tilt</name>
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<version>0.1.0</version>
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<description>
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Pan/tilt camera head servo control for SaltyBot using Waveshare ST3215 servos.
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SCS/STS serial bus protocol with daisy-chain servo communication.
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</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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<test_depend>python3-pytest</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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