sl-controls
8538fa2f9d
Implement acceleration-limited velocity controller: - Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel - Max linear acceleration: 0.5 m/s², angular: 1.0 rad/s² - Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular) - S-curve jerk limiting with 0.2s ramp time - E-stop immediate stop capability - Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol) - Publish /saltybot/velocity_profile for monitoring - 50Hz update rate (configurable) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
21 lines
827 B
XML
21 lines
827 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_smooth_velocity</name>
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<version>0.1.0</version>
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<description>Smooth velocity controller with acceleration limiting and S-curve jerk reduction.</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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<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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