sl-controls
413810e6ba
- kinematics.py: tank_speeds with slip compensation (angular_cmd scaled
by 1/(1-slip_factor)), skid_steer_speeds (no slip), speed_to_pwm,
compute_track_speeds (2wd|4wd|tracked modes, ±max clip), expand_to_4ch,
odometry_from_track_speeds (angular scaled by (1-slip_factor) — inverse
of command path, consistent dead-reckoning across all slip values)
- tank_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n;
H\n heartbeat; dual stop paths (watchdog 0.3s + /saltybot/e_stop topic,
latching); runtime drive_mode + slip_factor param switch; dead-reckoning
odometry with slip compensation; publishes /saltybot/tank_pwm (JSON) +
/saltybot/tank_odom
- config/tank_params.yaml, launch/tank_driver.launch.py, package.xml,
setup.py, setup.cfg
- test/test_tank_kinematics.py: 71 unit tests, all passing (includes
parametric round-trip over slip ∈ {0.0, 0.1, 0.3, 0.5})
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>