sl-controls
2919e629e9
Implements saltybot_velocity_smoother package: - Subscribes to /odom, applies digital Butterworth low-pass filter - Filters linear (x,y,z) and angular (x,y,z) velocity components independently - Publishes smoothed odometry on /odom_smooth - Reduces encoder jitter and improves state estimation stability - Configurable filter order (1-4), cutoff frequency (Hz), publish rate - Can be enabled/disabled via enable_smoothing parameter - Comprehensive test suite: 18+ tests covering filter behavior, edge cases, scenarios Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
from setuptools import setup, find_packages
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package_name = 'saltybot_velocity_smoother'
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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/saltybot_velocity_smoother']),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/config', ['config/velocity_smoother_config.yaml']),
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('share/' + package_name + '/launch', ['launch/velocity_smoother.launch.py']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='SaltyBot Controls',
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author_email='sl-controls@saltybot.local',
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maintainer='SaltyBot Controls',
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maintainer_email='sl-controls@saltybot.local',
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keywords=['ROS2', 'velocity', 'filtering', 'butterworth'],
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classifiers=[
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'Intended Audience :: Developers',
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'License :: OSI Approved :: MIT License',
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'Programming Language :: Python :: 3',
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'Topic :: Software Development',
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],
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entry_points={
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'console_scripts': [
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'velocity_smoother_node=saltybot_velocity_smoother.velocity_smoother_node:main',
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],
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},
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) |