sl-controls
432d5cb267
Adds saltybot_follower ROS2 package — proportional person-following controller that bridges sl-jetson's /person/target detections to Nav2 /cmd_vel, with the cmd_vel_bridge_node (PR #46) providing safety wrapping. Controller features: - Proportional control: linear.x ∝ distance error, angular.z ∝ bearing - Follow distance: 1.5m default with ±0.3m dead zone (no jitter at target) - Max speed: 0.5 m/s linear, 1.0 rad/s angular (conservative for balance) - Obstacle override: zeroes forward cmd_vel when Nav2 local costmap detects obstacle in forward corridor; turning still allowed - Lost-target state machine: FOLLOWING → person visible STOPPING → lost > 2s, publish zero SEARCHING → lost > 5s, slow rotation (0.3 rad/s) to re-acquire - Mode integration: follow_enabled param (toggle via ros2 param set) independently gates the controller; cmd_vel bridge gates on md=2 Deliverables: saltybot_follower/person_follower_node.py — ROS2 node (314 lines) config/person_follower_params.yaml — all params documented launch/person_follower.launch.py — all params as launch args test/test_person_follower.py — 53 pytest tests, no ROS2 package.xml / setup.py / setup.cfg — package metadata Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>