sl-controls
45828b1cc2
Implements saltybot_battery_speed_limiter package: - Subscribes to /saltybot/battery_state, publishes speed limit factor - Battery percentage thresholds: 100-50%=1.0, 50-25%=0.7, 25-15%=0.4, <15%=0.0 - Reduces speed to preserve battery when running low - Automatically stops movement below 15% to prevent deep discharge - Configurable thresholds and speed factors - Comprehensive test suite: 30+ tests covering all threshold transitions - Handles both direct percentage and voltage-based fallback calculation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
28 lines
981 B
XML
28 lines
981 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_battery_speed_limiter</name>
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<version>0.1.0</version>
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<description>Battery-aware speed limiter that adjusts robot speed based on battery state to preserve charge</description>
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<maintainer email="sl-controls@saltybot.local">SaltyBot Controls</maintainer>
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<license>MIT</license>
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<author email="sl-controls@saltybot.local">SaltyBot Controls Team</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</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>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> |