sl-controls
dd033b9827
Implements ROS2 IMU gyro + accel calibration node with: - Service-triggered calibration via /saltybot/calibrate_imu - Optional auto-calibration on startup (configurable) - Collects N stationary samples (default 100) - Computes mean bias offsets for gyro and accel - Publishes bias-corrected IMU on /imu/calibrated - Includes 10+ unit tests for calibration logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
25 lines
874 B
Python
25 lines
874 B
Python
from setuptools import setup, find_packages
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setup(
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name='saltybot_imu_calibration',
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version='0.1.0',
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packages=find_packages(),
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/saltybot_imu_calibration']),
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('share/saltybot_imu_calibration', ['package.xml']),
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('share/saltybot_imu_calibration/config', ['config/imu_calibration_config.yaml']),
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('share/saltybot_imu_calibration/launch', ['launch/imu_calibration.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='SaltyLab Controls',
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author_email='sl-controls@saltylab.local',
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description='IMU gyro + accel calibration node for SaltyBot',
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license='MIT',
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entry_points={
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'console_scripts': [
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'imu_calibration_node=saltybot_imu_calibration.imu_calibration_node:main',
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],
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},
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)
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