sl-controls
bfd291cbdd
Implements ROS2 geofence enforcer for SaltyBot with: - Loads polygon geofence from params (list of x/y vertices) - Subscribes to /odom for real-time robot position - Point-in-polygon ray casting algorithm for boundary checking - Publishes Bool on /saltybot/geofence_breach on boundary violation - Optional enforcement flag for cmd_vel zeroing - Configurable safety margin - Includes 20+ unit tests for geometry and breach detection Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
6 lines
104 B
INI
6 lines
104 B
INI
[develop]
|
|
script_dir=$base/lib/saltybot_geofence
|
|
|
|
[install]
|
|
install_scripts=$base/lib/saltybot_geofence
|