sl-controls
7eb3f187e2
Adds velocity_smoother_node.py with configurable accel/decel ramps, e-stop bypass, and optional jerk limiting. VESC driver updated to subscribe /cmd_vel_smoothed instead of /cmd_vel. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
31 lines
1.1 KiB
XML
31 lines
1.1 KiB
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_diagnostics_aggregator</name>
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<version>0.1.0</version>
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<description>
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Diagnostics aggregator for SaltyBot — unified health dashboard node (Issue #658).
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Subscribes to /vesc/health, /diagnostics, /saltybot/safety_zone/status,
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/saltybot/pose/status, /saltybot/uwb/status. Aggregates into
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/saltybot/system_health JSON at 1 Hz. Tracks motors, battery, imu, uwb,
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lidar, camera, can_bus, estop subsystems with state-transition logging.
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</description>
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<maintainer email="sl-firmware@saltylab.local">sl-firmware</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>diagnostic_msgs</depend>
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<buildtool_depend>ament_python</buildtool_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>python3-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>
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