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>
29 lines
955 B
Python
29 lines
955 B
Python
from setuptools import setup
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package_name = "saltybot_vesc_driver"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/vesc_driver.launch.py"]),
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(f"share/{package_name}/config", ["config/vesc_params.yaml"]),
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],
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install_requires=["setuptools", "pyvesc"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description="VESC UART driver for motor control and telemetry",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"vesc_driver_node = saltybot_vesc_driver.vesc_driver_node:main",
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"velocity_smoother_node = saltybot_vesc_driver.velocity_smoother_node:main",
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],
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},
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)
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