sl-controls
4fed80f36d
Adds saltyrover_drive ROS2 package — 4-wheel differential drive controller
for the stable SaltyRover chassis (no balance PID required).
rover_drive_node:
- Subscribes /cmd_vel (Twist), converts to left/right wheel speeds
- Tank-style kinematics: v_left = linear.x - angular.z × sep/2
- FL/RL share left speed, FR/RR share right speed (paired axles)
- Publishes /rover/wheel_speeds (JSON: {"cmd":"drive4","fl":N,"fr":N,"rl":N,"rr":N})
- Trapezoidal ramp: accel 2.0 m/s², decel 4.0 m/s² (stable chassis allows faster ramps)
- cmd_vel watchdog (0.5s timeout → zero speeds)
- max_speed 3.0 m/s (±1000 STM32 ticks)
rover_odom_node:
- Dead-reckoning odometry from /cmd_vel (encoder-ready for future HW)
- Publishes /odom (nav_msgs/Odometry) + TF odom→base_link
- Forward Euler pose integration at 50 Hz
52/52 unit tests: kinematics, int scaling, JSON builder, full pipeline,
trapezoidal ramp, odometry integration, quaternion conversion.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
31 lines
1.0 KiB
XML
31 lines
1.0 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>saltyrover_drive</name>
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<version>0.1.0</version>
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<description>
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4-wheel differential drive controller for SaltyRover variant.
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Converts /cmd_vel (Twist) to per-wheel speeds for STM32 via JSON drive4 command.
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Includes dead-reckoning odometry node. No balance PID required — stable chassis.
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>std_msgs</depend>
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<depend>tf2_ros</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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