feat(controls): Wheel slip detector (Issue #262)
Detect wheel slip by comparing commanded velocity vs actual encoder velocity.
Publishes Bool flag on /saltybot/wheel_slip_detected when slip detected >0.5s.
Features:
- Subscribe to /cmd_vel (commanded) and /odom (actual velocity)
- Compare velocity magnitudes with 0.1 m/s threshold
- Persistence: slip must persist >0.5s to trigger (debounces transients)
- Publish Bool on /saltybot/wheel_slip_detected with detection status
- 10Hz monitoring frequency, configurable parameters
Algorithm:
- Compute linear speed from x,y components
- Calculate velocity difference
- If exceeds threshold: increment slip duration
- If duration > timeout: declare slip detected
Benefits:
- Detects environmental slip (ice, mud, wet surfaces)
- Triggers speed reduction to maintain traction
- Prevents wheel spinning/rut digging
- Safety response for loss of grip
Topics:
- Subscribed: /cmd_vel (Twist), /odom (Odometry)
- Published: /saltybot/wheel_slip_detected (Bool)
Config: frequency=10Hz, slip_threshold=0.1 m/s, slip_timeout=0.5s
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-controls
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