sl-controls
9d36e1007d
Implement acceleration-limited velocity controller with S-curve jerk limiting: - Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel - Max linear acceleration: 0.5 m/s² - Max angular acceleration: 1.0 rad/s² - Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular) - S-curve jerk limiting for smooth acceleration profiles (0.2s ramp) - E-stop immediate stop capability - Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol) - Publish /saltybot/velocity_profile for monitoring - Configurable via smooth_velocity_config.yaml - 50Hz update rate (configurable) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
26 lines
940 B
Python
26 lines
940 B
Python
from setuptools import setup
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setup(
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name="saltybot_smooth_velocity",
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version="0.1.0",
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packages=["saltybot_smooth_velocity"],
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data_files=[
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("share/ament_index/resource_index/packages", ["resource/saltybot_smooth_velocity"]),
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("share/saltybot_smooth_velocity", ["package.xml"]),
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("share/saltybot_smooth_velocity/launch", ["launch/smooth_velocity.launch.py"]),
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("share/saltybot_smooth_velocity/config", ["config/smooth_velocity_config.yaml"]),
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],
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install_requires=["setuptools"],
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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="Smooth velocity controller with acceleration limiting and S-curve jerk reduction",
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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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"smooth_velocity_node = saltybot_smooth_velocity.smooth_velocity_node:main",
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],
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},
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)
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