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sl-controls 6e1a2095b7 feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)

Implements speed limiter ROS2 node that enforces safety constraints from:
  - Terrain type (via /saltybot/terrain_speed_scale)
  - Battery level (via /saltybot/speed_limit)
  - Emergency system state (via /saltybot/emergency)

Node computes minimum scale factor and applies to /cmd_vel, forwarding
limited commands to /saltybot/cmd_vel_limited. Publishes JSON telemetry
on /saltybot/speed_limit_info at 50Hz (20ms cycle).

Features:
  - Subscription to terrain, battery, and emergency constraints
  - Twist velocity scaling with min-of-three constraint logic
  - JSON telemetry with timestamp and all scale factors
  - 50Hz timer-based publishing for real-time control
  - Emergency state mapping (NOMINAL/RECOVERING/STOPPING/ESCALATED)
  - Comprehensive unit tests (18 test cases)

Package: saltybot_speed_limiter
Entry point: speed_limiter_node
Launch file: speed_limiter.launch.py

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-02 11:10:29 -05:00

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docs

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