sl-controls
6e1a2095b7
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>
30 lines
1.0 KiB
XML
30 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>saltybot_speed_limiter</name>
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<version>0.1.0</version>
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<description>
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Speed limiter node for SaltyBot: enforces safety constraints from terrain type,
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battery level, and emergency system. Computes minimum scale factor from multiple
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sources and applies to cmd_vel with JSON telemetry. Runs at 50Hz.
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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>std_msgs</depend>
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<depend>saltybot_emergency_msgs</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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