sl-controls
3c438595e8
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- kinematics.py: pure unicycle→differential/skid-steer kinematics, speed_to_pwm (1000–2000µs), compute_wheel_speeds with ±max clip, odometry_from_wheel_speeds inverse helper - rover_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n protocol; heartbeat H\n; deadman on /cmd_vel silence; runtime 2WD/4WD variant switch via four_wheel param; dead-reckoning odometry; publishes /saltybot/rover_pwm (JSON) + /saltybot/rover_odom - config/rover_params.yaml, launch/rover_driver.launch.py, package.xml, setup.py, setup.cfg - test/test_rover_kinematics.py: 51 unit tests, all passing Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
955 B
Python
33 lines
955 B
Python
from setuptools import setup, find_packages
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import os
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from glob import glob
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package_name = "saltybot_rover_driver"
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setup(
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name=package_name,
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version="0.1.0",
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packages=find_packages(exclude=["test"]),
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data_files=[
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("share/ament_index/resource_index/packages",
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[f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(os.path.join("share", package_name, "config"),
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glob("config/*.yaml")),
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(os.path.join("share", package_name, "launch"),
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glob("launch/*.py")),
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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="SaltyRover 4-wheel independent ESC motor driver",
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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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f"rover_driver_node = {package_name}.rover_driver_node:main",
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],
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},
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)
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