sl-controls
3b2f219d66
Two new packages: - saltybot_emergency_msgs: EmergencyEvent.msg, RecoveryAction.msg - saltybot_emergency: threat_detector, alert_manager, recovery_sequencer, emergency_fsm, emergency_node Implements: - ObstacleDetector: MAJOR <30cm, CRITICAL <10cm; suppressed when not moving - FallDetector: MINOR/MAJOR/CRITICAL tilt thresholds; floor-drop edge detection - StuckDetector: MAJOR after 3s wheel stall (cmd>threshold, actual~0) - BumpDetector: jerk = |Δ|a||/dt with gravity removal; MAJOR/CRITICAL thresholds - AlertManager: per-(type,level) suppression; MAJOR×N within window → CRITICAL escalation - RecoverySequencer: REVERSING→TURNING→RETRYING FSM; max_retries before GAVE_UP - EmergencyFSM: NOMINAL→STOPPING→RECOVERING→ESCALATED; acknowledge to clear - EmergencyNode: 20Hz ROS2 node; /saltybot/emergency, /saltybot/e_stop, cmd_vel mux 59/59 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
25 lines
848 B
XML
25 lines
848 B
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_emergency</name>
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<version>0.1.0</version>
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<description>Emergency behavior system — collision avoidance, fall prevention, stuck detection, recovery (Issue #169)</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>sensor_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</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>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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