sl-controls
8538fa2f9d
Implement acceleration-limited velocity controller: - Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel - Max linear acceleration: 0.5 m/s², angular: 1.0 rad/s² - Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular) - S-curve jerk limiting with 0.2s ramp time - E-stop immediate stop capability - Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol) - Publish /saltybot/velocity_profile for monitoring - 50Hz update rate (configurable) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>