sl-controls
dab0f96399
Implements ROS2 cliff detector for SaltyBot with: - Subscribes to /saltybot/cliff_sensors (IR range array) - Threshold-based detection (default 0.5m) - Debouncing (3 consecutive frames) for robustness - Majority voting (min 2 sensors) for safety - Publishes Bool on /saltybot/cliff_detected - Emergency stop trigger on cliff/drop-off detection - Includes 15+ unit tests for detection logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
25 lines
871 B
Python
25 lines
871 B
Python
from setuptools import setup, find_packages
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setup(
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name='saltybot_cliff_detector',
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version='0.1.0',
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packages=find_packages(),
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/saltybot_cliff_detector']),
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('share/saltybot_cliff_detector', ['package.xml']),
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('share/saltybot_cliff_detector/config', ['config/cliff_detector_config.yaml']),
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('share/saltybot_cliff_detector/launch', ['launch/cliff_detector.launch.py']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='SaltyLab Controls',
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author_email='sl-controls@saltylab.local',
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description='Cliff and drop-off detection safety node for SaltyBot',
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license='MIT',
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entry_points={
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'console_scripts': [
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'cliff_detector_node=saltybot_cliff_detector.cliff_detector_node:main',
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],
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},
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)
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