sl-controls a11722e872 feat: Implement VESC UART driver node (Issue #383) ...

ROS2 driver for Flipsky FSESC 4.20 Plus (VESC dual ESC) motor control.
Replaces hoverboard ESC communication with pyvesc library.

Features:
- UART serial communication (configurable port/baud)
- Dual command modes: duty_cycle (-100 to 100) and RPM setpoint
- Telemetry publishing: voltage, current, RPM, temperature, fault codes
- Command timeout: auto-zero throttle if no cmd_vel received
- Heartbeat-based connection management
- Comprehensive error handling and logging

Topics:
- Subscribe: /cmd_vel (geometry_msgs/Twist)
- Publish: /vesc/state (JSON telemetry)
- Publish: /vesc/raw_telemetry (debug)

Launch: ros2 launch saltybot_vesc_driver vesc_driver.launch.py
Config: config/vesc_params.yaml

Next phase: Integrate with cmd_vel_mux + safety layer.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-04 07:05:46 -05:00

..

saltybot_accel_limiter

feat(controls): Smooth acceleration rate limiter (Issue #241)

2026-03-02 12:22:58 -05:00

saltybot_accessibility_mode

feat: Implement deaf/accessibility mode with STT, touch keyboard, TTS (Issue #371)

2026-03-03 18:17:41 -05:00

saltybot_adaptive_pid

feat(controls): adaptive PID balance controller with gain scheduling (Issue #136)

2026-03-02 09:38:46 -05:00

saltybot_apriltag

feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191)

2026-03-02 11:07:35 -05:00

saltybot_apriltag_msgs

feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191)

2026-03-02 11:07:35 -05:00

saltybot_battery_speed_limiter

feat: Add battery-aware speed limiter ROS2 node (Issue #321)

2026-03-03 00:46:12 -05:00

saltybot_battery_speed_scaler

feat(controls): Battery-aware speed scaling (Issue #251)

2026-03-02 12:48:16 -05:00

saltybot_bridge

feat(bridge): battery management node (Issue #125)

2026-03-02 09:27:06 -05:00

saltybot_bridge_msgs

feat(perception): wheel encoder differential drive odometry (Issue #184)

2026-03-03 00:41:39 -05:00

saltybot_bringup

Merge pull request 'feat: Replace GNOME with Cage+Chromium kiosk (Issue #374)' (#377) from sl-webui/issue-374-cage-kiosk into main

2026-03-03 17:46:14 -05:00

saltybot_calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106)

2026-03-02 08:38:24 -05:00

saltybot_cameras

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

saltybot_cellular

feat: SIM7600X 4G cellular + GPS driver (#58)

2026-03-01 00:42:18 -05:00

saltybot_cliff_detector

feat(controls): Cliff and drop-off detection safety node (Issue #288)

2026-03-02 20:45:21 -05:00

saltybot_cmd_vel_mux

feat(controls): Priority-based cmd_vel multiplexer (Issue #228)

2026-03-02 12:01:00 -05:00

saltybot_compass

feat(controls): Tilt-compensated compass heading node (Issue #235)

2026-03-02 12:11:37 -05:00

saltybot_description

feat: Phase 2a URDF robot description for SLAM and Nav2

2026-02-28 22:57:58 -05:00

saltybot_docking

feat(#158): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_docking_msgs

feat(#158): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_dynamic_obs_msgs

feat(jetson): add dynamic obstacle tracking package (issue #176)

2026-03-02 10:44:32 -05:00

saltybot_dynamic_obstacles

feat(jetson): add dynamic obstacle tracking package (issue #176)

2026-03-02 10:44:32 -05:00

saltybot_emergency

feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:39:37 -05:00

saltybot_emergency_msgs

feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:39:37 -05:00

saltybot_fleet

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)

2026-03-02 09:36:17 -05:00

saltybot_fleet_msgs

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)

2026-03-02 09:36:17 -05:00

saltybot_follower

feat: UWB follow-me system (#57) — saltybot_uwb package + sensor fusion

2026-03-01 00:48:03 -05:00

saltybot_geofence

feat(controls): Geofence boundary enforcer (Issue #298)

2026-03-02 21:06:58 -05:00

saltybot_hand_tracking

feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342)

2026-03-03 12:47:22 -05:00

saltybot_hand_tracking_msgs

feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342)

2026-03-03 12:47:22 -05:00

saltybot_imu_calibration

feat(controls): IMU calibration routine (Issue #278)

2026-03-02 17:35:30 -05:00

saltybot_lidar_avoidance

feat: Implement 360° LIDAR obstacle avoidance (Issue #364)

2026-03-03 17:29:14 -05:00

saltybot_mapping

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)

2026-03-02 09:17:54 -05:00

saltybot_mode_switch

feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104)

2026-03-02 08:38:49 -05:00

saltybot_motor_protection

feat: Add Issue #223 - Motor current protection (I^2R thermal derating)

2026-03-02 11:57:17 -05:00

saltybot_night_vision

feat(jetson): add saltybot_night_vision package (issue #168)

2026-03-02 10:36:21 -05:00

saltybot_node_watchdog

feat: Add Issue #203 - Node watchdog monitor (20Hz heartbeat detection)

2026-03-02 11:17:19 -05:00

saltybot_odom_fusion

feat: Add Issue #216 - Odometry fusion node (complementary filter)

2026-03-02 11:50:13 -05:00

saltybot_outdoor

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

saltybot_panoramic

feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105)

2026-03-02 08:41:40 -05:00

saltybot_perception

feat(perception): QR code reader on CSI surround frames (Issue #233)

2026-03-02 12:12:57 -05:00

saltybot_person_reid

chore: remove accidentally committed __pycache__ dirs

2026-03-02 11:39:21 -05:00

saltybot_person_reid_msgs

feat(perception): add person re-ID node (Issue #201)

2026-03-02 11:39:21 -05:00

saltybot_pid_autotune

feat: Add Issue #213 - PID auto-tuner (Astrom-Hagglund relay oscillation)

2026-03-02 11:47:05 -05:00

saltybot_pid_scheduler

feat(controls): Adaptive PID gain scheduler (Issue #309)

2026-03-02 21:37:08 -05:00

saltybot_pure_pursuit

feat: Add pure pursuit path follower for Nav2 (Issue #333)

2026-03-03 06:47:45 -05:00

saltybot_routes

feat: route recording + autonomous replay (#71)

2026-03-01 01:07:06 -05:00

saltybot_rover_driver

feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110)

2026-03-02 09:03:28 -05:00

saltybot_scene

feat(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141)

2026-03-02 09:59:53 -05:00

saltybot_scene_msgs

feat: Add Issue #375 — adaptive camera power mode manager

2026-03-03 16:48:17 -05:00

saltybot_segmentation

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_segmentation_costmap

feat: semantic sidewalk segmentation — TensorRT FP16 (#72)

2026-03-01 01:15:13 -05:00

saltybot_social

feat(social): system resource monitor for Jetson Orin (Issue #355)

2026-03-03 13:54:31 -05:00

saltybot_social_enrollment

feat(social): person enrollment system — SQLite gallery + voice trigger (Issue #87)

2026-03-01 23:32:26 -05:00

saltybot_social_face

feat(social): add 68-point Kalman landmark smoother (Issue #227)

2026-03-02 12:05:24 -05:00

saltybot_social_msgs

feat(social): add 68-point Kalman landmark smoother (Issue #227)

2026-03-02 12:05:24 -05:00

saltybot_social_nav

feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91)

2026-03-01 23:15:00 -05:00

saltybot_social_personality

feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84)

2026-03-01 23:56:05 -05:00

saltybot_social_tests

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

saltybot_social_tracking

feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92)

2026-03-01 23:59:10 -05:00

saltybot_speed_controller

feat: outdoor adaptive speed controller (saltybot_speed_controller)

2026-03-01 01:06:50 -05:00

saltybot_speed_limiter

feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)

2026-03-02 11:14:10 -05:00

saltybot_surround

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

saltybot_tank_driver

feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122)

2026-03-02 09:14:37 -05:00

saltybot_terrain_adaptation

feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_terrain_msgs

feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_thermal

feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205)

2026-03-02 11:21:18 -05:00

saltybot_uwb

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00

saltybot_uwb_msgs

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)

2026-03-01 23:25:08 -05:00

saltybot_velocity_smoother

feat: Add velocity smoothing filter with Butterworth low-pass filtering

2026-03-03 00:23:53 -05:00

saltybot_vesc_driver

feat: Implement VESC UART driver node (Issue #383)

2026-03-04 07:05:46 -05:00

saltybot_visual_odom

feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157)

2026-03-02 10:15:32 -05:00

saltybot_wheel_slip_detector

feat(controls): Wheel slip detector (Issue #262)

2026-03-02 17:29:03 -05:00