sl-controls
9d36e1007d
feat: Add Issue #455 - Smooth velocity controller with jerk reduction
Implement acceleration-limited velocity controller with S-curve jerk limiting:
- Subscribe to /cmd_vel_raw, publish smoothed /cmd_vel
- Max linear acceleration: 0.5 m/s²
- Max angular acceleration: 1.0 rad/s²
- Deceleration: 0.8 m/s² (linear), 1.0 rad/s² (angular)
- S-curve jerk limiting for smooth acceleration profiles (0.2s ramp)
- E-stop immediate stop capability
- Command priority system (e-stop > teleop > geofence > follow-me > nav2 > patrol)
- Publish /saltybot/velocity_profile for monitoring
- Configurable via smooth_velocity_config.yaml
- 50Hz update rate (configurable)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>