sl-controls
a50f22d56b
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to Nav2 /cmd_vel and drives the STM32 over USB CDC with: - Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s) - Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop) - Deadman switch: zeros targets if /cmd_vel silent >500 ms - Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS) - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics - Heartbeat TX every 200 ms (H\n) Deliverables: saltybot_bridge/cmd_vel_bridge_node.py — node implementation config/cmd_vel_bridge_params.yaml — tunable parameters launch/cmd_vel_bridge.launch.py — standalone launch file test/test_cmd_vel_bridge.py — 37 pytest unit tests (no ROS2) setup.py — register node + new data files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
39 lines
1.3 KiB
Python
39 lines
1.3 KiB
Python
from setuptools import setup
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package_name = "saltybot_bridge"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", [
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"launch/bridge.launch.py",
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"launch/cmd_vel_bridge.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/bridge_params.yaml",
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"config/cmd_vel_bridge_params.yaml",
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]),
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],
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install_requires=["setuptools", "pyserial"],
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zip_safe=True,
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maintainer="sl-jetson",
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maintainer_email="sl-jetson@saltylab.local",
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description="STM32 USB CDC → ROS2 serial bridge for saltybot",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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# RX-only telemetry bridge (does not send commands)
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"serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
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# Full bidirectional bridge: telemetry RX + /cmd_vel TX + heartbeat
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"saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main",
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# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
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"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
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],
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},
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)
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