sl-controls bc45208768 feat: Add Issue #194 - Speed limiter node (50Hz safety constraints) ...

Implements speed limiter ROS2 node that enforces safety constraints from:
  - Terrain type (via /saltybot/terrain_speed_scale)
  - Battery level (via /saltybot/speed_limit)
  - Emergency system state (via /saltybot/emergency)

Node computes minimum scale factor and applies to /cmd_vel, forwarding
limited commands to /saltybot/cmd_vel_limited. Publishes JSON telemetry
on /saltybot/speed_limit_info at 50Hz (20ms cycle).

Features:
  - Subscription to terrain, battery, and emergency constraints
  - Twist velocity scaling with min-of-three constraint logic
  - JSON telemetry with timestamp and all scale factors
  - 50Hz timer-based publishing for real-time control
  - Emergency state mapping (NOMINAL/RECOVERING/STOPPING/ESCALATED)
  - Comprehensive unit tests (18 test cases)

Package: saltybot_speed_limiter
Entry point: speed_limiter_node
Launch file: speed_limiter.launch.py

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

2026-03-02 11:14:10 -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_bridge

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

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

saltybot_bringup

feat(jetson): camera health watchdog node (issue #198)

2026-03-02 11:11:48 -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_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_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_night_vision

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

2026-03-02 10:36:21 -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: person detection + tracking (YOLOv8n TensorRT)

2026-02-28 23:21:24 -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(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141)

2026-03-02 09:59:53 -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): multi-language support — Whisper LID + per-lang Piper TTS (Issue #167)

2026-03-02 10:57:34 -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): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80)

2026-03-01 23:31:48 -05:00

saltybot_social_msgs

feat(social): multi-language support — Whisper LID + per-lang Piper TTS (Issue #167)

2026-03-02 10:57:34 -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_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_visual_odom

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

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