sl-controls
3b2f219d66
Two new packages: - saltybot_emergency_msgs: EmergencyEvent.msg, RecoveryAction.msg - saltybot_emergency: threat_detector, alert_manager, recovery_sequencer, emergency_fsm, emergency_node Implements: - ObstacleDetector: MAJOR <30cm, CRITICAL <10cm; suppressed when not moving - FallDetector: MINOR/MAJOR/CRITICAL tilt thresholds; floor-drop edge detection - StuckDetector: MAJOR after 3s wheel stall (cmd>threshold, actual~0) - BumpDetector: jerk = |Δ|a||/dt with gravity removal; MAJOR/CRITICAL thresholds - AlertManager: per-(type,level) suppression; MAJOR×N within window → CRITICAL escalation - RecoverySequencer: REVERSING→TURNING→RETRYING FSM; max_retries before GAVE_UP - EmergencyFSM: NOMINAL→STOPPING→RECOVERING→ESCALATED; acknowledge to clear - EmergencyNode: 20Hz ROS2 node; /saltybot/emergency, /saltybot/e_stop, cmd_vel mux 59/59 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
992 B
Python
33 lines
992 B
Python
from setuptools import setup, find_packages
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import os
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from glob import glob
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package_name = "saltybot_emergency"
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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=find_packages(exclude=["test"]),
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data_files=[
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("share/ament_index/resource_index/packages",
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[f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(os.path.join("share", package_name, "config"),
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glob("config/*.yaml")),
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(os.path.join("share", package_name, "launch"),
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glob("launch/*.py")),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description="Emergency behavior system — collision avoidance, fall prevention, stuck detection, recovery",
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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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f"emergency_node = {package_name}.emergency_node:main",
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],
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},
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)
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