sl-controls fc87862603 feat(controls): Adaptive PID gain scheduler (Issue #309) ...

Implements ROS2 adaptive PID gain scheduler for SaltyBot with:
- Subscribes to /saltybot/speed_scale for speed conditions
- Subscribes to /saltybot/terrain_roughness for surface conditions
- Adjusts PID gains dynamically:
  * P gain increases with terrain roughness (better response on rough)
  * D gain decreases at low speed (prevent oscillation when slow)
  * I gain scales with both conditions for stability
- Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains
- Configurable scaling factors for each gain modulation
- Includes 18+ unit tests for gain scheduling logic

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

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

..

config

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

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launch

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

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resource

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

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saltybot_pid_scheduler

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

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test

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

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package.xml

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

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setup.cfg

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

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setup.py

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

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