Add saltybot_motor_daemon ROS2 package — Python daemon that subscribes
to /cmd_vel and drives the FC via W<speed>,<steer>\n over /dev/ttyTHS1
at 921600 baud.
- motor_daemon_node.py: 50 Hz fixed-rate TX, 200ms safety watchdog,
Twist→ESC conversion (±1000 range), FC ack parsing (W:<s>,<st>),
periodic ? status query, /diagnostics publisher, auto-reconnect
- config/motor_daemon_params.yaml: all tunable params with comments
- launch/motor_daemon.launch.py: parameterised launch file
- test/test_motor_daemon.py: 25 unit tests (all passing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson
e28f1549cb