sl-controls
413810e6ba
- kinematics.py: tank_speeds with slip compensation (angular_cmd scaled
by 1/(1-slip_factor)), skid_steer_speeds (no slip), speed_to_pwm,
compute_track_speeds (2wd|4wd|tracked modes, ±max clip), expand_to_4ch,
odometry_from_track_speeds (angular scaled by (1-slip_factor) — inverse
of command path, consistent dead-reckoning across all slip values)
- tank_driver_node.py: 50 Hz ROS2 node; serial P<ch1>,<ch2>,<ch3>,<ch4>\n;
H\n heartbeat; dual stop paths (watchdog 0.3s + /saltybot/e_stop topic,
latching); runtime drive_mode + slip_factor param switch; dead-reckoning
odometry with slip compensation; publishes /saltybot/tank_pwm (JSON) +
/saltybot/tank_odom
- config/tank_params.yaml, launch/tank_driver.launch.py, package.xml,
setup.py, setup.cfg
- test/test_tank_kinematics.py: 71 unit tests, all passing (includes
parametric round-trip over slip ∈ {0.0, 0.1, 0.3, 0.5})
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
964 B
Python
33 lines
964 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_tank_driver"
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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="SaltyTank tracked-vehicle ESC driver with slip compensation",
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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"tank_driver_node = {package_name}.tank_driver_node:main",
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],
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},
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)
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