sl-controls
f69c02880e
- ROS2 node for balance mode PID parameter management via pyvesc UART - Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff - Startup ramp: gradual acceleration from 0 to full output over configurable duration - IMU integration: subscribe to /imu/data for pitch/roll angle computation - State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry - Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data - Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency - Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
28 lines
913 B
Python
28 lines
913 B
Python
from setuptools import setup
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package_name = "saltybot_balance_controller"
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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=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/balance_controller.launch.py"]),
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(f"share/{package_name}/config", ["config/balance_params.yaml"]),
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],
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install_requires=["setuptools", "pyvesc"],
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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="Balance mode PID controller with tilt safety for SaltyBot",
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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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"balance_controller_node = saltybot_balance_controller.balance_controller_node:main",
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],
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},
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)
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