sl-controls
fb3e9f1bf1
Two new ROS2 packages implementing Issue #142: saltybot_terrain_msgs (ament_cmake) - Terrain.msg: stamp, surface_type, roughness, incline_rad, grip, slip_ratio, speed_scale saltybot_terrain_adaptation (ament_python, 50 Hz) - terrain_analyzer.py: IMU vibration RMS → roughness [0,1] + surface classification (smooth/tile/carpet/grass/gravel) with hysteresis-protected switching - incline_detector.py: quaternion pitch → first-order LPF → incline_rad; motor_bias() - slip_detector.py: cmd_vel vs odom → slip_ratio with EMA smoothing + speed gate - terrain_adapter.py: TerrainState, TerrainAdapter (speed_scale, pid_scales, motor_bias), TerrainHistory (rolling deque, JSON type-change log) - terrain_adaptation_node.py: 50 Hz node; IMU watchdog; publishes terrain JSON + typed msg, speed_scale, pid_scales (JSON), motor_bias, terrain_history (on type change) - config/terrain_params.yaml, launch/terrain_adaptation.launch.py Tests: 60/60 passing (TerrainAnalyzer, SlipDetector, InclineDetector, TerrainAdapter, TerrainHistory all covered) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
25 lines
825 B
XML
25 lines
825 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_terrain_adaptation</name>
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<version>0.1.0</version>
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<description>Surface detection and dynamic terrain adaptation for SaltyBot (Issue #142)</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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