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>
33 lines
987 B
Python
33 lines
987 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_terrain_adaptation"
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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="Surface detection and dynamic terrain adaptation 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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f"terrain_adaptation_node = {package_name}.terrain_adaptation_node:main",
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],
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},
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)
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