sl-controls
dab0f96399
Implements ROS2 cliff detector for SaltyBot with: - Subscribes to /saltybot/cliff_sensors (IR range array) - Threshold-based detection (default 0.5m) - Debouncing (3 consecutive frames) for robustness - Majority voting (min 2 sensors) for safety - Publishes Bool on /saltybot/cliff_detected - Emergency stop trigger on cliff/drop-off detection - Includes 15+ unit tests for detection logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
22 lines
706 B
XML
22 lines
706 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_cliff_detector</name>
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<version>0.1.0</version>
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<description>Cliff and drop-off detection safety node for SaltyBot</description>
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<maintainer email="sl-controls@saltylab.local">SaltyLab Controls</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<test_depend>pytest</test_depend>
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<test_depend>std_msgs</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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