sl-controls
118d2b3add
feat: outdoor adaptive speed controller (saltybot_speed_controller)
Adds saltybot_speed_controller ROS2 package — sits between person_follower
(/cmd_vel_raw) and cmd_vel_bridge (/cmd_vel), providing adaptive speed profiles
tuned for balance stability during outdoor follow-me up to 8 m/s (EUC ride mode).
Key features:
- walk/jog/ride profiles (1.5/3.0/8.0 m/s) selected via UWB target velocity
- Hysteresis-based switching (5 ticks up, 15 ticks down) prevents oscillation
- Trapezoidal accel/decel ramps per profile; ride accel 0.3 m/s² (balance-safe)
- Emergency decel (2.0 m/s²) triggered by sudden target stop or hard decel
- GPS runaway protection: if GPS > commanded×1.5 AND > 50% profile_max → brake
- 52/52 unit tests (no ROS2 runtime required)
Topics: /cmd_vel_raw → [speed_controller] → /cmd_vel, /speed_controller/profile
Launch: ros2 launch saltybot_speed_controller outdoor_speed.launch.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>