sl-controls
118d2b3add
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>
32 lines
1.1 KiB
XML
32 lines
1.1 KiB
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_speed_controller</name>
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<version>0.1.0</version>
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<description>
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Outdoor adaptive speed controller for SaltyBot follow-me mode.
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Inserts between person_follower (/cmd_vel_raw) and cmd_vel_bridge (/cmd_vel),
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selecting walk/jog/ride profiles based on estimated target velocity (UWB + GPS),
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applying smooth trapezoidal acceleration curves, GPS runaway protection,
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and emergency deceleration for balance stability at speeds up to 8 m/s.
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</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>geometry_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<buildtool_depend>ament_python</buildtool_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>python3-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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