sl-controls
fc87862603
Implements ROS2 adaptive PID gain scheduler for SaltyBot with: - Subscribes to /saltybot/speed_scale for speed conditions - Subscribes to /saltybot/terrain_roughness for surface conditions - Adjusts PID gains dynamically: * P gain increases with terrain roughness (better response on rough) * D gain decreases at low speed (prevent oscillation when slow) * I gain scales with both conditions for stability - Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains - Configurable scaling factors for each gain modulation - Includes 18+ unit tests for gain scheduling logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
25 lines
848 B
Python
25 lines
848 B
Python
from setuptools import setup, find_packages
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setup(
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name='saltybot_pid_scheduler',
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version='0.1.0',
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packages=find_packages(),
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/saltybot_pid_scheduler']),
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('share/saltybot_pid_scheduler', ['package.xml']),
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('share/saltybot_pid_scheduler/config', ['config/pid_scheduler_config.yaml']),
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('share/saltybot_pid_scheduler/launch', ['launch/pid_scheduler.launch.py']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='SaltyLab Controls',
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author_email='sl-controls@saltylab.local',
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description='Adaptive PID gain scheduler for SaltyBot',
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license='MIT',
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entry_points={
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'console_scripts': [
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'pid_scheduler_node=saltybot_pid_scheduler.pid_scheduler_node:main',
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],
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},
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)
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