ROS 2 Ackermann Autonomy Workspace

This Colcon workspace contains the autonomous driving stack for a custom-built Ackermann steering platform.

Current State: Hardware Abstraction Layer (HAL)

Before introducing ROS 2 middleware, we developed a pure Python HAL (ackermann_hal.py) to interface with the low-level mechatronics, handling:

• Asynchronous I2C communication with the traction motor controller.
• Slew-rate limited PWM control for the steering servo.
• Software-based anti-backlash compensation and offset calibration.

Directory Structure (Colcon-ready)

• src/ackermann_core/hardware/: Contains ackermann_hal.py (Base driver).
• src/ackermann_core/tools/: Contains steering_calibration.py (Bench tool for mechanical tuning).

Next steps: Wrap the HAL into a base_controller_node and implement I2C encoder odometry.