<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>saltybot_esp32_serial</name>
  <version>0.1.0</version>
  <description>
    UART/USB-CDC serial bridge for SaltyBot Orin — interfaces with the
    ESP32-S3 BALANCE board (CH343, 1a86:55d3) using a binary framing protocol
    [0xAA][LEN][TYPE][PAYLOAD][CRC8].  Replaces saltybot_can_bridge (CANable2)
    to free the CAN bus for Here4 GPS (bd-p47c).

    Publishes the same ROS2 topics as saltybot_can_bridge for backward compat:
      /saltybot/attitude, /can/battery, /can/vesc/{left,right}/state,
      /can/connection_status

    System dependency: pyserial (apt: python3-serial  or  pip: pyserial)
    Bead: bd-wim1  Counterpart firmware: bd-66hx (hal)
  </description>
  <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
  <license>MIT</license>

  <exec_depend>rclpy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>

  <!-- pyserial: apt install python3-serial  or  pip install pyserial -->
  <exec_depend>python3-serial</exec_depend>

  <buildtool_depend>ament_python</buildtool_depend>

  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>
