<?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_can_bridge</name>
  <version>0.1.0</version>
  <description>
    CAN bus bridge for SaltyBot Orin — interfaces with the Mamba motor
    controller and VESC motor controllers via CANable 2.0 (slcan interface).
    Publishes IMU, battery, and VESC telemetry to ROS2 topics and forwards
    cmd_vel / estop commands to the CAN bus.

    System dependency: python3-can (apt: python3-can  or  pip: python-can)
  </description>
  <maintainer email="sl-controls@saltylab.local">sl-controls</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>

  <!-- python-can: install via  apt install python3-can  or  pip install python-can -->
  <exec_depend>python3-can</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>
