<?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_vesc_health</name>
  <version>0.1.0</version>
  <description>
    VESC CAN health monitor for SaltyBot dual FSESC 6.7 Pro (FW 6.6).
    Monitors CAN IDs 61 (left) and 79 (right) for frame drops, bus-off errors,
    and timeouts (&gt;500 ms).  Drives a recovery sequence (GET_VALUES alive frames),
    escalates to e-stop if unresponsive &gt;2 s.  Publishes /vesc/health (JSON),
    /diagnostics, /estop, and /cmd_vel (zero on e-stop).  Issue #651.
  </description>
  <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
  <license>MIT</license>

  <depend>rclpy</depend>
  <depend>std_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>diagnostic_msgs</depend>

  <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>
