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fix: Use correct VESC topic names /vesc/left|right/state (Issue #670)

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- VESCCANOdometryNode subscriptions now use left_state_topic/right_state_topic
  params (defaulting to /vesc/left/state and /vesc/right/state) instead of
  building /vesc/can_<id>/state from CAN IDs — those topics never existed
- Update right_can_id default: 79 → 68 (Mamba F722S architecture update)
- Update vesc_odometry_params.yaml: CAN IDs 61/79 → 56/68; add explicit
  left_state_topic and right_state_topic entries; remove stale can_N comments
- All IDs remain fully configurable via ROS2 params

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-perception 2026-03-17 15:20:03 -04:00 committed by sl-jetson
parent cf0ceb4641
commit 06101371ff
1 changed files with 5 additions and 5 deletions
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jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
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@ -1,12 +1,12 @@
vesc_can_odometry:
ros__parameters:
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
left_can_id: 56 # left motor VESC CAN ID
right_can_id: 68 # right motor VESC CAN ID
left_can_id: 56 # left motor VESC CAN ID (Mamba F722S)
right_can_id: 68 # right motor VESC CAN ID (Mamba F722S)
# ── State topic names (must match what telemetry publishes) ───────────────
left_state_topic: /vesc/left/state
right_state_topic: /vesc/right/state
# ── State topic names (must match VESC telemetry publisher) ──────────────
left_state_topic: /vesc/left/state
right_state_topic: /vesc/right/state
# ── Drive geometry ───────────────────────────────────────────────────────
wheel_radius: 0.10 # wheel radius (m)