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Merge pull request 'feat: VESC CAN odometry (Issue #646)' (#649) from sl-perception/issue-646-vesc-odometry into main

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sl-jetson 2026-03-18 07:55:17 -04:00
commit 4d0a377cee
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: vesc_can_odometry:
ros__parameters: ros__parameters:
# ── CAN motor IDs (used for CAN addressing) ─────────────────────────────── # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
left_can_id: 56 # left motor VESC CAN ID left_can_id: 56 # left motor VESC CAN ID (Mamba F722S)
right_can_id: 68 # right motor VESC CAN ID right_can_id: 68 # right motor VESC CAN ID (Mamba F722S)
# ── State topic names (must match what telemetry publishes) ─────────────── # ── State topic names (must match VESC telemetry publisher) ──────────────
left_state_topic: /vesc/left/state left_state_topic: /vesc/left/state
right_state_topic: /vesc/right/state right_state_topic: /vesc/right/state
# ── Drive geometry ─────────────────────────────────────────────────────── # ── Drive geometry ───────────────────────────────────────────────────────
wheel_radius: 0.10 # wheel radius (m) wheel_radius: 0.10 # wheel radius (m)