feat: Orin CANable 2.0 bridge for Mamba and VESC CAN bus (Issue #674)

Adds slcan setup script and saltybot_can_bridge ROS2 package implementing
full CAN bus integration between the Orin and the Mamba motor controller /
VESC motor controllers via a CANable 2.0 USB dongle (slcan interface).

- jetson/scripts/setup_can.sh: slcand-based bring-up/tear-down for slcan0
  at 500 kbps with error handling (already up, device missing, retry)
- saltybot_can_bridge/mamba_protocol.py: CAN message ID constants and
  encode/decode helpers for velocity, mode, e-stop, IMU, battery, VESC state
- saltybot_can_bridge/can_bridge_node.py: ROS2 node subscribing to /cmd_vel
  and /estop, publishing /can/imu, /can/battery, /can/vesc/{left,right}/state
  and /can/connection_status; background reader thread, watchdog zero-vel,
  auto-reconnect every 5 s on CAN error
- config/can_bridge_params.yaml: default params (slcan0, VESC IDs 56/68,
  Mamba ID 1, 0.5 s command timeout)
- test/test_can_bridge.py: 30 unit tests covering encode/decode round-trips
  and edge cases — all pass without ROS2 or CAN hardware

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml

@@ -0,0 +1,7 @@
+can_bridge_node:
+  ros__parameters:
+    can_interface: slcan0
+    left_vesc_can_id: 56
+    right_vesc_can_id: 68
+    mamba_can_id: 1
+    command_timeout_s: 0.5

jetson/ros2_ws/src/saltybot_can_bridge/package.xml

@@ -0,0 +1,35 @@
+<?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>

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py

@@ -0,0 +1 @@
+"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py

@@ -0,0 +1,383 @@
+#!/usr/bin/env python3
+"""
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
+controller and VESC motor controllers over CAN bus.
+
+The node opens the SocketCAN interface (slcan0 by default), spawns a background
+reader thread to process incoming telemetry, and exposes the following interface:
+
+Subscriptions
+-------------
+  /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
+  /estop            std_msgs/Bool                → Mamba e-stop (CAN)
+
+Publications
+------------
+  /can/imu                sensor_msgs/Imu              Mamba IMU telemetry
+  /can/battery            sensor_msgs/BatteryState     Mamba battery telemetry
+  /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
+  /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
+  /can/connection_status  std_msgs/String              "connected" | "disconnected"
+
+Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
+"""
+
+import threading
+import time
+from typing import Optional
+
+import can
+import rclpy
+from geometry_msgs.msg import Twist
+from rclpy.node import Node
+from sensor_msgs.msg import BatteryState, Imu
+from std_msgs.msg import Bool, Float32MultiArray, String
+
+from saltybot_can_bridge.mamba_protocol import (
+    MAMBA_CMD_ESTOP,
+    MAMBA_CMD_MODE,
+    MAMBA_CMD_VELOCITY,
+    MAMBA_TELEM_BATTERY,
+    MAMBA_TELEM_IMU,
+    VESC_TELEM_STATE,
+    MODE_DRIVE,
+    MODE_ESTOP,
+    MODE_IDLE,
+    encode_estop_cmd,
+    encode_mode_cmd,
+    encode_velocity_cmd,
+    decode_battery_telem,
+    decode_imu_telem,
+    decode_vesc_state,
+)
+
+# Reconnect attempt interval when CAN bus is lost
+_RECONNECT_INTERVAL_S: float = 5.0
+
+# Watchdog timer tick rate (Hz)
+_WATCHDOG_HZ: float = 10.0
+
+
+class CanBridgeNode(Node):
+    """CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
+
+    def __init__(self) -> None:
+        super().__init__("can_bridge_node")
+
+        # ── Parameters ────────────────────────────────────────────────────
+        self.declare_parameter("can_interface", "slcan0")
+        self.declare_parameter("left_vesc_can_id", 56)
+        self.declare_parameter("right_vesc_can_id", 68)
+        self.declare_parameter("mamba_can_id", 1)
+        self.declare_parameter("command_timeout_s", 0.5)
+
+        self._iface: str = self.get_parameter("can_interface").value
+        self._left_vesc_id: int = self.get_parameter("left_vesc_can_id").value
+        self._right_vesc_id: int = self.get_parameter("right_vesc_can_id").value
+        self._mamba_id: int = self.get_parameter("mamba_can_id").value
+        self._cmd_timeout: float = self.get_parameter("command_timeout_s").value
+
+        # ── State ─────────────────────────────────────────────────────────
+        self._bus: Optional[can.BusABC] = None
+        self._connected: bool = False
+        self._last_cmd_time: float = time.monotonic()
+        self._lock = threading.Lock()  # protects _bus / _connected
+
+        # ── Publishers ────────────────────────────────────────────────────
+        self._pub_imu = self.create_publisher(Imu, "/can/imu", 10)
+        self._pub_battery = self.create_publisher(BatteryState, "/can/battery", 10)
+        self._pub_vesc_left = self.create_publisher(
+            Float32MultiArray, "/can/vesc/left/state", 10
+        )
+        self._pub_vesc_right = self.create_publisher(
+            Float32MultiArray, "/can/vesc/right/state", 10
+        )
+        self._pub_status = self.create_publisher(
+            String, "/can/connection_status", 10
+        )
+
+        # ── Subscriptions ─────────────────────────────────────────────────
+        self.create_subscription(Twist, "/cmd_vel", self._cmd_vel_cb, 10)
+        self.create_subscription(Bool, "/estop", self._estop_cb, 10)
+
+        # ── Timers ────────────────────────────────────────────────────────
+        self.create_timer(1.0 / _WATCHDOG_HZ, self._watchdog_cb)
+        self.create_timer(_RECONNECT_INTERVAL_S, self._reconnect_cb)
+
+        # ── Open CAN ──────────────────────────────────────────────────────
+        self._try_connect()
+
+        # ── Background reader thread ──────────────────────────────────────
+        self._reader_thread = threading.Thread(
+            target=self._reader_loop, daemon=True, name="can_reader"
+        )
+        self._reader_thread.start()
+
+        self.get_logger().info(
+            f"can_bridge_node ready — iface={self._iface} "
+            f"left_vesc={self._left_vesc_id} right_vesc={self._right_vesc_id} "
+            f"mamba={self._mamba_id}"
+        )
+
+    # ── Connection management ──────────────────────────────────────────────
+
+    def _try_connect(self) -> None:
+        """Attempt to open the CAN interface; silently skip if already connected."""
+        with self._lock:
+            if self._connected:
+                return
+            try:
+                bus = can.interface.Bus(
+                    channel=self._iface,
+                    bustype="socketcan",
+                )
+                self._bus = bus
+                self._connected = True
+                self.get_logger().info(f"CAN bus connected: {self._iface}")
+                self._publish_status("connected")
+            except Exception as exc:
+                self.get_logger().warning(
+                    f"CAN bus not available ({self._iface}): {exc} "
+                    f"— will retry every {_RECONNECT_INTERVAL_S:.0f} s"
+                )
+                self._connected = False
+                self._publish_status("disconnected")
+
+    def _reconnect_cb(self) -> None:
+        """Periodic timer: try to reconnect when disconnected."""
+        if not self._connected:
+            self._try_connect()
+
+    def _handle_can_error(self, exc: Exception, context: str) -> None:
+        """Mark bus as disconnected on any CAN error."""
+        self.get_logger().warning(f"CAN error in {context}: {exc}")
+        with self._lock:
+            if self._bus is not None:
+                try:
+                    self._bus.shutdown()
+                except Exception:
+                    pass
+            self._bus = None
+            self._connected = False
+        self._publish_status("disconnected")
+
+    # ── ROS callbacks ─────────────────────────────────────────────────────
+
+    def _cmd_vel_cb(self, msg: Twist) -> None:
+        """Convert /cmd_vel Twist to VESC speed commands over CAN."""
+        self._last_cmd_time = time.monotonic()
+
+        if not self._connected:
+            return
+
+        # Differential drive decomposition — individual wheel speeds in m/s.
+        # The VESC nodes interpret linear velocity directly; angular is handled
+        # by the sign difference between left and right.
+        linear = msg.linear.x
+        angular = msg.angular.z
+
+        # Forward left = forward right for pure translation; for rotation
+        # left slows and right speeds up (positive angular = CCW = left turn).
+        # The Mamba velocity command carries both wheels independently.
+        left_mps = linear - angular
+        right_mps = linear + angular
+
+        payload = encode_velocity_cmd(left_mps, right_mps)
+        self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
+
+        # Keep Mamba in DRIVE mode while receiving commands
+        self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
+
+    def _estop_cb(self, msg: Bool) -> None:
+        """Forward /estop to Mamba over CAN."""
+        if not self._connected:
+            return
+        payload = encode_estop_cmd(msg.data)
+        self._send_can(MAMBA_CMD_ESTOP, payload, "estop")
+        if msg.data:
+            self._send_can(
+                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
+            )
+            self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
+
+    # ── Watchdog ──────────────────────────────────────────────────────────
+
+    def _watchdog_cb(self) -> None:
+        """If no /cmd_vel arrives within the timeout, send zero velocity."""
+        if not self._connected:
+            return
+        elapsed = time.monotonic() - self._last_cmd_time
+        if elapsed > self._cmd_timeout:
+            self._send_can(
+                MAMBA_CMD_VELOCITY,
+                encode_velocity_cmd(0.0, 0.0),
+                "watchdog zero-vel",
+            )
+            self._send_can(
+                MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog idle"
+            )
+
+    # ── CAN send helper ───────────────────────────────────────────────────
+
+    def _send_can(self, arb_id: int, data: bytes, context: str) -> None:
+        """Send a standard CAN frame; handle errors gracefully."""
+        with self._lock:
+            if not self._connected or self._bus is None:
+                return
+            bus = self._bus
+
+        msg = can.Message(
+            arbitration_id=arb_id,
+            data=data,
+            is_extended_id=False,
+        )
+        try:
+            bus.send(msg, timeout=0.05)
+        except can.CanError as exc:
+            self._handle_can_error(exc, f"send({context})")
+
+    # ── Background CAN reader ─────────────────────────────────────────────
+
+    def _reader_loop(self) -> None:
+        """
+        Blocking CAN read loop executed in a daemon thread.
+        Dispatches incoming frames to the appropriate handler.
+        """
+        while rclpy.ok():
+            with self._lock:
+                connected = self._connected
+                bus = self._bus
+
+            if not connected or bus is None:
+                time.sleep(0.1)
+                continue
+
+            try:
+                frame = bus.recv(timeout=0.5)
+            except can.CanError as exc:
+                self._handle_can_error(exc, "reader_loop recv")
+                continue
+
+            if frame is None:
+                # Timeout — no frame within 0.5 s, loop again
+                continue
+
+            self._dispatch_frame(frame)
+
+    def _dispatch_frame(self, frame: can.Message) -> None:
+        """Route an incoming CAN frame to the correct publisher."""
+        arb_id = frame.arbitration_id
+        data = bytes(frame.data)
+
+        try:
+            if arb_id == MAMBA_TELEM_IMU:
+                self._handle_imu(data, frame.timestamp)
+
+            elif arb_id == MAMBA_TELEM_BATTERY:
+                self._handle_battery(data, frame.timestamp)
+
+            elif arb_id == VESC_TELEM_STATE + self._left_vesc_id:
+                self._handle_vesc_state(data, frame.timestamp, side="left")
+
+            elif arb_id == VESC_TELEM_STATE + self._right_vesc_id:
+                self._handle_vesc_state(data, frame.timestamp, side="right")
+
+        except Exception as exc:
+            self.get_logger().warning(
+                f"Error parsing CAN frame 0x{arb_id:03X}: {exc}"
+            )
+
+    # ── Frame handlers ────────────────────────────────────────────────────
+
+    def _handle_imu(self, data: bytes, timestamp: float) -> None:
+        telem = decode_imu_telem(data)
+
+        msg = Imu()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = "imu_link"
+
+        msg.linear_acceleration.x = telem.accel_x
+        msg.linear_acceleration.y = telem.accel_y
+        msg.linear_acceleration.z = telem.accel_z
+
+        msg.angular_velocity.x = telem.gyro_x
+        msg.angular_velocity.y = telem.gyro_y
+        msg.angular_velocity.z = telem.gyro_z
+
+        # Covariance unknown; mark as -1 per REP-145
+        msg.orientation_covariance[0] = -1.0
+
+        self._pub_imu.publish(msg)
+
+    def _handle_battery(self, data: bytes, timestamp: float) -> None:
+        telem = decode_battery_telem(data)
+
+        msg = BatteryState()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.voltage = telem.voltage
+        msg.current = telem.current
+        msg.present = True
+        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+
+        self._pub_battery.publish(msg)
+
+    def _handle_vesc_state(
+        self, data: bytes, timestamp: float, side: str
+    ) -> None:
+        telem = decode_vesc_state(data)
+
+        msg = Float32MultiArray()
+        # Layout: [erpm, duty, voltage, current]
+        msg.data = [telem.erpm, telem.duty, telem.voltage, telem.current]
+
+        if side == "left":
+            self._pub_vesc_left.publish(msg)
+        else:
+            self._pub_vesc_right.publish(msg)
+
+    # ── Status helper ─────────────────────────────────────────────────────
+
+    def _publish_status(self, status: str) -> None:
+        msg = String()
+        msg.data = status
+        self._pub_status.publish(msg)
+
+    # ── Shutdown ──────────────────────────────────────────────────────────
+
+    def destroy_node(self) -> None:
+        """Send zero velocity and shut down the CAN bus cleanly."""
+        if self._connected and self._bus is not None:
+            try:
+                self._send_can(
+                    MAMBA_CMD_VELOCITY,
+                    encode_velocity_cmd(0.0, 0.0),
+                    "shutdown",
+                )
+                self._send_can(
+                    MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown"
+                )
+            except Exception:
+                pass
+            try:
+                self._bus.shutdown()
+            except Exception:
+                pass
+        super().destroy_node()
+
+
+# ---------------------------------------------------------------------------
+
+def main(args=None) -> None:
+    rclpy.init(args=args)
+    node = CanBridgeNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py

@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+"""
+mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller
+and VESC telemetry.
+
+CAN message layout
+------------------
+Command frames  (Orin → Mamba / VESC):
+  MAMBA_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
+  MAMBA_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
+  MAMBA_CMD_ESTOP     0x102  1 byte   0x01 = stop
+
+Telemetry frames (Mamba → Orin):
+  MAMBA_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
+  MAMBA_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)
+
+VESC telemetry frame (VESC → Orin):
+  VESC_TELEM_STATE    0x300  16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32)
+
+All multi-byte fields are big-endian.
+
+Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
+"""
+
+import struct
+from dataclasses import dataclass
+from typing import Tuple
+
+# ---------------------------------------------------------------------------
+# CAN message IDs
+# ---------------------------------------------------------------------------
+
+MAMBA_CMD_VELOCITY: int = 0x100
+MAMBA_CMD_MODE: int = 0x101
+MAMBA_CMD_ESTOP: int = 0x102
+
+MAMBA_TELEM_IMU: int = 0x200
+MAMBA_TELEM_BATTERY: int = 0x201
+
+VESC_TELEM_STATE: int = 0x300
+
+# ---------------------------------------------------------------------------
+# Mode constants
+# ---------------------------------------------------------------------------
+
+MODE_IDLE: int = 0
+MODE_DRIVE: int = 1
+MODE_ESTOP: int = 2
+
+# ---------------------------------------------------------------------------
+# Data classes for decoded telemetry
+# ---------------------------------------------------------------------------
+
+
+@dataclass
+class ImuTelemetry:
+    """Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
+
+    accel_x: float = 0.0  # m/s²
+    accel_y: float = 0.0
+    accel_z: float = 0.0
+    gyro_x: float = 0.0   # rad/s
+    gyro_y: float = 0.0
+    gyro_z: float = 0.0
+
+
+@dataclass
+class BatteryTelemetry:
+    """Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
+
+    voltage: float = 0.0   # V
+    current: float = 0.0   # A
+
+
+@dataclass
+class VescStateTelemetry:
+    """Decoded VESC state telemetry (VESC_TELEM_STATE)."""
+
+    erpm: float = 0.0      # electrical RPM
+    duty: float = 0.0      # duty cycle [-1.0, 1.0]
+    voltage: float = 0.0   # bus voltage, V
+    current: float = 0.0   # phase current, A
+
+
+# ---------------------------------------------------------------------------
+# Encode helpers
+# ---------------------------------------------------------------------------
+
+_FMT_VEL = ">ff"       # 2 × float32, big-endian
+_FMT_MODE = ">B"       # 1 × uint8
+_FMT_ESTOP = ">B"      # 1 × uint8
+_FMT_IMU = ">ffffff"   # 6 × float32
+_FMT_BAT = ">ff"       # 2 × float32
+_FMT_VESC = ">ffff"    # 4 × float32
+
+
+def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
+    """
+    Encode a MAMBA_CMD_VELOCITY payload.
+
+    Parameters
+    ----------
+    left_mps:  target left wheel speed in m/s  (positive = forward)
+    right_mps: target right wheel speed in m/s (positive = forward)
+
+    Returns
+    -------
+    8-byte big-endian payload suitable for a CAN frame.
+    """
+    return struct.pack(_FMT_VEL, float(left_mps), float(right_mps))
+
+
+def encode_mode_cmd(mode: int) -> bytes:
+    """
+    Encode a MAMBA_CMD_MODE payload.
+
+    Parameters
+    ----------
+    mode: one of MODE_IDLE (0), MODE_DRIVE (1), MODE_ESTOP (2)
+
+    Returns
+    -------
+    1-byte payload.
+    """
+    if mode not in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
+        raise ValueError(f"Invalid mode {mode!r}; expected 0, 1, or 2")
+    return struct.pack(_FMT_MODE, mode)
+
+
+def encode_estop_cmd(stop: bool = True) -> bytes:
+    """
+    Encode a MAMBA_CMD_ESTOP payload.
+
+    Parameters
+    ----------
+    stop: True to assert e-stop, False to clear.
+
+    Returns
+    -------
+    1-byte payload (0x01 = stop, 0x00 = clear).
+    """
+    return struct.pack(_FMT_ESTOP, 0x01 if stop else 0x00)
+
+
+# ---------------------------------------------------------------------------
+# Decode helpers
+# ---------------------------------------------------------------------------
+
+def decode_imu_telem(data: bytes) -> ImuTelemetry:
+    """
+    Decode a MAMBA_TELEM_IMU payload.
+
+    Parameters
+    ----------
+    data: exactly 24 bytes (6 × float32, big-endian).
+
+    Returns
+    -------
+    ImuTelemetry dataclass instance.
+
+    Raises
+    ------
+    struct.error if data is the wrong length.
+    """
+    ax, ay, az, gx, gy, gz = struct.unpack(_FMT_IMU, data)
+    return ImuTelemetry(
+        accel_x=ax, accel_y=ay, accel_z=az,
+        gyro_x=gx, gyro_y=gy, gyro_z=gz,
+    )
+
+
+def decode_battery_telem(data: bytes) -> BatteryTelemetry:
+    """
+    Decode a MAMBA_TELEM_BATTERY payload.
+
+    Parameters
+    ----------
+    data: exactly 8 bytes (2 × float32, big-endian).
+
+    Returns
+    -------
+    BatteryTelemetry dataclass instance.
+    """
+    voltage, current = struct.unpack(_FMT_BAT, data)
+    return BatteryTelemetry(voltage=voltage, current=current)
+
+
+def decode_vesc_state(data: bytes) -> VescStateTelemetry:
+    """
+    Decode a VESC_TELEM_STATE payload.
+
+    Parameters
+    ----------
+    data: exactly 16 bytes (4 × float32, big-endian).
+
+    Returns
+    -------
+    VescStateTelemetry dataclass instance.
+    """
+    erpm, duty, voltage, current = struct.unpack(_FMT_VESC, data)
+    return VescStateTelemetry(erpm=erpm, duty=duty, voltage=voltage, current=current)

jetson/ros2_ws/src/saltybot_can_bridge/setup.cfg

@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/saltybot_can_bridge
+
+[install]
+install_scripts=$base/lib/saltybot_can_bridge

jetson/ros2_ws/src/saltybot_can_bridge/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = "saltybot_can_bridge"
+
+setup(
+    name=package_name,
+    version="0.1.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
+        (f"share/{package_name}", ["package.xml"]),
+        (f"share/{package_name}/config", ["config/can_bridge_params.yaml"]),
+    ],
+    install_requires=["setuptools", "python-can"],
+    zip_safe=True,
+    maintainer="sl-controls",
+    maintainer_email="sl-controls@saltylab.local",
+    description="CAN bus bridge for Mamba controller and VESC telemetry",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "can_bridge_node = saltybot_can_bridge.can_bridge_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py

@@ -0,0 +1,254 @@
+#!/usr/bin/env python3
+"""
+Unit tests for saltybot_can_bridge.mamba_protocol.
+
+No ROS2 or CAN hardware required — tests exercise encode/decode round-trips
+and boundary conditions entirely in Python.
+
+Run with:  pytest test/test_can_bridge.py -v
+"""
+
+import struct
+import unittest
+
+from saltybot_can_bridge.mamba_protocol import (
+    MAMBA_CMD_ESTOP,
+    MAMBA_CMD_MODE,
+    MAMBA_CMD_VELOCITY,
+    MAMBA_TELEM_BATTERY,
+    MAMBA_TELEM_IMU,
+    VESC_TELEM_STATE,
+    MODE_DRIVE,
+    MODE_ESTOP,
+    MODE_IDLE,
+    BatteryTelemetry,
+    ImuTelemetry,
+    VescStateTelemetry,
+    decode_battery_telem,
+    decode_imu_telem,
+    decode_vesc_state,
+    encode_estop_cmd,
+    encode_mode_cmd,
+    encode_velocity_cmd,
+)
+
+
+class TestMessageIDs(unittest.TestCase):
+    """Verify the CAN message ID constants are correct."""
+
+    def test_command_ids(self):
+        self.assertEqual(MAMBA_CMD_VELOCITY, 0x100)
+        self.assertEqual(MAMBA_CMD_MODE, 0x101)
+        self.assertEqual(MAMBA_CMD_ESTOP, 0x102)
+
+    def test_telemetry_ids(self):
+        self.assertEqual(MAMBA_TELEM_IMU, 0x200)
+        self.assertEqual(MAMBA_TELEM_BATTERY, 0x201)
+        self.assertEqual(VESC_TELEM_STATE, 0x300)
+
+
+class TestVelocityEncode(unittest.TestCase):
+    """Tests for encode_velocity_cmd."""
+
+    def test_zero_velocity(self):
+        payload = encode_velocity_cmd(0.0, 0.0)
+        self.assertEqual(len(payload), 8)
+        left, right = struct.unpack(">ff", payload)
+        self.assertAlmostEqual(left, 0.0, places=5)
+        self.assertAlmostEqual(right, 0.0, places=5)
+
+    def test_forward_velocity(self):
+        payload = encode_velocity_cmd(1.5, 1.5)
+        left, right = struct.unpack(">ff", payload)
+        self.assertAlmostEqual(left, 1.5, places=5)
+        self.assertAlmostEqual(right, 1.5, places=5)
+
+    def test_differential_velocity(self):
+        payload = encode_velocity_cmd(-0.5, 0.5)
+        left, right = struct.unpack(">ff", payload)
+        self.assertAlmostEqual(left, -0.5, places=5)
+        self.assertAlmostEqual(right, 0.5, places=5)
+
+    def test_large_velocity(self):
+        # No clamping at the protocol layer — values are sent as-is
+        payload = encode_velocity_cmd(10.0, -10.0)
+        left, right = struct.unpack(">ff", payload)
+        self.assertAlmostEqual(left, 10.0, places=3)
+        self.assertAlmostEqual(right, -10.0, places=3)
+
+    def test_payload_is_big_endian(self):
+        # Sanity check: first 4 bytes encode left speed
+        payload = encode_velocity_cmd(1.0, 0.0)
+        (left,) = struct.unpack(">f", payload[:4])
+        self.assertAlmostEqual(left, 1.0, places=5)
+
+
+class TestModeEncode(unittest.TestCase):
+    """Tests for encode_mode_cmd."""
+
+    def test_idle_mode(self):
+        payload = encode_mode_cmd(MODE_IDLE)
+        self.assertEqual(payload, b"\x00")
+
+    def test_drive_mode(self):
+        payload = encode_mode_cmd(MODE_DRIVE)
+        self.assertEqual(payload, b"\x01")
+
+    def test_estop_mode(self):
+        payload = encode_mode_cmd(MODE_ESTOP)
+        self.assertEqual(payload, b"\x02")
+
+    def test_invalid_mode_raises(self):
+        with self.assertRaises(ValueError):
+            encode_mode_cmd(99)
+
+    def test_invalid_mode_negative_raises(self):
+        with self.assertRaises(ValueError):
+            encode_mode_cmd(-1)
+
+
+class TestEstopEncode(unittest.TestCase):
+    """Tests for encode_estop_cmd."""
+
+    def test_estop_assert(self):
+        self.assertEqual(encode_estop_cmd(True), b"\x01")
+
+    def test_estop_clear(self):
+        self.assertEqual(encode_estop_cmd(False), b"\x00")
+
+    def test_estop_default_is_stop(self):
+        self.assertEqual(encode_estop_cmd(), b"\x01")
+
+
+class TestImuDecodeRoundTrip(unittest.TestCase):
+    """Round-trip tests for IMU telemetry."""
+
+    def _encode_imu(self, ax, ay, az, gx, gy, gz) -> bytes:
+        return struct.pack(">ffffff", ax, ay, az, gx, gy, gz)
+
+    def test_zero_imu(self):
+        data = self._encode_imu(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+        telem = decode_imu_telem(data)
+        self.assertIsInstance(telem, ImuTelemetry)
+        self.assertAlmostEqual(telem.accel_x, 0.0, places=5)
+        self.assertAlmostEqual(telem.gyro_z, 0.0, places=5)
+
+    def test_nominal_imu(self):
+        data = self._encode_imu(0.1, -0.2, 9.81, 0.01, -0.02, 0.03)
+        telem = decode_imu_telem(data)
+        self.assertAlmostEqual(telem.accel_x, 0.1, places=4)
+        self.assertAlmostEqual(telem.accel_y, -0.2, places=4)
+        self.assertAlmostEqual(telem.accel_z, 9.81, places=3)
+        self.assertAlmostEqual(telem.gyro_x, 0.01, places=5)
+        self.assertAlmostEqual(telem.gyro_y, -0.02, places=5)
+        self.assertAlmostEqual(telem.gyro_z, 0.03, places=5)
+
+    def test_imu_bad_length_raises(self):
+        with self.assertRaises(struct.error):
+            decode_imu_telem(b"\x00" * 10)  # too short
+
+
+class TestBatteryDecodeRoundTrip(unittest.TestCase):
+    """Round-trip tests for battery telemetry."""
+
+    def _encode_bat(self, voltage, current) -> bytes:
+        return struct.pack(">ff", voltage, current)
+
+    def test_nominal_battery(self):
+        data = self._encode_bat(24.6, 3.2)
+        telem = decode_battery_telem(data)
+        self.assertIsInstance(telem, BatteryTelemetry)
+        self.assertAlmostEqual(telem.voltage, 24.6, places=3)
+        self.assertAlmostEqual(telem.current, 3.2, places=4)
+
+    def test_zero_battery(self):
+        data = self._encode_bat(0.0, 0.0)
+        telem = decode_battery_telem(data)
+        self.assertAlmostEqual(telem.voltage, 0.0, places=5)
+        self.assertAlmostEqual(telem.current, 0.0, places=5)
+
+    def test_max_voltage(self):
+        # 6S LiPo max ~25.2 V; test with a high value
+        data = self._encode_bat(25.2, 0.0)
+        telem = decode_battery_telem(data)
+        self.assertAlmostEqual(telem.voltage, 25.2, places=3)
+
+    def test_battery_bad_length_raises(self):
+        with self.assertRaises(struct.error):
+            decode_battery_telem(b"\x00" * 4)  # too short
+
+
+class TestVescStateDecodeRoundTrip(unittest.TestCase):
+    """Round-trip tests for VESC state telemetry."""
+
+    def _encode_vesc(self, erpm, duty, voltage, current) -> bytes:
+        return struct.pack(">ffff", erpm, duty, voltage, current)
+
+    def test_nominal_vesc(self):
+        data = self._encode_vesc(3000.0, 0.25, 24.0, 5.5)
+        telem = decode_vesc_state(data)
+        self.assertIsInstance(telem, VescStateTelemetry)
+        self.assertAlmostEqual(telem.erpm, 3000.0, places=2)
+        self.assertAlmostEqual(telem.duty, 0.25, places=5)
+        self.assertAlmostEqual(telem.voltage, 24.0, places=4)
+        self.assertAlmostEqual(telem.current, 5.5, places=4)
+
+    def test_zero_vesc(self):
+        data = self._encode_vesc(0.0, 0.0, 0.0, 0.0)
+        telem = decode_vesc_state(data)
+        self.assertAlmostEqual(telem.erpm, 0.0)
+        self.assertAlmostEqual(telem.duty, 0.0)
+
+    def test_reverse_erpm(self):
+        data = self._encode_vesc(-1500.0, -0.15, 23.0, 2.0)
+        telem = decode_vesc_state(data)
+        self.assertAlmostEqual(telem.erpm, -1500.0, places=2)
+        self.assertAlmostEqual(telem.duty, -0.15, places=5)
+
+    def test_vesc_bad_length_raises(self):
+        with self.assertRaises(struct.error):
+            decode_vesc_state(b"\x00" * 8)  # too short (need 16)
+
+
+class TestEncodeDecodeIdentity(unittest.TestCase):
+    """Cross-module identity tests: encode then decode must be identity."""
+
+    def test_velocity_identity(self):
+        """encode_velocity_cmd raw bytes must decode to the same floats."""
+        left, right = 0.75, -0.3
+        payload = encode_velocity_cmd(left, right)
+        decoded_l, decoded_r = struct.unpack(">ff", payload)
+        self.assertAlmostEqual(decoded_l, left, places=5)
+        self.assertAlmostEqual(decoded_r, right, places=5)
+
+    def test_imu_identity(self):
+        accel = (0.5, -0.5, 9.8)
+        gyro = (0.1, -0.1, 0.2)
+        raw = struct.pack(">ffffff", *accel, *gyro)
+        telem = decode_imu_telem(raw)
+        self.assertAlmostEqual(telem.accel_x, accel[0], places=4)
+        self.assertAlmostEqual(telem.accel_y, accel[1], places=4)
+        self.assertAlmostEqual(telem.accel_z, accel[2], places=3)
+        self.assertAlmostEqual(telem.gyro_x, gyro[0], places=5)
+        self.assertAlmostEqual(telem.gyro_y, gyro[1], places=5)
+        self.assertAlmostEqual(telem.gyro_z, gyro[2], places=5)
+
+    def test_battery_identity(self):
+        voltage, current = 22.4, 8.1
+        raw = struct.pack(">ff", voltage, current)
+        telem = decode_battery_telem(raw)
+        self.assertAlmostEqual(telem.voltage, voltage, places=3)
+        self.assertAlmostEqual(telem.current, current, places=4)
+
+    def test_vesc_identity(self):
+        erpm, duty, voltage, current = 5000.0, 0.5, 24.5, 10.0
+        raw = struct.pack(">ffff", erpm, duty, voltage, current)
+        telem = decode_vesc_state(raw)
+        self.assertAlmostEqual(telem.erpm, erpm, places=2)
+        self.assertAlmostEqual(telem.duty, duty, places=5)
+        self.assertAlmostEqual(telem.voltage, voltage, places=3)
+        self.assertAlmostEqual(telem.current, current, places=4)
+
+
+if __name__ == "__main__":
+    unittest.main()

jetson/scripts/setup_can.sh

@@ -0,0 +1,126 @@
+#!/usr/bin/env bash
+# setup_can.sh — Bring up CANable 2.0 (slcan/ttyACM0) as slcan0 at 500 kbps
+# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
+#
+# This script uses slcand to expose the CANable 2.0 (USB CDC / slcan firmware)
+# as a SocketCAN interface.  It is NOT used for the gs_usb (native SocketCAN)
+# firmware variant — use jetson/scripts/can_setup.sh for that.
+#
+# Usage:
+#   sudo ./setup_can.sh           # bring up slcan0
+#   sudo ./setup_can.sh down      # bring down slcan0 and kill slcand
+#   sudo ./setup_can.sh verify    # candump one-shot check (Ctrl-C to stop)
+#
+# Environment overrides:
+#   CAN_DEVICE   — serial device  (default: /dev/ttyACM0)
+#   CAN_IFACE    — SocketCAN name (default: slcan0)
+#   CAN_BITRATE  — bit rate       (default: 500000)
+#
+# Mamba CAN ID: 1 (0x001)
+# VESC left:    56 (0x038)
+# VESC right:   68 (0x044)
+
+set -euo pipefail
+
+DEVICE="${CAN_DEVICE:-/dev/ttyACM0}"
+IFACE="${CAN_IFACE:-slcan0}"
+BITRATE="${CAN_BITRATE:-500000}"
+
+log()  { echo "[setup_can] $*"; }
+warn() { echo "[setup_can] WARNING: $*" >&2; }
+die()  { echo "[setup_can] ERROR: $*" >&2; exit 1; }
+
+# Map numeric bitrate to slcand -s flag (0-8 map to standard CAN speeds)
+bitrate_flag() {
+    case "$1" in
+        10000)   echo "0" ;;
+        20000)   echo "1" ;;
+        50000)   echo "2" ;;
+        100000)  echo "3" ;;
+        125000)  echo "4" ;;
+        250000)  echo "5" ;;
+        500000)  echo "6" ;;
+        800000)  echo "7" ;;
+        1000000) echo "8" ;;
+        *) die "Unsupported bitrate: $1 (choose 10k–1M)" ;;
+    esac
+}
+
+# ── up ─────────────────────────────────────────────────────────────────────
+cmd_up() {
+    # Verify serial device is present
+    if [[ ! -c "$DEVICE" ]]; then
+        die "$DEVICE not found — is CANable 2.0 plugged in?"
+    fi
+
+    # If interface already exists, leave it alone
+    if ip link show "$IFACE" &>/dev/null; then
+        log "$IFACE is already up — nothing to do."
+        ip -details link show "$IFACE"
+        return 0
+    fi
+
+    local sflag
+    sflag=$(bitrate_flag "$BITRATE")
+
+    log "Starting slcand on $DEVICE → $IFACE at ${BITRATE} bps (flag -s${sflag}) …"
+    # -o open device, -c close on exit, -f forced, -s<N> speed, -S<baud> serial baud
+    slcand -o -c -f -s"${sflag}" -S 3000000 "$DEVICE" "$IFACE" \
+        || die "slcand failed to start"
+
+    # Give slcand a moment to create the netdev
+    local retries=0
+    while ! ip link show "$IFACE" &>/dev/null; do
+        retries=$((retries + 1))
+        if [[ $retries -ge 10 ]]; then
+            die "Timed out waiting for $IFACE to appear after slcand start"
+        fi
+        sleep 0.2
+    done
+
+    log "Bringing up $IFACE …"
+    ip link set "$IFACE" up \
+        || die "ip link set $IFACE up failed"
+
+    log "$IFACE is up."
+    ip -details link show "$IFACE"
+}
+
+# ── down ───────────────────────────────────────────────────────────────────
+cmd_down() {
+    log "Bringing down $IFACE …"
+    if ip link show "$IFACE" &>/dev/null; then
+        ip link set "$IFACE" down || warn "Could not set $IFACE down"
+    else
+        warn "$IFACE not found — already down?"
+    fi
+
+    # Kill any running slcand instances bound to our device
+    if pgrep -f "slcand.*${DEVICE}" &>/dev/null; then
+        log "Stopping slcand for $DEVICE …"
+        pkill -f "slcand.*${DEVICE}" || warn "pkill returned non-zero"
+    fi
+    log "Done."
+}
+
+# ── verify ─────────────────────────────────────────────────────────────────
+cmd_verify() {
+    if ! ip link show "$IFACE" &>/dev/null; then
+        die "$IFACE is not up — run '$0 up' first"
+    fi
+    log "Listening on $IFACE — expecting frames from Mamba (0x001), VESC left (0x038), VESC right (0x044)"
+    log "Press Ctrl-C to stop."
+    exec candump "$IFACE"
+}
+
+# ── main ───────────────────────────────────────────────────────────────────
+CMD="${1:-up}"
+case "$CMD" in
+    up)     cmd_up     ;;
+    down)   cmd_down   ;;
+    verify) cmd_verify ;;
+    *)
+        echo "Usage: $0 [up|down|verify]"
+        exit 1
+        ;;
+esac