diff --git a/ui/dashboard.js b/ui/dashboard.js
index d140d6e..4463543 100644
--- a/ui/dashboard.js
+++ b/ui/dashboard.js
@@ -21,6 +21,7 @@ const PANELS = [
{ id: 'events', watchTopic: '/rosout', msgType: 'rcl_interfaces/msg/Log' },
{ id: 'settings', watchTopic: null, msgType: null }, // service-based
{ id: 'gimbal', watchTopic: '/gimbal/state', msgType: 'geometry_msgs/Vector3' },
+ { id: 'can', watchTopic: '/vesc/left/state', msgType: 'std_msgs/String' },
];
// ── State ──────────────────────────────────────────────────────────────────
@@ -180,6 +181,13 @@ function setupTopics() {
});
gimbalTopic.subscribe(() => { markPanelLive('gimbal'); });
+ // ── VESC left state (for CAN monitor card liveness) ──
+ const vescWatch = new ROSLIB.Topic({
+ ros, name: '/vesc/left/state',
+ messageType: 'std_msgs/String', throttle_rate: 1000,
+ });
+ vescWatch.subscribe(() => { markPanelLive('can'); });
+
// ── cmd_vel monitor (for gamepad card liveness) ──
const cmdVelWatch = new ROSLIB.Topic({
ros, name: '/cmd_vel',
diff --git a/ui/index.html b/ui/index.html
index 67a30b1..7b783ca 100644
--- a/ui/index.html
+++ b/ui/index.html
@@ -193,6 +193,28 @@
+
+
+ VESC L/R RPM · current · temps · voltage · IMU pitch/roll/yaw · balance PID · barometer
+
+ /vesc/left/state
+ /vesc/right/state
+ /saltybot/imu
+ /saltybot/balance_state
+
+
+
+