ee16bae9fb
fix: Make VESC CAN IDs configurable, default 56/68 (Issue #667 )
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FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all
driver, telemetry, and odometry bridge files to use correct defaults.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-18 07:50:20 -04:00
d8b25bad77
feat: VESC CAN odometry for nav2 (Issue #646 )
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Replace single-motor vesc_odometry_bridge with dual-CAN differential
drive odometry for left (CAN 61) and right (CAN 79) VESC motors.
New files:
- diff_drive_odom.py: pure-Python kinematics (eRPM→wheel vel, exact arc
integration, heading wrap), no ROS deps, fully unit-tested
- test/test_vesc_odometry.py: 20 unit tests (straight, arc, spin,
invert_right, guard conditions) — all pass
- config/vesc_odometry_params.yaml: configurable wheel_radius,
wheel_separation, motor_poles, invert_right, covariance tuning
Updated:
- vesc_odometry_bridge.py: rewritten as VESCCANOdometryNode; subscribes
to /vesc/can_61/state and /vesc/can_79/state (std_msgs/String JSON);
publishes /odom and /saltybot/wheel_odom (nav_msgs/Odometry) + TF
odom→base_link with proper 6×6 covariance matrices
- odometry_bridge.launch.py: updated to launch vesc_can_odometry with
vesc_odometry_params.yaml
- setup.py: added vesc_can_odometry entry point + config install
- pose_fusion_node.py: added optional wheel_odom_topic subscriber that
feeds DiffDriveOdometry velocities into EKF via update_vo_velocity
- pose_fusion_params.yaml: added use_wheel_odom, wheel_odom_topic,
sigma_wheel_vel_m_s, sigma_wheel_omega_r_s parameters
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-17 09:54:19 -04:00
ca95489b1d
feat: Nav2 SLAM integration with RPLIDAR + RealSense (Issue #422 )
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Complete autonomous navigation stack for SaltyBot:
- SLAM Toolbox: online_async 2D LIDAR SLAM from RPLIDAR A1M8
- RealSense D435i: depth → pointcloud → costmap obstacle layer
- Nav2 stack: controllers, planners, behavior server, lifecycle management
- DWB planner: tuned for 20km/h (5.5 m/s) max velocity operation
- VESC odometry bridge: motor telemetry → nav_msgs/Odometry
- Costmap integration: LIDAR + depth for global + local costmaps
- TF tree: complete setup with base_link→laser, camera_link, odom
- Goal interface: /navigate_to_pose action for autonomous goals
Configuration:
- slam_toolbox_params: loop closure, scan matching, fine/coarse search
- nav2_params: AMCL, controllers, planners, behavior trees, lifecycle
- Global costmap: static layer + LIDAR obstacle layer + inflation
- Local costmap: rolling window + LIDAR + RealSense depth + inflation
- DWB planner: 20 vx samples, 40 theta samples, 1.7s horizon
Nodes and launch files:
- vesc_odometry_bridge: integrates motor RPM to wheel odometry
- nav2_slam_bringup: main integrated launch entry point
- depth_to_costmap: RealSense depth processing pipeline
- odometry_bridge: VESC telemetry bridge
Hardware support:
- RPLIDAR A1M8: 5.5 Hz, 12m range, 360° omnidirectional
- RealSense D435i: 15 Hz RGB-D, 200 Hz IMU, depth range 5m
- VESC Flipsky FSESC 4.20: dual motor control via UART
- SaltyBot 2-wheel balancer: 0.35m radius, hoverboard motors
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-04 23:35:15 -05:00
