1 changed files with 5 additions and 5 deletions
--- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
@ -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 (Mamba F722S)
-    right_can_id:       68      # right motor VESC CAN ID (Mamba F722S)
+    left_can_id:       56      # left  motor VESC CAN ID
+    right_can_id:      68      # right motor VESC CAN ID

-    # ── State topic names (must match VESC telemetry publisher) ──────────────
-    left_state_topic:   /vesc/left/state
-    right_state_topic:  /vesc/right/state
+    # ── State topic names (must match what telemetry publishes) ───────────────
+    left_state_topic:  /vesc/left/state
+    right_state_topic: /vesc/right/state

    # ── Drive geometry ───────────────────────────────────────────────────────
    wheel_radius:      0.10    # wheel radius (m)