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

fix: Use correct VESC topic names /vesc/left|right/state (Issue #670 )
- VESCCANOdometryNode subscriptions now use left_state_topic/right_state_topic params (defaulting to /vesc/left/state and /vesc/right/state) instead of building /vesc/can_<id>/state from CAN IDs — those topics never existed - Update right_can_id default: 79 → 68 (Mamba F722S architecture update) - Update vesc_odometry_params.yaml: CAN IDs 61/79 → 56/68; add explicit left_state_topic and right_state_topic entries; remove stale can_N comments - All IDs remain fully configurable via ROS2 params Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-18 07:55:17 -04:00 · 2026-03-18 07:55:04 -04:00
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
@ -1,10 +1,10 @@
 vesc_can_odometry:
  ros__parameters:
    # ── 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
    right_state_topic:  /vesc/right/state