fix: Make VESC CAN IDs configurable, default 56/68 (Issue #667)

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>

jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml

@@ -1,8 +1,8 @@
 vesc_can_odometry:
   ros__parameters:
     # ── CAN motor IDs ────────────────────────────────────────────────────────
-    left_can_id:       61      # left  motor VESC CAN ID → /vesc/can_61/state
-    right_can_id:      79      # right motor VESC CAN ID → /vesc/can_79/state
+    left_can_id:       56      # left  motor VESC CAN ID → /vesc/can_56/state
+    right_can_id:      68      # right motor VESC CAN ID → /vesc/can_68/state
 
     # ── Drive geometry ───────────────────────────────────────────────────────
     wheel_radius:      0.10    # wheel radius (m)

jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py

@@ -2,7 +2,7 @@
 """
 vesc_odometry_bridge.py — Differential drive odometry from dual VESC CAN motors (Issue #646).
 
-Subscribes to per-motor VESC telemetry topics for CAN IDs 61 (left) and 79 (right),
+Subscribes to per-motor VESC telemetry topics for CAN IDs 56 (left) and 68 (right),
 applies differential drive kinematics via DiffDriveOdometry, and publishes:
 
   /odom                  nav_msgs/Odometry   — consumed by Nav2 / slam_toolbox
@@ -10,8 +10,8 @@ applies differential drive kinematics via DiffDriveOdometry, and publishes:
   TF odom → base_link
 
 Input topics (std_msgs/String, JSON):
-  /vesc/can_61/state  {"rpm": <eRPM>, "voltage_v": ..., "current_a": ..., ...}
-  /vesc/can_79/state  same schema
+  /vesc/can_56/state  {"rpm": <eRPM>, "voltage_v": ..., "current_a": ..., ...}
+  /vesc/can_68/state  same schema
 
 Replaces the old single-motor vesc_odometry_bridge that used /vesc/state.
 """
@@ -52,8 +52,8 @@ class VESCCANOdometryNode(Node):
         super().__init__("vesc_can_odometry")
 
         # ── Parameters ────────────────────────────────────────────────────────
-        self.declare_parameter("left_can_id",       61)
-        self.declare_parameter("right_can_id",      79)
+        self.declare_parameter("left_can_id",       56)
+        self.declare_parameter("right_can_id",      68)
         self.declare_parameter("wheel_radius",       0.10)   # metres
         self.declare_parameter("wheel_separation",   0.35)   # metres (track width)
         self.declare_parameter("motor_poles",        7)      # BLDC pole pairs

jetson/ros2_ws/src/saltybot_vesc_driver/config/vesc_params.yaml

@@ -2,8 +2,8 @@ vesc_can_driver:
   ros__parameters:
     interface: can0
     bitrate: 500000
-    left_motor_id: 61
-    right_motor_id: 79
+    left_motor_id: 56
+    right_motor_id: 68
     wheel_separation: 0.5
     wheel_radius: 0.1
     max_speed: 5.0

jetson/ros2_ws/src/saltybot_vesc_driver/saltybot_vesc_driver/vesc_driver_node.py

@@ -34,8 +34,8 @@ class VescCanDriver(Node):
 
         # Declare parameters
         self.declare_parameter('interface', 'can0')
-        self.declare_parameter('left_motor_id', 61)
-        self.declare_parameter('right_motor_id', 79)
+        self.declare_parameter('left_motor_id', 56)
+        self.declare_parameter('right_motor_id', 68)
         self.declare_parameter('wheel_separation', 0.5)
         self.declare_parameter('wheel_radius', 0.1)
         self.declare_parameter('max_speed', 5.0)

jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml

@@ -7,10 +7,10 @@ vesc_telemetry:
     can_interface: "can0"
 
     # CAN IDs assigned to each VESC in VESC Tool
-    # Left motor VESC:  ID 61  (0x3D)
-    # Right motor VESC: ID 79  (0x4F)
-    left_can_id:  61
-    right_can_id: 79
+    # Left motor VESC:  ID 56  (0x38)
+    # Right motor VESC: ID 68  (0x44)
+    left_can_id:  56
+    right_can_id: 68
 
     # This node's CAN ID used as sender_id in GET_VALUES requests (0-127)
     sender_can_id: 127

jetson/ros2_ws/src/saltybot_vesc_telemetry/saltybot_vesc_telemetry/vesc_telemetry_node.py

@@ -15,8 +15,8 @@ Published topics
 Parameters
 ----------
   can_interface              str   'can0'   SocketCAN interface
-  left_can_id                int   61       CAN ID of left VESC
-  right_can_id               int   79       CAN ID of right VESC
+  left_can_id                int   56       CAN ID of left VESC
+  right_can_id               int   68       CAN ID of right VESC
   poll_rate_hz               int   20       Publish + request rate (10-50 Hz)
   sender_can_id              int   127      This node's CAN ID
   overcurrent_threshold_a    float 60.0     Fault alert threshold (A)
@@ -62,8 +62,8 @@ class VescTelemetryNode(Node):
         # Parameters
         # ----------------------------------------------------------------
         self.declare_parameter("can_interface",              "can0")
-        self.declare_parameter("left_can_id",                61)
-        self.declare_parameter("right_can_id",               79)
+        self.declare_parameter("left_can_id",                56)
+        self.declare_parameter("right_can_id",               68)
         self.declare_parameter("poll_rate_hz",               20)
         self.declare_parameter("sender_can_id",              127)
         self.declare_parameter("overcurrent_threshold_a",    60.0)

jetson/ros2_ws/src/saltybot_vesc_telemetry/test/test_vesc_telemetry.py

@@ -141,29 +141,29 @@ class TestParseStatus5:
 
 class TestMakeGetValuesRequest:
     def test_arb_id_encodes_packet_type_and_target(self):
-        arb_id, payload = make_get_values_request(sender_id=127, target_id=61)
-        expected_arb = (CAN_PACKET_PROCESS_SHORT_BUFFER << 8) | 61
+        arb_id, payload = make_get_values_request(sender_id=127, target_id=56)
+        expected_arb = (CAN_PACKET_PROCESS_SHORT_BUFFER << 8) | 56
         assert arb_id == expected_arb
 
     def test_payload_contains_sender_command(self):
-        _, payload = make_get_values_request(sender_id=127, target_id=61)
+        _, payload = make_get_values_request(sender_id=127, target_id=56)
         assert len(payload) == 3
         assert payload[0] == 127          # sender_id
         assert payload[1] == 0x00         # send_mode
         assert payload[2] == COMM_GET_VALUES
 
     def test_right_vesc(self):
-        arb_id, payload = make_get_values_request(sender_id=127, target_id=79)
-        assert (arb_id & 0xFF) == 79
+        arb_id, payload = make_get_values_request(sender_id=127, target_id=68)
+        assert (arb_id & 0xFF) == 68
         assert payload[2] == COMM_GET_VALUES
 
     def test_sender_id_in_payload(self):
-        _, payload = make_get_values_request(sender_id=42, target_id=61)
+        _, payload = make_get_values_request(sender_id=42, target_id=56)
         assert payload[0] == 42
 
     def test_arb_id_is_extended(self):
         # Extended IDs can exceed 0x7FF (11-bit limit)
-        arb_id, _ = make_get_values_request(127, 61)
+        arb_id, _ = make_get_values_request(127, 56)
         assert arb_id > 0x7FF
 
 
@@ -173,7 +173,7 @@ class TestMakeGetValuesRequest:
 
 class TestVescState:
     def test_defaults(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         assert s.rpm           == 0
         assert s.current_a     == pytest.approx(0.0)
         assert s.voltage_v     == pytest.approx(0.0)
@@ -181,42 +181,42 @@ class TestVescState:
         assert s.has_fault     is False
 
     def test_is_alive_fresh(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.last_status_ts = time.monotonic()
         assert s.is_alive is True
 
     def test_is_alive_stale(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.last_status_ts = time.monotonic() - 2.0  # 2 s ago > 1 s timeout
         assert s.is_alive is False
 
     def test_is_alive_never_received(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         # last_status_ts defaults to 0.0 — monotonic() will be >> 1 s
         assert s.is_alive is False
 
     def test_has_fault_true(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.fault_code = FAULT_CODE_ABS_OVER_CURRENT
         assert s.has_fault is True
 
     def test_has_fault_false_on_none(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.fault_code = FAULT_CODE_NONE
         assert s.has_fault is False
 
     def test_fault_name_known(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.fault_code = FAULT_CODE_OVER_TEMP_FET
         assert s.fault_name == "OVER_TEMP_FET"
 
     def test_fault_name_unknown(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         s.fault_code = 99
         assert "UNKNOWN" in s.fault_name
 
     def test_fault_name_none(self):
-        s = VescState(can_id=61)
+        s = VescState(can_id=56)
         assert s.fault_name == "NONE"