esp32s3/balance/main/config.h

@@ -28,9 +28,9 @@
 #define VESC_CAN_RX_GPIO        16      /* SN65HVD230 RXD → ESP32 TWAI RX */
 #define VESC_CAN_RX_QUEUE       32
 
-/* VESC node IDs */
+/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
-#define VESC_ID_A               61u     /* FRONT VESC — drive + telemetry (0x81) */
+#define VESC_ID_A               56u     /* TELEM_VESC_LEFT  (0x81) */
-#define VESC_ID_B               79u     /* REAR  VESC — telemetry only    (0x82) */
+#define VESC_ID_B               68u     /* TELEM_VESC_RIGHT (0x82) */
 
 /* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28, SPI2) ── */
 #define DISP_DC_GPIO     8
@@ -48,3 +48,5 @@
 
 /* ── Drive → VESC RPM scaling ── */
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
+#define RPM_PER_STEER_UNIT      3       /* steer differential scale */
+

esp32s3/balance/main/main.c

@@ -64,14 +64,20 @@ static void drive_task(void *arg)
         bool hb_timeout   = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
         bool drive_stale  = (now_ms - g_orin_drive.updated_ms) > DRIVE_TIMEOUT_MS;
 
-        int32_t front_erpm = 0;
+        int32_t left_erpm  = 0;
+        int32_t right_erpm = 0;
 
         if (g_orin_ctrl.armed && !g_orin_ctrl.estop &&
             !hb_timeout && !drive_stale) {
-            front_erpm = (int32_t)g_orin_drive.speed * RPM_PER_SPEED_UNIT;
+            int32_t spd = (int32_t)g_orin_drive.speed * RPM_PER_SPEED_UNIT;
+            int32_t str = (int32_t)g_orin_drive.steer * RPM_PER_STEER_UNIT;
+            left_erpm  = spd + str;
+            right_erpm = spd - str;
         }
 
-        vesc_can_send_rpm(VESC_ID_A, front_erpm);
+        /* VESC_ID_A (56) = LEFT, VESC_ID_B (68) = RIGHT per bd-wim1 protocol */
+        vesc_can_send_rpm(VESC_ID_A, left_erpm);
+        vesc_can_send_rpm(VESC_ID_B, right_erpm);
     }
 }
 

esp32s3/balance/main/orin_serial.c

@@ -17,8 +17,9 @@
 static const char *TAG = "orin";
 
 /* ── Shared state ── */
-orin_drive_t   g_orin_drive = {0};
+orin_drive_t   g_orin_drive   = {0};
-orin_control_t g_orin_ctrl  = {.armed = false, .estop = false, .hb_last_ms = 0};
+orin_pid_t     g_orin_pid     = {0};
+orin_control_t g_orin_ctrl    = {.armed = false, .estop = false, .hb_last_ms = 0};
 
 /* ── CRC8-SMBUS (poly=0x07, init=0x00) ── */
 static uint8_t crc8(const uint8_t *data, uint8_t len)
@@ -187,6 +188,25 @@ static void dispatch_cmd(uint8_t type, const uint8_t *payload, uint8_t len,
         orin_send_ack(tx_q, type);
         break;
 
+    case CMD_PID:
+        if (len < 12u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
+        /* float32 big-endian: copy and swap bytes */
+        {
+            uint32_t raw;
+            raw = ((uint32_t)payload[0] << 24u) | ((uint32_t)payload[1] << 16u) |
+                  ((uint32_t)payload[2] <<  8u) |  (uint32_t)payload[3];
+            memcpy((void*)&g_orin_pid.kp, &raw, 4u);
+            raw = ((uint32_t)payload[4] << 24u) | ((uint32_t)payload[5] << 16u) |
+                  ((uint32_t)payload[6] <<  8u) |  (uint32_t)payload[7];
+            memcpy((void*)&g_orin_pid.ki, &raw, 4u);
+            raw = ((uint32_t)payload[8] << 24u) | ((uint32_t)payload[9] << 16u) |
+                  ((uint32_t)payload[10] << 8u) |  (uint32_t)payload[11];
+            memcpy((void*)&g_orin_pid.kd, &raw, 4u);
+            g_orin_pid.updated = true;
+        }
+        orin_send_ack(tx_q, type);
+        break;
+
     case CMD_OTA_CHECK:
         /* Trigger an immediate Gitea version check */
         gitea_ota_check_now();

esp32s3/balance/main/orin_serial.h

@@ -23,11 +23,12 @@
 #define CMD_DRIVE           0x02u   /* int16 speed + int16 steer, BE */
 #define CMD_ESTOP           0x03u   /* uint8: 1=assert, 0=clear */
 #define CMD_ARM             0x04u   /* uint8: 1=arm, 0=disarm */
+#define CMD_PID             0x05u   /* float32 kp, ki, kd, BE */
 
 /* ── Telemetry types: ESP32 → Orin ── */
 #define TELEM_STATUS        0x80u   /* status @ 10 Hz */
-#define TELEM_VESC_LEFT     0x81u   /* VESC ID 61 (front) telemetry @ 10 Hz */
+#define TELEM_VESC_LEFT     0x81u   /* VESC ID 56 telemetry @ 10 Hz */
-#define TELEM_VESC_RIGHT    0x82u   /* VESC ID 79 (rear)  telemetry @ 10 Hz */
+#define TELEM_VESC_RIGHT    0x82u   /* VESC ID 68 telemetry @ 10 Hz */
 #define TELEM_OTA_STATUS    0x83u   /* OTA state + progress (bd-1s1s) */
 #define TELEM_VERSION_INFO  0x84u   /* firmware version report (bd-1s1s) */
 #define RESP_ACK            0xA0u
@@ -50,7 +51,7 @@
 #define ERR_OTA_BUSY        0x05u
 #define ERR_OTA_NO_UPDATE   0x06u
 
-/* ── Drive state (mirrored from TELEM_STATUS.balance_state) ── */
+/* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */
 typedef enum {
     BAL_DISARMED = 0,
     BAL_ARMED    = 1,
@@ -64,6 +65,11 @@ typedef struct {
     volatile uint32_t updated_ms;   /* esp_timer tick at last CMD_DRIVE */
 } orin_drive_t;
 
+typedef struct {
+    volatile float    kp, ki, kd;
+    volatile bool     updated;
+} orin_pid_t;
+
 typedef struct {
     volatile bool     armed;
     volatile bool     estop;
@@ -79,6 +85,7 @@ typedef struct {
 
 /* ── Globals (defined in orin_serial.c, extern here) ── */
 extern orin_drive_t   g_orin_drive;
+extern orin_pid_t     g_orin_pid;
 extern orin_control_t g_orin_ctrl;
 
 /* ── API ── */

jetson/docker-compose.yml

@@ -97,7 +97,11 @@ services:
           rgb_camera.profile:=640x480x30
       "
 
-  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ───────────────────────
+<<<<<<< HEAD
+  # ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
+=======
+  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   esp32-bridge:
     image: saltybot/ros2-humble:jetson-orin
     build:
@@ -208,8 +212,13 @@ services:
       "
 
 
-  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ---------------------
+<<<<<<< HEAD
+  # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
+  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
+=======
+  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
   # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
   remote-estop:
     image: saltybot/ros2-humble:jetson-orin
@@ -357,50 +366,6 @@ services:
       "
 
 
-  # ── Here4 DroneCAN GPS + NTRIP RTK client ────────────────────────────────
-  # Issue #725 — CubePilot Here4 RTK GPS via DroneCAN (1Mbps, SocketCAN)
-  # Start: docker compose up -d here4-gps
-  # Monitor fix: docker compose exec here4-gps ros2 topic echo /gps/rtk_status
-  # Configure NTRIP: set NTRIP_MOUNT, NTRIP_USER, NTRIP_PASSWORD env vars
-  here4-gps:
-    image: saltybot/ros2-humble:jetson-orin
-    build:
-      context: .
-      dockerfile: Dockerfile
-    container_name: saltybot-here4-gps
-    restart: unless-stopped
-    runtime: nvidia
-    network_mode: host
-    depends_on:
-      - saltybot-nav2
-    environment:
-      - ROS_DOMAIN_ID=42
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-      # NTRIP credentials — set these in your .env or override at runtime
-      - NTRIP_MOUNT=${NTRIP_MOUNT:-}
-      - NTRIP_USER=${NTRIP_USER:-}
-      - NTRIP_PASSWORD=${NTRIP_PASSWORD:-}
-    volumes:
-      - ./ros2_ws/src:/ros2_ws/src:rw
-      - ./config:/config:ro
-    devices:
-      - /dev/can0:/dev/can0
-    cap_add:
-      - NET_ADMIN    # needed for SocketCAN ip link set can0 up inside container
-    command: >
-      bash -c "
-        source /opt/ros/humble/setup.bash &&
-        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
-        pip install python-dronecan --quiet 2>/dev/null || true &&
-        ros2 launch saltybot_dronecan_gps here4_gps.launch.py
-          can_interface:=can0
-          can_bitrate:=1000000
-          ntrip_caster:=rtk2go.com
-          ntrip_mount:=${NTRIP_MOUNT:-}
-          ntrip_user:=${NTRIP_USER:-}
-          ntrip_password:=${NTRIP_PASSWORD:-}
-      "
-
 volumes:
   saltybot-maps:
     driver: local

jetson/ros2_ws/src/saltybot_dronecan_gps/config/dronecan_gps_params.yaml

@@ -1,9 +0,0 @@
-# dronecan_gps_params.yaml — CubePilot Here4 DroneCAN GPS driver defaults
-# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-
-dronecan_gps:
-  ros__parameters:
-    can_interface:    "can0"
-    can_bitrate:      1000000   # Here4 default: 1Mbps DroneCAN
-    node_id:          127       # DroneCAN local node ID (GPS driver)
-    publish_compass:  true      # publish MagneticFieldStrength if available

jetson/ros2_ws/src/saltybot_dronecan_gps/launch/here4_gps.launch.py

@@ -1,110 +0,0 @@
-"""
-here4_gps.launch.py — CubePilot Here4 RTK GPS full stack
-Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-
-Launches:
-  - dronecan_gps_node   (saltybot_dronecan_gps)
-  - ntrip_client_node   (saltybot_ntrip_client)
-
-Usage (minimal):
-  ros2 launch saltybot_dronecan_gps here4_gps.launch.py \\
-    ntrip_mount:=RTCM3_GENERIC ntrip_user:=you@email.com
-
-Full options:
-  ros2 launch saltybot_dronecan_gps here4_gps.launch.py \\
-    can_interface:=can0 \\
-    can_bitrate:=1000000 \\
-    ntrip_caster:=rtk2go.com \\
-    ntrip_port:=2101 \\
-    ntrip_mount:=MYBASE \\
-    ntrip_user:=you@email.com \\
-    ntrip_password:=secret
-"""
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-
-
-def generate_launch_description() -> LaunchDescription:
-    gps_cfg = os.path.join(
-        get_package_share_directory('saltybot_dronecan_gps'),
-        'config', 'dronecan_gps_params.yaml',
-    )
-    ntrip_cfg = os.path.join(
-        get_package_share_directory('saltybot_ntrip_client'),
-        'config', 'ntrip_params.yaml',
-    )
-
-    return LaunchDescription([
-        # ── Shared CAN args ───────────────────────────────────────────────────
-        DeclareLaunchArgument(
-            'can_interface', default_value='can0',
-            description='SocketCAN interface name',
-        ),
-        DeclareLaunchArgument(
-            'can_bitrate', default_value='1000000',
-            description='CAN bus bitrate — Here4 default is 1000000 (1 Mbps)',
-        ),
-
-        # ── NTRIP args ────────────────────────────────────────────────────────
-        DeclareLaunchArgument(
-            'ntrip_caster', default_value='rtk2go.com',
-            description='NTRIP caster hostname',
-        ),
-        DeclareLaunchArgument(
-            'ntrip_port', default_value='2101',
-            description='NTRIP caster port',
-        ),
-        DeclareLaunchArgument(
-            'ntrip_mount', default_value='',
-            description='NTRIP mount point (REQUIRED)',
-        ),
-        DeclareLaunchArgument(
-            'ntrip_user', default_value='',
-            description='NTRIP username (rtk2go.com requires email address)',
-        ),
-        DeclareLaunchArgument(
-            'ntrip_password', default_value='',
-            description='NTRIP password',
-        ),
-
-        # ── DroneCAN GPS node ─────────────────────────────────────────────────
-        Node(
-            package='saltybot_dronecan_gps',
-            executable='dronecan_gps_node',
-            name='dronecan_gps',
-            output='screen',
-            parameters=[
-                gps_cfg,
-                {
-                    'can_interface': LaunchConfiguration('can_interface'),
-                    'can_bitrate':   LaunchConfiguration('can_bitrate'),
-                },
-            ],
-        ),
-
-        # ── NTRIP client node ─────────────────────────────────────────────────
-        Node(
-            package='saltybot_ntrip_client',
-            executable='ntrip_client_node',
-            name='ntrip_client',
-            output='screen',
-            parameters=[
-                ntrip_cfg,
-                {
-                    'can_interface':  LaunchConfiguration('can_interface'),
-                    'can_bitrate':    LaunchConfiguration('can_bitrate'),
-                    'ntrip_caster':   LaunchConfiguration('ntrip_caster'),
-                    'ntrip_port':     LaunchConfiguration('ntrip_port'),
-                    'ntrip_mount':    LaunchConfiguration('ntrip_mount'),
-                    'ntrip_user':     LaunchConfiguration('ntrip_user'),
-                    'ntrip_password': LaunchConfiguration('ntrip_password'),
-                },
-            ],
-        ),
-    ])

jetson/ros2_ws/src/saltybot_dronecan_gps/resource/saltybot_dronecan_gps

@@ -1 +0,0 @@
-saltybot_dronecan_gps

jetson/ros2_ws/src/saltybot_dronecan_gps/saltybot_dronecan_gps/dronecan_gps_node.py

@@ -1,204 +0,0 @@
-#!/usr/bin/env python3
-"""
-dronecan_gps_node.py — DroneCAN GPS driver for CubePilot Here4 RTK
-Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-
-Subscribes to:
-  uavcan.equipment.gnss.Fix2            (msg ID 1063) — position + fix status
-  uavcan.equipment.ahrs.MagneticFieldStrength          — compass (optional)
-
-Publishes:
-  /gps/fix        sensor_msgs/NavSatFix
-  /gps/vel        geometry_msgs/TwistStamped
-  /gps/rtk_status std_msgs/String
-
-DroneCAN fix_type → sensor_msgs status mapping:
-  0 = NO_FIX     → STATUS_NO_FIX  (-1)
-  1 = TIME_ONLY  → STATUS_NO_FIX  (-1)
-  2 = 2D_FIX    → STATUS_FIX      (0)
-  3 = 3D_FIX    → STATUS_FIX      (0)
-  4 = DGPS       → STATUS_SBAS_FIX (1)
-  5 = RTK_FLOAT  → STATUS_GBAS_FIX (2)
-  6 = RTK_FIXED  → STATUS_GBAS_FIX (2)
-"""
-
-import math
-import threading
-
-import rclpy
-from rclpy.node import Node
-from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
-
-from sensor_msgs.msg import NavSatFix, NavSatStatus
-from geometry_msgs.msg import TwistStamped
-from std_msgs.msg import String
-
-try:
-    import dronecan
-except ImportError:
-    dronecan = None
-
-_SENSOR_QOS = QoSProfile(
-    reliability=ReliabilityPolicy.BEST_EFFORT,
-    history=HistoryPolicy.KEEP_LAST,
-    depth=5,
-)
-
-# DroneCAN fix_type → (NavSatStatus.status, rtk_label)
-_FIX_MAP = {
-    0: (NavSatStatus.STATUS_NO_FIX,   'NO_FIX'),
-    1: (NavSatStatus.STATUS_NO_FIX,   'TIME_ONLY'),
-    2: (NavSatStatus.STATUS_FIX,      '2D_FIX'),
-    3: (NavSatStatus.STATUS_FIX,      '3D_FIX'),
-    4: (NavSatStatus.STATUS_SBAS_FIX, 'DGPS'),
-    5: (NavSatStatus.STATUS_GBAS_FIX, 'RTK_FLOAT'),
-    6: (NavSatStatus.STATUS_GBAS_FIX, 'RTK_FIXED'),
-}
-
-
-class DroneCanGpsNode(Node):
-    def __init__(self) -> None:
-        super().__init__('dronecan_gps')
-
-        self.declare_parameter('can_interface', 'can0')
-        self.declare_parameter('can_bitrate', 1000000)
-        self.declare_parameter('node_id', 127)          # DroneCAN local node ID
-        self.declare_parameter('publish_compass', True)
-
-        self._iface = self.get_parameter('can_interface').value
-        self._bitrate = self.get_parameter('can_bitrate').value
-        self._node_id = self.get_parameter('node_id').value
-        self._publish_compass = self.get_parameter('publish_compass').value
-
-        self._fix_pub = self.create_publisher(NavSatFix, '/gps/fix', _SENSOR_QOS)
-        self._vel_pub = self.create_publisher(TwistStamped, '/gps/vel', _SENSOR_QOS)
-        self._rtk_pub = self.create_publisher(String, '/gps/rtk_status', 10)
-
-        if dronecan is None:
-            self.get_logger().error(
-                'python-dronecan not installed. '
-                'Run: pip install python-dronecan'
-            )
-            return
-
-        self._lock = threading.Lock()
-        self._dc_node = None
-        self._spin_thread = threading.Thread(
-            target=self._dronecan_spin, daemon=True
-        )
-        self._spin_thread.start()
-        self.get_logger().info(
-            f'DroneCanGpsNode started — interface={self._iface} '
-            f'bitrate={self._bitrate}'
-        )
-
-    # ── DroneCAN spin (runs in background thread) ─────────────────────────────
-
-    def _dronecan_spin(self) -> None:
-        try:
-            self._dc_node = dronecan.make_node(
-                self._iface,
-                node_id=self._node_id,
-                bitrate=self._bitrate,
-            )
-            self._dc_node.add_handler(
-                dronecan.uavcan.equipment.gnss.Fix2,
-                self._on_fix2,
-            )
-            if self._publish_compass:
-                self._dc_node.add_handler(
-                    dronecan.uavcan.equipment.ahrs.MagneticFieldStrength,
-                    self._on_mag,
-                )
-            self.get_logger().info(
-                f'DroneCAN node online on {self._iface}'
-            )
-            while rclpy.ok():
-                self._dc_node.spin(timeout=0.1)
-        except Exception as exc:
-            self.get_logger().error(f'DroneCAN spin error: {exc}')
-
-    # ── Message handlers ──────────────────────────────────────────────────────
-
-    def _on_fix2(self, event) -> None:
-        msg = event.message
-        now = self.get_clock().now().to_msg()
-
-        fix_type = int(msg.fix_type)
-        nav_status, rtk_label = _FIX_MAP.get(
-            fix_type, (NavSatStatus.STATUS_NO_FIX, 'UNKNOWN')
-        )
-
-        # NavSatFix
-        fix = NavSatFix()
-        fix.header.stamp = now
-        fix.header.frame_id = 'gps'
-        fix.status.status = nav_status
-        fix.status.service = NavSatStatus.SERVICE_GPS
-
-        fix.latitude = math.degrees(msg.latitude_deg_1e8 * 1e-8)
-        fix.longitude = math.degrees(msg.longitude_deg_1e8 * 1e-8)
-        fix.altitude = msg.height_msl_mm * 1e-3  # mm → m
-
-        # Covariance from position_covariance if available, else diagonal guess
-        if hasattr(msg, 'position_covariance') and len(msg.position_covariance) >= 9:
-            fix.position_covariance = list(msg.position_covariance)
-            fix.position_covariance_type = NavSatFix.COVARIANCE_TYPE_FULL
-        else:
-            h_var = (msg.horizontal_pos_accuracy_m_1e2 * 1e-2) ** 2 \
-                if hasattr(msg, 'horizontal_pos_accuracy_m_1e2') else 4.0
-            v_var = (msg.vertical_pos_accuracy_m_1e2 * 1e-2) ** 2 \
-                if hasattr(msg, 'vertical_pos_accuracy_m_1e2') else 4.0
-            fix.position_covariance = [
-                h_var, 0.0,   0.0,
-                0.0,   h_var, 0.0,
-                0.0,   0.0,   v_var,
-            ]
-            fix.position_covariance_type = NavSatFix.COVARIANCE_TYPE_DIAGONAL_KNOWN
-
-        self._fix_pub.publish(fix)
-
-        # TwistStamped velocity
-        if hasattr(msg, 'ned_velocity'):
-            vel = TwistStamped()
-            vel.header.stamp = now
-            vel.header.frame_id = 'gps'
-            vel.twist.linear.x = float(msg.ned_velocity[0])  # North m/s
-            vel.twist.linear.y = float(msg.ned_velocity[1])  # East  m/s
-            vel.twist.linear.z = float(msg.ned_velocity[2])  # Down  m/s (ROS: up+)
-            self._vel_pub.publish(vel)
-
-        # RTK status string
-        rtk_msg = String()
-        rtk_msg.data = rtk_label
-        self._rtk_pub.publish(rtk_msg)
-
-        self.get_logger().debug(
-            f'Fix2: {fix.latitude:.6f},{fix.longitude:.6f} '
-            f'alt={fix.altitude:.1f}m status={rtk_label}'
-        )
-
-    def _on_mag(self, event) -> None:
-        # Compass data logged; extend to publish /imu/mag if needed
-        msg = event.message
-        self.get_logger().debug(
-            f'Mag: {msg.magnetic_field_ga[0]:.3f} '
-            f'{msg.magnetic_field_ga[1]:.3f} '
-            f'{msg.magnetic_field_ga[2]:.3f} Ga'
-        )
-
-
-def main(args=None) -> None:
-    rclpy.init(args=args)
-    node = DroneCanGpsNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_ntrip_client/config/ntrip_params.yaml

@@ -1,18 +0,0 @@
-# ntrip_params.yaml — NTRIP client configuration for Here4 RTK corrections
-# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-#
-# Override at launch:
-#   ros2 launch saltybot_dronecan_gps here4_gps.launch.py \
-#     ntrip_mount:=MYBASE ntrip_user:=user ntrip_password:=pass
-
-ntrip_client:
-  ros__parameters:
-    ntrip_caster:     "rtk2go.com"
-    ntrip_port:       2101
-    ntrip_mount:      ""           # REQUIRED — set your mount point
-    ntrip_user:       ""           # empty = anonymous (rtk2go requires email)
-    ntrip_password:   ""
-    can_interface:    "can0"
-    can_bitrate:      1000000
-    can_node_id:      126          # DroneCAN local node ID (NTRIP node)
-    reconnect_delay:  5.0          # seconds between reconnect attempts

jetson/ros2_ws/src/saltybot_ntrip_client/package.xml

@@ -1,32 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>saltybot_ntrip_client</name>
-  <version>0.1.0</version>
-  <description>
-    NTRIP client for RTK corrections.
-    Connects to an NTRIP caster (default: rtk2go.com:2101), receives RTCM3
-    correction data, and forwards it to the Here4 via DroneCAN
-    (uavcan.equipment.gnss.RTCMStream) on the CAN bus.
-    Reconnects automatically on disconnect.
-    Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-  </description>
-  <maintainer email="seb@vayrette.com">Sebastien Vayrette</maintainer>
-  <license>MIT</license>
-
-  <buildtool_depend>ament_python</buildtool_depend>
-
-  <depend>rclpy</depend>
-  <depend>std_msgs</depend>
-
-  <exec_depend>python3-pip</exec_depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

jetson/ros2_ws/src/saltybot_ntrip_client/resource/saltybot_ntrip_client

@@ -1 +0,0 @@
-saltybot_ntrip_client

jetson/ros2_ws/src/saltybot_ntrip_client/saltybot_ntrip_client/ntrip_client_node.py

@@ -1,207 +0,0 @@
-#!/usr/bin/env python3
-"""
-ntrip_client_node.py — NTRIP client for Here4 RTK corrections
-Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
-
-Connects to an NTRIP caster (default: rtk2go.com:2101), streams RTCM3
-correction data, and forwards it to the Here4 GPS via DroneCAN
-(uavcan.equipment.gnss.RTCMStream) on the CAN bus.
-
-Publishes:
-  /ntrip/status  std_msgs/String  — CONNECTED / DISCONNECTED / ERROR:<reason>
-
-Parameters:
-  ntrip_caster    (str)   rtk2go.com
-  ntrip_port      (int)   2101
-  ntrip_mount     (str)   ''       — required, e.g. 'RTCM3_GENERIC'
-  ntrip_user      (str)   ''       — leave empty for anonymous casters
-  ntrip_password  (str)   ''
-  can_interface   (str)   can0
-  can_bitrate     (int)   1000000
-  can_node_id     (int)   126      — DroneCAN local node ID for NTRIP node
-  reconnect_delay (float) 5.0     — seconds between reconnect attempts
-"""
-
-import base64
-import socket
-import threading
-import time
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-try:
-    import dronecan
-except ImportError:
-    dronecan = None
-
-_NTRIP_AGENT  = 'saltybot-ntrip/1.0'
-_RTCM_CHUNK   = 512   # bytes per DroneCAN RTCMStream message (max 128 per frame)
-_RECV_BUF     = 4096
-
-
-class NtripClientNode(Node):
-    def __init__(self) -> None:
-        super().__init__('ntrip_client')
-
-        self.declare_parameter('ntrip_caster',    'rtk2go.com')
-        self.declare_parameter('ntrip_port',      2101)
-        self.declare_parameter('ntrip_mount',     '')
-        self.declare_parameter('ntrip_user',      '')
-        self.declare_parameter('ntrip_password',  '')
-        self.declare_parameter('can_interface',   'can0')
-        self.declare_parameter('can_bitrate',     1000000)
-        self.declare_parameter('can_node_id',     126)
-        self.declare_parameter('reconnect_delay', 5.0)
-
-        self._caster   = self.get_parameter('ntrip_caster').value
-        self._port     = self.get_parameter('ntrip_port').value
-        self._mount    = self.get_parameter('ntrip_mount').value
-        self._user     = self.get_parameter('ntrip_user').value
-        self._password = self.get_parameter('ntrip_password').value
-        self._iface    = self.get_parameter('can_interface').value
-        self._bitrate  = self.get_parameter('can_bitrate').value
-        self._node_id  = self.get_parameter('can_node_id').value
-        self._reconnect_delay = self.get_parameter('reconnect_delay').value
-
-        self._status_pub = self.create_publisher(String, '/ntrip/status', 10)
-
-        if dronecan is None:
-            self.get_logger().error(
-                'python-dronecan not installed. Run: pip install python-dronecan'
-            )
-            self._publish_status('ERROR:dronecan_not_installed')
-            return
-
-        if not self._mount:
-            self.get_logger().error(
-                'ntrip_mount parameter is required (e.g. RTCM3_GENERIC)'
-            )
-            self._publish_status('ERROR:no_mount_point')
-            return
-
-        self._dc_node = dronecan.make_node(
-            self._iface,
-            node_id=self._node_id,
-            bitrate=self._bitrate,
-        )
-
-        self._stop_event = threading.Event()
-        self._thread = threading.Thread(
-            target=self._ntrip_loop, daemon=True
-        )
-        self._thread.start()
-
-        self.get_logger().info(
-            f'NTRIP client started — '
-            f'{self._caster}:{self._port}/{self._mount}'
-        )
-
-    # ── NTRIP loop (reconnects on any error) ──────────────────────────────────
-
-    def _ntrip_loop(self) -> None:
-        while not self._stop_event.is_set() and rclpy.ok():
-            try:
-                self._connect_and_stream()
-            except Exception as exc:
-                self.get_logger().warn(f'NTRIP disconnected: {exc}')
-                self._publish_status(f'DISCONNECTED')
-            if not self._stop_event.is_set() and rclpy.ok():
-                self.get_logger().info(
-                    f'Reconnecting in {self._reconnect_delay}s…'
-                )
-                time.sleep(self._reconnect_delay)
-
-    def _connect_and_stream(self) -> None:
-        sock = socket.create_connection(
-            (self._caster, self._port), timeout=10.0
-        )
-        sock.settimeout(30.0)
-
-        # Send NTRIP HTTP/1.1 GET request
-        request = self._build_request()
-        sock.sendall(request.encode('ascii'))
-
-        # Read response header
-        header = b''
-        while b'\r\n\r\n' not in header:
-            chunk = sock.recv(256)
-            if not chunk:
-                raise ConnectionError('Connection closed during header read')
-            header += chunk
-
-        header_str = header.split(b'\r\n\r\n')[0].decode('ascii', errors='replace')
-        if 'ICY 200 OK' not in header_str and '200 OK' not in header_str:
-            raise ConnectionError(f'NTRIP rejected: {header_str[:120]}')
-
-        self.get_logger().info(
-            f'NTRIP connected to {self._caster}:{self._port}/{self._mount}'
-        )
-        self._publish_status('CONNECTED')
-
-        # Any trailing bytes after header are RTCM data
-        leftover = header.split(b'\r\n\r\n', 1)[1] if b'\r\n\r\n' in header else b''
-        if leftover:
-            self._forward_rtcm(leftover)
-
-        while not self._stop_event.is_set() and rclpy.ok():
-            data = sock.recv(_RECV_BUF)
-            if not data:
-                raise ConnectionError('NTRIP stream closed by server')
-            self._forward_rtcm(data)
-
-    def _build_request(self) -> str:
-        lines = [
-            f'GET /{self._mount} HTTP/1.1',
-            f'Host: {self._caster}:{self._port}',
-            f'User-Agent: {_NTRIP_AGENT}',
-            'Ntrip-Version: Ntrip/2.0',
-            'Connection: close',
-        ]
-        if self._user:
-            creds = base64.b64encode(
-                f'{self._user}:{self._password}'.encode()
-            ).decode()
-            lines.append(f'Authorization: Basic {creds}')
-        lines += ['', '']
-        return '\r\n'.join(lines)
-
-    # ── DroneCAN RTCMStream forwarding ────────────────────────────────────────
-
-    def _forward_rtcm(self, data: bytes) -> None:
-        """Chunk RTCM data into DroneCAN RTCMStream messages."""
-        for i in range(0, len(data), _RTCM_CHUNK):
-            chunk = data[i:i + _RTCM_CHUNK]
-            try:
-                msg = dronecan.uavcan.equipment.gnss.RTCMStream()
-                msg.data = list(chunk)
-                self._dc_node.broadcast(msg)
-                self._dc_node.spin(timeout=0.0)
-            except Exception as exc:
-                self.get_logger().warn(f'DroneCAN send error: {exc}')
-
-    def _publish_status(self, status: str) -> None:
-        msg = String()
-        msg.data = status
-        self._status_pub.publish(msg)
-
-    def destroy_node(self) -> None:
-        self._stop_event.set()
-        super().destroy_node()
-
-
-def main(args=None) -> None:
-    rclpy.init(args=args)
-    node = NtripClientNode()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_ntrip_client/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/saltybot_ntrip_client
-[install]
-install_scripts=$base/lib/saltybot_ntrip_client

jetson/ros2_ws/src/saltybot_ntrip_client/setup.py

@@ -1,32 +0,0 @@
-from setuptools import find_packages, setup
-import os
-from glob import glob
-
-package_name = 'saltybot_ntrip_client'
-
-setup(
-    name=package_name,
-    version='0.1.0',
-    packages=find_packages(exclude=['test']),
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'),
-            glob('launch/*.py')),
-        (os.path.join('share', package_name, 'config'),
-            glob('config/*.yaml')),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='Sebastien Vayrette',
-    maintainer_email='seb@vayrette.com',
-    description='NTRIP client — RTCM3 corrections via DroneCAN to Here4',
-    license='MIT',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'ntrip_client_node = saltybot_ntrip_client.ntrip_client_node:main',
-        ],
-    },
-)

jetson/ros2_ws/src/saltybot_outdoor/config/outdoor_nav_params.yaml

@@ -1,29 +1,22 @@
 # outdoor_nav_params.yaml — Outdoor navigation configuration for SaltyBot
 #
 # Hardware: Jetson Orin Nano Super / SIM7600X cellular GPS (±2.5 m CEP)
-# RTK (active): CubePilot Here4 → ±2 cm CEP via DroneCAN (Issue #725)
+# RTK upgrade: u-blox ZED-F9P → ±2 cm CEP (set use_rtk: true when installed)
-#   - Connected via CANable 2.0 (SocketCAN can0) at 1 Mbps
-#   - RTK corrections from NTRIP caster via saltybot_ntrip_client
-#   - Launch: docker compose up -d here4-gps
-#             (set NTRIP_MOUNT / NTRIP_USER / NTRIP_PASSWORD env vars)
 #
 # ── GPS quality notes ────────────────────────────────────────────────────────
 # SIM7600X reports STATUS_FIX (0) in open sky, STATUS_NO_FIX (-1) indoors.
-# Here4 DroneCAN fix_type mapping (saltybot_dronecan_gps):
+# RTK ZED-F9P reports STATUS_GBAS_FIX (2) when corrections received.
-#   5 = RTK_FLOAT → STATUS_GBAS_FIX (2) — sub-metre
-#   6 = RTK_FIXED → STATUS_GBAS_FIX (2) — ±2 cm (best)
-# Monitor: ros2 topic echo /gps/rtk_status
 # Goal tolerance automatically tightens from 2.0m (cellular) to 0.3m (RTK).
 #
-# ── Here4 setup procedure ───────────────────────────────────────────────────
+# ── RTK upgrade procedure ────────────────────────────────────────────────────
-# 1. can_setup.sh up dronecan         # bring up can0 at 1Mbps
+# 1. Connect ZED-F9P to /dev/ttyTHS0 (Orin 40-pin UART, pins 8/10)
-# 2. Set NTRIP_MOUNT, NTRIP_USER, NTRIP_PASSWORD in .env
+# 2. Set NTRIP credentials in rtk_gps.launch.py
-# 3. docker compose up -d here4-gps
+# 3. Run: ros2 launch saltybot_outdoor rtk_gps.launch.py
-# 4. Verify: ros2 topic echo /gps/rtk_status  → RTK_FIXED
+# 4. Verify: ros2 topic echo /gps/fix | grep status
-# 5. saltybot-outdoor: set use_rtk:=true in docker-compose.yml
+#    → status.status == 2 (STATUS_GBAS_FIX) = RTK fixed
 #
 # References:
-#   Here4 manual: https://docs.cubepilot.org/user-guides/here-4/here-4-manual
+#   SparkFun RTK Express: https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/
 #   NTRIP caster list: https://rtk2go.com/sample-map/
 # ─────────────────────────────────────────────────────────────────────────────
 
@@ -103,26 +96,3 @@ global_costmap:
         inflation_radius: 0.50
       obstacle_layer:
         observation_sources: scan surround_cameras
-
-# ── Here4 RTK GPS configuration (Issue #725) ────────────────────────────────
-# Active when here4-gps docker service is running.
-# The dronecan_gps node publishes on the same /gps/fix topic as SIM7600X,
-# so gps_waypoint_follower picks up RTK automatically.
-# Set use_rtk:=true in saltybot-outdoor docker command to tighten tolerances.
-here4_gps:
-  ros__parameters:
-    # CAN bus — must match can_setup.sh dronecan mode and docker-compose device
-    can_interface:    "can0"
-    can_bitrate:      1000000   # 1 Mbps — Here4 DroneCAN default
-    # DroneCAN node IDs (must be unique on bus; VESCs use 61 and 79)
-    gps_node_id:      127
-    ntrip_node_id:    126
-    # NTRIP — override via env vars NTRIP_MOUNT / NTRIP_USER / NTRIP_PASSWORD
-    ntrip_caster:     "rtk2go.com"
-    ntrip_port:       2101
-    ntrip_mount:      ""        # set your mount point
-    ntrip_user:       ""        # rtk2go.com requires a valid email address
-    ntrip_password:   ""
-    reconnect_delay:  5.0       # seconds between NTRIP reconnect attempts
-    # RTK goal tolerance — applied by gps_waypoint_follower when use_rtk:=true
-    goal_tolerance_xy_rtk: 0.3  # metres (vs 2.0m cellular)

jetson/scripts/can_setup.sh

@@ -1,36 +1,22 @@
 #!/usr/bin/env bash
-# can_setup.sh — Bring up CANable 2.0 (gs_usb) as can0
+# can_setup.sh — Bring up CANable 2.0 (gs_usb) as can0 at 500 kbps
 # Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
 #
 # Usage:
-#   sudo ./can_setup.sh               # bring up (default: 500kbps for VESC)
+#   sudo ./can_setup.sh          # bring up
-#   sudo ./can_setup.sh up dronecan   # bring up at 1Mbps for Here4 DroneCAN
+#   sudo ./can_setup.sh down     # bring down
-#   sudo ./can_setup.sh down
+#   sudo ./can_setup.sh verify   # candump one-shot check (Ctrl-C to stop)
-#   sudo ./can_setup.sh verify        # candump one-shot check (Ctrl-C to stop)
 #
-# Bitrate modes:
+# VESCs on bus: CAN ID 61 (0x3D) and CAN ID 79 (0x4F), 500 kbps
-#   default / vesc     — 500 kbps  (VESC IDs 0x3D/0x4F)
-#   dronecan / here4   — 1000 kbps (CubePilot Here4 RTK GPS, DroneCAN default)
-#
-# CAN_BITRATE env var overrides both modes.
 set -euo pipefail
 
 IFACE="${CAN_IFACE:-can0}"
+BITRATE="${CAN_BITRATE:-500000}"
 
 log() { echo "[can_setup] $*"; }
 die() { echo "[can_setup] ERROR: $*" >&2; exit 1; }
 
 cmd="${1:-up}"
-mode="${2:-vesc}"
-
-# Resolve bitrate: env var wins, then mode keyword, then 500k default
-if [[ -n "${CAN_BITRATE:-}" ]]; then
-    BITRATE="$CAN_BITRATE"
-elif [[ "$mode" == "dronecan" || "$mode" == "here4" ]]; then
-    BITRATE=1000000
-else
-    BITRATE=500000
-fi
 
 case "$cmd" in
   up)
@@ -39,7 +25,7 @@ case "$cmd" in
         die "$IFACE not found — is CANable 2.0 plugged in and gs_usb loaded?"
     fi
 
-    log "Bringing up $IFACE at ${BITRATE} bps (mode: ${mode})..."
+    log "Bringing up $IFACE at ${BITRATE} bps..."
     ip link set "$IFACE" down 2>/dev/null || true
     ip link set "$IFACE" up type can bitrate "$BITRATE"
     ip link set "$IFACE" up
@@ -54,17 +40,13 @@ case "$cmd" in
     ;;
 
   verify)
-    if [[ "$mode" == "dronecan" || "$mode" == "here4" ]]; then
+    log "Listening on $IFACE — expecting frames from VESC IDs 0x3D (61) and 0x4F (79)"
-        log "Listening on $IFACE — expecting DroneCAN frames from Here4 GPS (1Mbps)"
-    else
-        log "Listening on $IFACE — expecting frames from VESC IDs 0x3D (61) and 0x4F (79)"
-    fi
     log "Press Ctrl-C to stop."
     exec candump "$IFACE"
     ;;
 
   *)
-    echo "Usage: $0 [up [vesc|dronecan]|down|verify [dronecan]]"
+    echo "Usage: $0 [up|down|verify]"
     exit 1
     ;;
 esac