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feat: VESC UART driver node with pyvesc (Issue #383) #385

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sl-jetson merged 1 commits from sl-controls/issue-383-vesc into main 2026-03-04 08:40:17 -05:00
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sl-jetson commented 2026-03-04 08:40:09 -05:00
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ROS2 VESC UART driver node using pyvesc library. Dual command modes (duty_cycle/RPM), telemetry publishing (voltage/current/RPM/temp/fault codes), configurable serial port/baud, command timeout safety.

ROS2 VESC UART driver node using pyvesc library. Dual command modes (duty_cycle/RPM), telemetry publishing (voltage/current/RPM/temp/fault codes), configurable serial port/baud, command timeout safety.
sl-jetson added 1 commit 2026-03-04 08:40:11 -05:00 
ROS2 driver for Flipsky FSESC 4.20 Plus (VESC dual ESC) motor control.
Replaces hoverboard ESC communication with pyvesc library.

Features:
- UART serial communication (configurable port/baud)
- Dual command modes: duty_cycle (-100 to 100) and RPM setpoint
- Telemetry publishing: voltage, current, RPM, temperature, fault codes
- Command timeout: auto-zero throttle if no cmd_vel received
- Heartbeat-based connection management
- Comprehensive error handling and logging

Topics:
- Subscribe: /cmd_vel (geometry_msgs/Twist)
- Publish: /vesc/state (JSON telemetry)
- Publish: /vesc/raw_telemetry (debug)

Launch: ros2 launch saltybot_vesc_driver vesc_driver.launch.py
Config: config/vesc_params.yaml

Next phase: Integrate with cmd_vel_mux + safety layer.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit ce1a5e5fee into main 2026-03-04 08:40:17 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#385
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