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VESC CAN telemetry: read voltage, current, RPM, temp from both motors #645

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opened 2026-03-17 09:45:49 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 09:45:49 -04:00
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Goal

Poll both VESC motor controllers (CAN IDs 61 and 79) for telemetry over CAN bus and publish as ROS2 topics.

Requirements

  • Request telemetry via VESC CAN protocol: CAN_PACKET_PROCESS_SHORT_BUFFER with GET_VALUES command
  • Parse VESC status frames: voltage, current, RPM, duty cycle, temperature, fault code
  • Publish per-motor topics:
    • /vesc/left/state (JSON or custom msg): voltage, current, rpm, temp, fault
    • /vesc/right/state
    • /vesc/combined (battery voltage, total current draw, both motor RPMs)
  • Publish /diagnostics entries for both motors
  • Fault alerting: log warnings on overcurrent, overtemp, VESC fault codes
  • Poll rate: 10-50 Hz configurable

Hardware

  • CAN IDs: left=61, right=79
  • CANable 2.0 on can0 at 500 kbps

Notes

  • Can be integrated into the VESC CAN driver node or as a separate telemetry node
  • VESC broadcasts status at configurable rate if CAN status message rate is set in VESC Tool
## Goal Poll both VESC motor controllers (CAN IDs 61 and 79) for telemetry over CAN bus and publish as ROS2 topics. ## Requirements - Request telemetry via VESC CAN protocol: CAN_PACKET_PROCESS_SHORT_BUFFER with GET_VALUES command - Parse VESC status frames: voltage, current, RPM, duty cycle, temperature, fault code - Publish per-motor topics: - /vesc/left/state (JSON or custom msg): voltage, current, rpm, temp, fault - /vesc/right/state - /vesc/combined (battery voltage, total current draw, both motor RPMs) - Publish /diagnostics entries for both motors - Fault alerting: log warnings on overcurrent, overtemp, VESC fault codes - Poll rate: 10-50 Hz configurable ## Hardware - CAN IDs: left=61, right=79 - CANable 2.0 on can0 at 500 kbps ## Notes - Can be integrated into the VESC CAN driver node or as a separate telemetry node - VESC broadcasts status at configurable rate if CAN status message rate is set in VESC Tool
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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#645
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