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Phone MQTT: CAN telemetry relay to Android sensor dashboard #656

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opened 2026-03-17 11:28:37 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 11:28:37 -04:00
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Goal

Bridge VESC CAN telemetry from ROS2 to the Android phone sensor dashboard via MQTT.

Requirements

  • Subscribe to /vesc/left/state, /vesc/right/state, /vesc/combined ROS2 topics
  • Publish to MQTT topics: saltybot/phone/vesc_left, saltybot/phone/vesc_right, saltybot/phone/vesc_combined
  • JSON payload: rpm, current_a, voltage_v, temperature_c, duty_cycle, fault_code
  • Rate-limited to 5Hz per motor (phone doesn't need 50Hz)
  • Add to existing mqtt_ros2_bridge_node.py or create new relay node
  • Unit tests
## Goal Bridge VESC CAN telemetry from ROS2 to the Android phone sensor dashboard via MQTT. ## Requirements - Subscribe to /vesc/left/state, /vesc/right/state, /vesc/combined ROS2 topics - Publish to MQTT topics: saltybot/phone/vesc_left, saltybot/phone/vesc_right, saltybot/phone/vesc_combined - JSON payload: rpm, current_a, voltage_v, temperature_c, duty_cycle, fault_code - Rate-limited to 5Hz per motor (phone doesn't need 50Hz) - Add to existing mqtt_ros2_bridge_node.py or create new relay node - Unit tests
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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#656
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