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Fix sl-perception PR #649 hardcoded CAN ID 61/79 topic subscriptions #670

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opened 2026-03-17 15:16:25 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 15:16:25 -04:00
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Problem

PR #649 (VESC CAN odometry, branch sl-perception/issue-646-vesc-odometry) subscribes to:

  • /vesc/can_61/state
  • /vesc/can_79/state

These are the OLD motor IDs. Correct VESC CAN IDs are 56 and 68. The telemetry node publishes to /vesc/left/state and /vesc/right/state (not CAN ID-based topics).

Fix

Update VESCCANOdometryNode to:

  1. Subscribe to /vesc/left/state and /vesc/right/state (matching telemetry publisher)
  2. Make topic names configurable via ROS2 params
  3. Rebase onto latest main (which has correct 56/68 defaults)

Architecture Context

VESC CAN IDs: 56 and 68 (FSESC 6.7 Pro Mini Dual). Mamba F722S runs the balance PID loop. All CAN IDs must be configurable.

Priority: P1 — PR #649 will not work as-is

## Problem PR #649 (VESC CAN odometry, branch sl-perception/issue-646-vesc-odometry) subscribes to: - /vesc/can_61/state - /vesc/can_79/state These are the OLD motor IDs. Correct VESC CAN IDs are 56 and 68. The telemetry node publishes to /vesc/left/state and /vesc/right/state (not CAN ID-based topics). ## Fix Update VESCCANOdometryNode to: 1. Subscribe to /vesc/left/state and /vesc/right/state (matching telemetry publisher) 2. Make topic names configurable via ROS2 params 3. Rebase onto latest main (which has correct 56/68 defaults) ## Architecture Context VESC CAN IDs: 56 and 68 (FSESC 6.7 Pro Mini Dual). Mamba F722S runs the balance PID loop. All CAN IDs must be configurable. Priority: P1 — PR #649 will not work as-is
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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#670
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