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End-to-end CAN integration test — Orin↔Mamba↔VESC full loop #695

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opened 2026-03-20 16:18:21 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-20 16:18:21 -04:00
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Create integration test suite verifying the full CAN pipeline: Orin sends DRIVE command → Mamba receives via orin_can → forwards to VESC via vesc_can → VESC status returns → Mamba broadcasts FC_VESC → Orin receives via saltybot_can_node. Test heartbeat timeout, e-stop, and mode switching. All CAN pieces merged individually but never tested end-to-end.

Create integration test suite verifying the full CAN pipeline: Orin sends DRIVE command → Mamba receives via orin_can → forwards to VESC via vesc_can → VESC status returns → Mamba broadcasts FC_VESC → Orin receives via saltybot_can_node. Test heartbeat timeout, e-stop, and mode switching. All CAN pieces merged individually but never tested end-to-end.
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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#695
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