seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat: VESC CAN odometry (Issue #646) #649

Merged
sl-jetson merged 1 commits from sl-perception/issue-646-vesc-odometry into main 2026-03-18 07:55:18 -04:00
Conversation 0 Commits 1 Files Changed 1 +5 -5

1 Commits

Author SHA1 Message Date
sl-perception
06101371ff fix: Use correct VESC topic names /vesc/left|right/state (Issue #670) 
- VESCCANOdometryNode subscriptions now use left_state_topic/right_state_topic
  params (defaulting to /vesc/left/state and /vesc/right/state) instead of
  building /vesc/can_<id>/state from CAN IDs — those topics never existed
- Update right_can_id default: 79 → 68 (Mamba F722S architecture update)
- Update vesc_odometry_params.yaml: CAN IDs 61/79 → 56/68; add explicit
  left_state_topic and right_state_topic entries; remove stale can_N comments
- All IDs remain fully configurable via ROS2 params

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-18 07:55:04 -04:00