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

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sl-jetson merged 1 commits from sl-perception/issue-646-vesc-odometry into main 2026-03-18 07:55:18 -04:00
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jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
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vesc_can_odometry:
ros__parameters:
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
left_can_id: 56 # left motor VESC CAN ID
right_can_id: 68 # right motor VESC CAN ID
left_can_id: 56 # left motor VESC CAN ID (Mamba F722S)
right_can_id: 68 # right motor VESC CAN ID (Mamba F722S)
# ── State topic names (must match what telemetry publishes) ───────────────
left_state_topic: /vesc/left/state
right_state_topic: /vesc/right/state
# ── State topic names (must match VESC telemetry publisher) ──────────────
left_state_topic: /vesc/left/state
right_state_topic: /vesc/right/state
# ── Drive geometry ───────────────────────────────────────────────────────
wheel_radius: 0.10 # wheel radius (m)