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feat: VESC CAN health monitor (Issue #651) #666

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sl-jetson merged 1 commits from sl-jetson/issue-651-vesc-health into main 2026-03-18 08:03:32 -04:00
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2 changed files with 30 additions and 0 deletions
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8
ui/dashboard.js
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@ -21,6 +21,7 @@ const PANELS = [
{ id: 'events', watchTopic: '/rosout', msgType: 'rcl_interfaces/msg/Log' },
{ id: 'settings', watchTopic: null, msgType: null }, // service-based
{ id: 'gimbal', watchTopic: '/gimbal/state', msgType: 'geometry_msgs/Vector3' },
{ id: 'can', watchTopic: '/vesc/left/state', msgType: 'std_msgs/String' },
];
// ── State ──────────────────────────────────────────────────────────────────
@ -180,6 +181,13 @@ function setupTopics() {
});
gimbalTopic.subscribe(() => { markPanelLive('gimbal'); });
// ── VESC left state (for CAN monitor card liveness) ──
const vescWatch = new ROSLIB.Topic({
ros, name: '/vesc/left/state',
messageType: 'std_msgs/String', throttle_rate: 1000,
});
vescWatch.subscribe(() => { markPanelLive('can'); });
// ── cmd_vel monitor (for gamepad card liveness) ──
const cmdVelWatch = new ROSLIB.Topic({
ros, name: '/cmd_vel',

22
ui/index.html
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@ -193,6 +193,28 @@
</div>
</a>
<a class="panel-card" href="can_monitor_panel.html" data-panel="can">
<div class="card-header">
<div class="card-icon" style="color:#06b6d4">📡</div>
<div>
<div class="card-title">CAN MONITOR</div>
<div class="card-sub">#681</div>
</div>
<div class="card-dot" id="dot-can"></div>
</div>
<div class="card-desc">VESC L/R RPM · current · temps · voltage · IMU pitch/roll/yaw · balance PID · barometer</div>
<div class="card-topics">
<code>/vesc/left/state</code>
<code>/vesc/right/state</code>
<code>/saltybot/imu</code>
<code>/saltybot/balance_state</code>
</div>
<div class="card-footer">
<span class="card-status" id="status-can">OFFLINE</span>
<span class="card-msg" id="msg-can">No data</span>
</div>
</a>
<a class="panel-card" href="gimbal_panel.html" data-panel="gimbal">
<div class="card-header">
<div class="card-icon" style="color:#f97316">🎥</div>