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fix: Configurable VESC CAN IDs, default 56/68 (Issue #667) #668

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sl-jetson merged 1 commits from sl-controls/issue-667-configurable-can-ids into main 2026-03-18 07:50:34 -04:00
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sl-jetson commented 2026-03-17 12:32:30 -04:00
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P0: FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all files to make IDs configurable with correct defaults.

Changes

  • vesc_driver_node.py: defaults left=56, right=68
  • vesc_params.yaml: left_motor_id: 56, right_motor_id: 68
  • vesc_telemetry_node.py: defaults 56/68, dynamic topic names /vesc/can_{id}/state
  • vesc_telemetry_params.yaml: 56/68
  • test_vesc_telemetry.py: updated test IDs
  • vesc_odometry_bridge.py: defaults 56/68, dynamic topics, fixed docstrings
  • vesc_odometry_params.yaml: 56/68

Closes #667

P0: FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all files to make IDs configurable with correct defaults. ## Changes - vesc_driver_node.py: defaults left=56, right=68 - vesc_params.yaml: left_motor_id: 56, right_motor_id: 68 - vesc_telemetry_node.py: defaults 56/68, dynamic topic names /vesc/can_{id}/state - vesc_telemetry_params.yaml: 56/68 - test_vesc_telemetry.py: updated test IDs - vesc_odometry_bridge.py: defaults 56/68, dynamic topics, fixed docstrings - vesc_odometry_params.yaml: 56/68 Closes #667
sl-jetson added 1 commit 2026-03-17 12:32:31 -04:00 
FSESC 6.7 Pro Mini Dual uses CAN IDs 56/68, not 61/79. Updates all
driver, telemetry, and odometry bridge files to use correct defaults.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson force-pushed sl-controls/issue-667-configurable-can-ids from 092023a740 to ee16bae9fb 2026-03-18 07:50:26 -04:00 Compare
sl-jetson merged commit cf0ceb4641 into main 2026-03-18 07:50:34 -04:00
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Reference: seb/saltylab-firmware#668
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