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

Merged
sl-jetson merged 1 commits from sl-controls/issue-667-configurable-can-ids into main 2026-03-18 07:50:34 -04:00
Conversation 0 Commits 1 Files Changed 7 +32 -31
7 changed files with 32 additions and 31 deletions
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2
jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
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@ -2,7 +2,7 @@ vesc_can_odometry:
ros__parameters:
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
left_can_id: 56 # left motor VESC CAN ID
right_can_id: 79 # right motor VESC CAN ID
right_can_id: 68 # right motor VESC CAN ID
# ── State topic names (must match what telemetry publishes) ───────────────
left_state_topic: /vesc/left/state

5
jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py
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@ -3,7 +3,8 @@
vesc_odometry_bridge.py — Differential drive odometry from dual VESC CAN motors (Issue #646).
Subscribes to per-motor VESC telemetry topics (configurable, defaulting to
/vesc/left/state and /vesc/right/state as published by the telemetry node),
/vesc/left/state and /vesc/right/state as published by the telemetry node)
for CAN IDs 56 (left) and 68 (right),
applies differential drive kinematics via DiffDriveOdometry, and publishes:
/odom nav_msgs/Odometry — consumed by Nav2 / slam_toolbox
@ -57,7 +58,7 @@ class VESCCANOdometryNode(Node):
# ── Parameters ────────────────────────────────────────────────────────
self.declare_parameter("left_can_id", 56) # CAN ID for left motor
self.declare_parameter("right_can_id", 79) # CAN ID for right motor
self.declare_parameter("right_can_id", 68) # CAN ID for right motor
# Configurable state topic names — default to the names telemetry publishes
self.declare_parameter("left_state_topic", "/vesc/left/state")
self.declare_parameter("right_state_topic", "/vesc/right/state")

4
jetson/ros2_ws/src/saltybot_vesc_driver/config/vesc_params.yaml
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@ -2,8 +2,8 @@ vesc_can_driver:
ros__parameters:
interface: can0
bitrate: 500000
left_motor_id: 61
right_motor_id: 79
left_motor_id: 56
right_motor_id: 68
wheel_separation: 0.5
wheel_radius: 0.1
max_speed: 5.0

4
jetson/ros2_ws/src/saltybot_vesc_driver/saltybot_vesc_driver/vesc_driver_node.py
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@ -95,8 +95,8 @@ class VescCanDriver(Node):
# Declare parameters
self.declare_parameter('interface', 'can0')
self.declare_parameter('left_motor_id', 61)
self.declare_parameter('right_motor_id', 79)
self.declare_parameter('left_motor_id', 56)
self.declare_parameter('right_motor_id', 68)
self.declare_parameter('wheel_separation', 0.5)
self.declare_parameter('wheel_radius', 0.1)
self.declare_parameter('max_speed', 5.0)

8
jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml
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@ -7,10 +7,10 @@ vesc_telemetry:
can_interface: "can0"
# CAN IDs assigned to each VESC in VESC Tool
# Left motor VESC: ID 61 (0x3D)
# Right motor VESC: ID 79 (0x4F)
left_can_id: 61
right_can_id: 79
# Left motor VESC: ID 56 (0x38)
# Right motor VESC: ID 68 (0x44)
left_can_id: 56
right_can_id: 68
# This node's CAN ID used as sender_id in GET_VALUES requests (0-127)
sender_can_id: 127

8
jetson/ros2_ws/src/saltybot_vesc_telemetry/saltybot_vesc_telemetry/vesc_telemetry_node.py
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@ -15,8 +15,8 @@ Published topics
Parameters
----------
can_interface str 'can0' SocketCAN interface
left_can_id int 61 CAN ID of left VESC
right_can_id int 79 CAN ID of right VESC
left_can_id int 56 CAN ID of left VESC
right_can_id int 68 CAN ID of right VESC
poll_rate_hz int 20 Publish + request rate (10-50 Hz)
sender_can_id int 127 This node's CAN ID
overcurrent_threshold_a float 60.0 Fault alert threshold (A)
@ -62,8 +62,8 @@ class VescTelemetryNode(Node):
# Parameters
# ----------------------------------------------------------------
self.declare_parameter("can_interface", "can0")
self.declare_parameter("left_can_id", 61)
self.declare_parameter("right_can_id", 79)
self.declare_parameter("left_can_id", 56)
self.declare_parameter("right_can_id", 68)
self.declare_parameter("poll_rate_hz", 20)
self.declare_parameter("sender_can_id", 127)
self.declare_parameter("overcurrent_threshold_a", 60.0)

32
jetson/ros2_ws/src/saltybot_vesc_telemetry/test/test_vesc_telemetry.py
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@ -141,29 +141,29 @@ class TestParseStatus5:
class TestMakeGetValuesRequest:
def test_arb_id_encodes_packet_type_and_target(self):
arb_id, payload = make_get_values_request(sender_id=127, target_id=61)
expected_arb = (CAN_PACKET_PROCESS_SHORT_BUFFER << 8) | 61
arb_id, payload = make_get_values_request(sender_id=127, target_id=56)
expected_arb = (CAN_PACKET_PROCESS_SHORT_BUFFER << 8) | 56
assert arb_id == expected_arb
def test_payload_contains_sender_command(self):
_, payload = make_get_values_request(sender_id=127, target_id=61)
_, payload = make_get_values_request(sender_id=127, target_id=56)
assert len(payload) == 3
assert payload[0] == 127 # sender_id
assert payload[1] == 0x00 # send_mode
assert payload[2] == COMM_GET_VALUES
def test_right_vesc(self):
arb_id, payload = make_get_values_request(sender_id=127, target_id=79)
assert (arb_id & 0xFF) == 79
arb_id, payload = make_get_values_request(sender_id=127, target_id=68)
assert (arb_id & 0xFF) == 68
assert payload[2] == COMM_GET_VALUES
def test_sender_id_in_payload(self):
_, payload = make_get_values_request(sender_id=42, target_id=61)
_, payload = make_get_values_request(sender_id=42, target_id=56)
assert payload[0] == 42
def test_arb_id_is_extended(self):
# Extended IDs can exceed 0x7FF (11-bit limit)
arb_id, _ = make_get_values_request(127, 61)
arb_id, _ = make_get_values_request(127, 56)
assert arb_id > 0x7FF
@ -173,7 +173,7 @@ class TestMakeGetValuesRequest:
class TestVescState:
def test_defaults(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
assert s.rpm == 0
assert s.current_a == pytest.approx(0.0)
assert s.voltage_v == pytest.approx(0.0)
@ -181,42 +181,42 @@ class TestVescState:
assert s.has_fault is False
def test_is_alive_fresh(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.last_status_ts = time.monotonic()
assert s.is_alive is True
def test_is_alive_stale(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.last_status_ts = time.monotonic() - 2.0 # 2 s ago > 1 s timeout
assert s.is_alive is False
def test_is_alive_never_received(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
# last_status_ts defaults to 0.0 — monotonic() will be >> 1 s
assert s.is_alive is False
def test_has_fault_true(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.fault_code = FAULT_CODE_ABS_OVER_CURRENT
assert s.has_fault is True
def test_has_fault_false_on_none(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.fault_code = FAULT_CODE_NONE
assert s.has_fault is False
def test_fault_name_known(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.fault_code = FAULT_CODE_OVER_TEMP_FET
assert s.fault_name == "OVER_TEMP_FET"
def test_fault_name_unknown(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
s.fault_code = 99
assert "UNKNOWN" in s.fault_name
def test_fault_name_none(self):
s = VescState(can_id=61)
s = VescState(can_id=56)
assert s.fault_name == "NONE"