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sl-perception 9d6c72bd24 feat: Here4 GPS DroneCAN integration via CANable2 (bd-p47c)

Implements saltybot_dronecan_gps ROS2 package — DroneCAN/UAVCAN v0
bridge that publishes Here4 GPS, IMU, magnetometer, and barometer data
to ROS2. CANable2 freed from ESP32 BALANCE comms (bd-wim1) now runs
Here4 at 1 Mbps DroneCAN.

Key features:
- dronecan_parser.py: pure-Python DSDL converters (Fix2, RawIMU, Mag,
  StaticPressure, StaticTemperature, NodeStatus, RTCMStream chunks),
  testable without dronecan library or CAN hardware
- here4_node.py: ROS2 node, auto-discovers Here4 node ID on first Fix2,
  publishes /gps/fix + /gps/velocity for navsat_transform EKF fusion,
  HDOP-based NavSatStatus upgrade (RTK/SBAS), RTCM injection via
  /rtcm (ByteMultiArray) or /rtcm_hex (String hex fallback)
- 39 unit tests, all passing
- bring_up_can:=true parameter to configure SocketCAN at launch

Resolves bd-p47c

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-17 21:49:00 -04:00

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