sl-jetson
92c0628c62
Adds slcan setup script and saltybot_can_bridge ROS2 package implementing
full CAN bus integration between the Orin and the Mamba motor controller /
VESC motor controllers via a CANable 2.0 USB dongle (slcan interface).
- jetson/scripts/setup_can.sh: slcand-based bring-up/tear-down for slcan0
at 500 kbps with error handling (already up, device missing, retry)
- saltybot_can_bridge/mamba_protocol.py: CAN message ID constants and
encode/decode helpers for velocity, mode, e-stop, IMU, battery, VESC state
- saltybot_can_bridge/can_bridge_node.py: ROS2 node subscribing to /cmd_vel
and /estop, publishing /can/imu, /can/battery, /can/vesc/{left,right}/state
and /can/connection_status; background reader thread, watchdog zero-vel,
auto-reconnect every 5 s on CAN error
- config/can_bridge_params.yaml: default params (slcan0, VESC IDs 56/68,
Mamba ID 1, 0.5 s command timeout)
- test/test_can_bridge.py: 30 unit tests covering encode/decode round-trips
and edge cases — all pass without ROS2 or CAN hardware
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
27 lines
802 B
Python
27 lines
802 B
Python
from setuptools import setup
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package_name = "saltybot_can_bridge"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/config", ["config/can_bridge_params.yaml"]),
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],
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install_requires=["setuptools", "python-can"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description="CAN bus bridge for Mamba controller and VESC telemetry",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"can_bridge_node = saltybot_can_bridge.can_bridge_node:main",
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],
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},
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)
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