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sl-controls a11722e872 feat: Implement VESC UART driver node (Issue #383 )

ROS2 driver for Flipsky FSESC 4.20 Plus (VESC dual ESC) motor control.
Replaces hoverboard ESC communication with pyvesc library.

Features:
- UART serial communication (configurable port/baud)
- Dual command modes: duty_cycle (-100 to 100) and RPM setpoint
- Telemetry publishing: voltage, current, RPM, temperature, fault codes
- Command timeout: auto-zero throttle if no cmd_vel received
- Heartbeat-based connection management
- Comprehensive error handling and logging

Topics:
- Subscribe: /cmd_vel (geometry_msgs/Twist)
- Publish: /vesc/state (JSON telemetry)
- Publish: /vesc/raw_telemetry (debug)

Launch: ros2 launch saltybot_vesc_driver vesc_driver.launch.py
Config: config/vesc_params.yaml

Next phase: Integrate with cmd_vel_mux + safety layer.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-04 07:05:46 -05:00

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2026-03-02 08:50:22 -05:00

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docs

docs: add Leap Motion, fix ESC step inset 12mm