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>
127 lines
4.5 KiB
Bash
Executable File
127 lines
4.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# setup_can.sh — Bring up CANable 2.0 (slcan/ttyACM0) as slcan0 at 500 kbps
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# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
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#
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# This script uses slcand to expose the CANable 2.0 (USB CDC / slcan firmware)
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# as a SocketCAN interface. It is NOT used for the gs_usb (native SocketCAN)
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# firmware variant — use jetson/scripts/can_setup.sh for that.
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#
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# Usage:
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# sudo ./setup_can.sh # bring up slcan0
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# sudo ./setup_can.sh down # bring down slcan0 and kill slcand
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# sudo ./setup_can.sh verify # candump one-shot check (Ctrl-C to stop)
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#
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# Environment overrides:
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# CAN_DEVICE — serial device (default: /dev/ttyACM0)
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# CAN_IFACE — SocketCAN name (default: slcan0)
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# CAN_BITRATE — bit rate (default: 500000)
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#
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# Mamba CAN ID: 1 (0x001)
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# VESC left: 56 (0x038)
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# VESC right: 68 (0x044)
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set -euo pipefail
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DEVICE="${CAN_DEVICE:-/dev/ttyACM0}"
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IFACE="${CAN_IFACE:-slcan0}"
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BITRATE="${CAN_BITRATE:-500000}"
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log() { echo "[setup_can] $*"; }
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warn() { echo "[setup_can] WARNING: $*" >&2; }
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die() { echo "[setup_can] ERROR: $*" >&2; exit 1; }
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# Map numeric bitrate to slcand -s flag (0-8 map to standard CAN speeds)
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bitrate_flag() {
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case "$1" in
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10000) echo "0" ;;
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20000) echo "1" ;;
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50000) echo "2" ;;
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100000) echo "3" ;;
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125000) echo "4" ;;
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250000) echo "5" ;;
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500000) echo "6" ;;
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800000) echo "7" ;;
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1000000) echo "8" ;;
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*) die "Unsupported bitrate: $1 (choose 10k–1M)" ;;
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esac
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}
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# ── up ─────────────────────────────────────────────────────────────────────
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cmd_up() {
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# Verify serial device is present
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if [[ ! -c "$DEVICE" ]]; then
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die "$DEVICE not found — is CANable 2.0 plugged in?"
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fi
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# If interface already exists, leave it alone
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if ip link show "$IFACE" &>/dev/null; then
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log "$IFACE is already up — nothing to do."
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ip -details link show "$IFACE"
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return 0
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fi
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local sflag
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sflag=$(bitrate_flag "$BITRATE")
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log "Starting slcand on $DEVICE → $IFACE at ${BITRATE} bps (flag -s${sflag}) …"
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# -o open device, -c close on exit, -f forced, -s<N> speed, -S<baud> serial baud
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slcand -o -c -f -s"${sflag}" -S 3000000 "$DEVICE" "$IFACE" \
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|| die "slcand failed to start"
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# Give slcand a moment to create the netdev
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local retries=0
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while ! ip link show "$IFACE" &>/dev/null; do
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retries=$((retries + 1))
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if [[ $retries -ge 10 ]]; then
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die "Timed out waiting for $IFACE to appear after slcand start"
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fi
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sleep 0.2
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done
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log "Bringing up $IFACE …"
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ip link set "$IFACE" up \
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|| die "ip link set $IFACE up failed"
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log "$IFACE is up."
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ip -details link show "$IFACE"
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}
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# ── down ───────────────────────────────────────────────────────────────────
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cmd_down() {
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log "Bringing down $IFACE …"
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if ip link show "$IFACE" &>/dev/null; then
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ip link set "$IFACE" down || warn "Could not set $IFACE down"
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else
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warn "$IFACE not found — already down?"
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fi
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# Kill any running slcand instances bound to our device
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if pgrep -f "slcand.*${DEVICE}" &>/dev/null; then
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log "Stopping slcand for $DEVICE …"
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pkill -f "slcand.*${DEVICE}" || warn "pkill returned non-zero"
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fi
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log "Done."
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}
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# ── verify ─────────────────────────────────────────────────────────────────
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cmd_verify() {
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if ! ip link show "$IFACE" &>/dev/null; then
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die "$IFACE is not up — run '$0 up' first"
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fi
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log "Listening on $IFACE — expecting frames from Mamba (0x001), VESC left (0x038), VESC right (0x044)"
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log "Press Ctrl-C to stop."
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exec candump "$IFACE"
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}
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# ── main ───────────────────────────────────────────────────────────────────
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CMD="${1:-up}"
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case "$CMD" in
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up) cmd_up ;;
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down) cmd_down ;;
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verify) cmd_verify ;;
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*)
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echo "Usage: $0 [up|down|verify]"
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exit 1
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;;
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esac
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