feat: VESC CAN telemetry for dual motors (Issue #645)
New saltybot_vesc_telemetry ROS2 package — SocketCAN (python-can, can0)
telemetry for dual FSESC 6.7 Pro (FW 6.6) on CAN IDs 61 (left) and 79 (right).
- vesc_can_protocol.py: STATUS/STATUS_4/STATUS_5 frame parsers, VescState
dataclass, GET_VALUES request builder (CAN_PACKET_PROCESS_SHORT_BUFFER)
- vesc_telemetry_node.py: ROS2 node; background CAN RX thread; publishes
/vesc/left/state, /vesc/right/state, /vesc/combined (JSON String msgs),
/diagnostics (DiagnosticArray); overcurrent/overtemp/fault alerting;
configurable poll rate 10-50 Hz (default 20 Hz)
- test_vesc_telemetry.py: 31 unit tests, all passing (no ROS/CAN required)
- config/vesc_telemetry_params.yaml, launch file
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-firmware
b2c9f368f6