bb35ddd56d
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side) - Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_* - Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py - Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem, decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node - Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py - Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived - Update can_bridge_params.yaml: mamba_can_id → balance_can_id - Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture - Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py - No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
2.1 KiB
Python
51 lines
2.1 KiB
Python
from setuptools import setup
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package_name = "saltybot_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}/launch", [
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"launch/bridge.launch.py",
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"launch/cmd_vel_bridge.launch.py",
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"launch/remote_estop.launch.py",
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"launch/esp32_cmd.launch.py",
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"launch/battery.launch.py",
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"launch/uart_bridge.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/bridge_params.yaml",
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"config/cmd_vel_bridge_params.yaml",
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"config/estop_params.yaml",
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"config/esp32_cmd_params.yaml",
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"config/battery_params.yaml",
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]),
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],
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install_requires=["setuptools", "pyserial"],
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zip_safe=True,
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maintainer="sl-jetson",
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maintainer_email="sl-jetson@saltylab.local",
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description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot", 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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# RX-only telemetry bridge (does not send commands)
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"serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
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# Full bidirectional bridge: telemetry RX + /cmd_vel TX + heartbeat
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"saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main",
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# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
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"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
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"remote_estop_node = saltybot_bridge.remote_estop_node:main",
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# Binary-framed ESP32-S3 command node (Issue #119)
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"esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main", # Battery management node (Issue #125)
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"battery_node = saltybot_bridge.battery_node:main",
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# Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)
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"saltybot_can_node = saltybot_bridge.saltybot_can_node:main",
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],
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},
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)
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