saltylab-firmware/setup.cfg at ca0098a403bb6311e47d270ae131356a12bc7a8c - saltylab-firmware - Gitea: Git with a cup of tea

seb/saltylab-firmware

sl-firmware b2c9f368f6 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>

2026-03-17 09:53:09 -04:00

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 [develop]
 script_dir=$base/lib/saltybot_vesc_telemetry
 [install]
 install_scripts=$base/lib/saltybot_vesc_telemetry