sl-perception
d8b25bad77
Replace single-motor vesc_odometry_bridge with dual-CAN differential drive odometry for left (CAN 61) and right (CAN 79) VESC motors. New files: - diff_drive_odom.py: pure-Python kinematics (eRPM→wheel vel, exact arc integration, heading wrap), no ROS deps, fully unit-tested - test/test_vesc_odometry.py: 20 unit tests (straight, arc, spin, invert_right, guard conditions) — all pass - config/vesc_odometry_params.yaml: configurable wheel_radius, wheel_separation, motor_poles, invert_right, covariance tuning Updated: - vesc_odometry_bridge.py: rewritten as VESCCANOdometryNode; subscribes to /vesc/can_61/state and /vesc/can_79/state (std_msgs/String JSON); publishes /odom and /saltybot/wheel_odom (nav_msgs/Odometry) + TF odom→base_link with proper 6×6 covariance matrices - odometry_bridge.launch.py: updated to launch vesc_can_odometry with vesc_odometry_params.yaml - setup.py: added vesc_can_odometry entry point + config install - pose_fusion_node.py: added optional wheel_odom_topic subscriber that feeds DiffDriveOdometry velocities into EKF via update_vo_velocity - pose_fusion_params.yaml: added use_wheel_odom, wheel_odom_topic, sigma_wheel_vel_m_s, sigma_wheel_omega_r_s parameters Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>