sl-firmware
b2c9f368f6
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>
28 lines
893 B
Python
28 lines
893 B
Python
from setuptools import setup
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package_name = "saltybot_vesc_telemetry"
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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", ["launch/vesc_telemetry.launch.py"]),
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(f"share/{package_name}/config", ["config/vesc_telemetry_params.yaml"]),
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],
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install_requires=["setuptools", "python-can"],
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zip_safe=True,
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maintainer="sl-firmware",
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maintainer_email="sl-firmware@saltylab.local",
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description="VESC CAN telemetry node for dual FSESC 6.7 Pro",
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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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"vesc_telemetry_node = saltybot_vesc_telemetry.vesc_telemetry_node:main",
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],
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},
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)
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