sl-jetson
92c0628c62
Adds slcan setup script and saltybot_can_bridge ROS2 package implementing
full CAN bus integration between the Orin and the Mamba motor controller /
VESC motor controllers via a CANable 2.0 USB dongle (slcan interface).
- jetson/scripts/setup_can.sh: slcand-based bring-up/tear-down for slcan0
at 500 kbps with error handling (already up, device missing, retry)
- saltybot_can_bridge/mamba_protocol.py: CAN message ID constants and
encode/decode helpers for velocity, mode, e-stop, IMU, battery, VESC state
- saltybot_can_bridge/can_bridge_node.py: ROS2 node subscribing to /cmd_vel
and /estop, publishing /can/imu, /can/battery, /can/vesc/{left,right}/state
and /can/connection_status; background reader thread, watchdog zero-vel,
auto-reconnect every 5 s on CAN error
- config/can_bridge_params.yaml: default params (slcan0, VESC IDs 56/68,
Mamba ID 1, 0.5 s command timeout)
- test/test_can_bridge.py: 30 unit tests covering encode/decode round-trips
and edge cases — all pass without ROS2 or CAN hardware
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
36 lines
1.3 KiB
XML
36 lines
1.3 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_can_bridge</name>
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<version>0.1.0</version>
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<description>
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CAN bus bridge for SaltyBot Orin — interfaces with the Mamba motor
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controller and VESC motor controllers via CANable 2.0 (slcan interface).
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Publishes IMU, battery, and VESC telemetry to ROS2 topics and forwards
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cmd_vel / estop commands to the CAN bus.
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System dependency: python3-can (apt: python3-can or pip: python-can)
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<!-- python-can: install via apt install python3-can or pip install python-can -->
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<exec_depend>python3-can</exec_depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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