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ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

Provides nodes to convert messages from SocketCAN to a ROS Topic and vice versa.

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

Provides nodes to convert messages from SocketCAN to a ROS Topic and vice versa.

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

Conversion nodes for messages from SocketCAN to a ROS Topic and vice versa.

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

Conversion nodes for messages from SocketCAN to a ROS Topic and vice versa.

Overview

The packages provides functionality to expose CAN frames from SocketCAN to a ROS Topic. Internally it uses the socketcan_interface from the ros_canopen package, as such it is capable of dealing with both normal and extended CAN frames. For more information and hardware related information see socketcan_interface.

Nodes

The functionality is offered in the form of three nodes: socketcan_bridge_node, socketcan_to_topic_node and topic_to_socketcan_node. To receive frames from and sent frames to the same CAN device, the socketcan_bridge_node needs to be used to prevent every sent message from being echoed to the receiving topic.

socketcan_bridge_node

Receives frames from SocketCAN devices and publishes these on the topic, at the same time it listens to CAN messages and sends these to SocketCAN. The frames that are sent to the CAN device are not published as received messages.

Subscribed Topics

sent_messages (can_msgs/Frame)

Published Topics

received_messages (can_msgs/Frame)

Parameters

~can_device (string, default: can0)

socketcan_to_topic_node

Publishes the frames received on the SocketCAN device to a topic.

Published Topics

received_messages (can_msgs/Frame)

Parameters

~can_device (string, default: can0)

topic_to_socketcan_node

Sends CAN messages received on the topic to the SocketCAN device.

Subscribed Topics

sent_messages (can_msgs/Frame)

Parameters

~can_device (string, default: can0)

Remarks

Several aspects to take into account:


2019-05-25 13:21