From fd1d634581665e98654cf883c9e10ac973ceba59 Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Tue, 30 Apr 2024 17:00:03 +0200 Subject: [PATCH] Finishing up the README --- README.md | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index c7b6d83..fa0a435 100644 --- a/README.md +++ b/README.md @@ -5,18 +5,23 @@ SPDX-License-Identifier: Apache-2.0 --> # ros2_socketcan_bridge -The packages provides functionality to expose CAN frames from SocketCAN to a ROS Topic. + +This package provides functionality to expose CAN frames from SocketCAN to ROS2 topics. ## Overview -Differences between this package and `ros2_socketcan` + +This is a from-scratch re-implementation of [socketcan_bridge] from ROS1. +There is a different ROS2 package [ros2_socketcan] which is similar to this package. +The differences between this package and [ros2_socketcan] are: - No loopback, i.e. CAN frames that are send are not received by the same node - No lifecycle management, just run it - Less CPU usage ## Nodes + The main node (`socketcan_bridge`) is also available as dynamically loadable component. -The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` that run a bit more efficient. +The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` that runs a bit more efficient. ### socketcan_bridge @@ -26,15 +31,19 @@ The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` t Messages received here will be sent to the SocketCAN device. #### Published Topics + * `~/rx` ([can_msgs/Frame]) - Frames received on the SocketCAN device are published in this topic. + Frames received on the SocketCAN device are published on this topic. #### Parameters * `interface` Name of the SocketCAN device, by default these devices are named can0 and upwards. - * `read_timeout` Maximum duration to wait for data on the file descriptor [can_msgs/Frame]: https://github.com/ros-industrial/ros_canopen/blob/dashing-devel/can_msgs/msg/Frame.msg + +[socketcan_bridge]: https://wiki.ros.org/socketcan_bridge + +[ros2_socketcan]: https://github.com/autowarefoundation/ros2_socketcan \ No newline at end of file