Initial implementation

.github/workflows/industrial_ci_action.yml

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+# Copyright (C) 2024 Nobleo Technology B.V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO:
+          - humble
+          - iron
+        ROS_REPO:
+          - main
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}

CMakeLists.txt

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+# Copyright (C) 2024 Nobleo Technology B.V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.8)
+project(ros2_socketcan_bridge)
+
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD 20)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(can_msgs REQUIRED)
+find_package(fmt REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+
+add_library(socketcan_bridge_component
+  src/socketcan_bridge.cpp
+  src/socketcan_bridge_node.cpp
+)
+target_include_directories(socketcan_bridge_component PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(socketcan_bridge_component
+  can_msgs
+  rclcpp
+  rclcpp_components
+)
+target_link_libraries(socketcan_bridge_component fmt::fmt)
+
+rclcpp_components_register_node(
+    socketcan_bridge_component
+    PLUGIN "ros2_socketcan_bridge::SocketCanBridgeNode"
+    EXECUTABLE socketcan_bridge
+)
+
+install(
+  TARGETS socketcan_bridge_component
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# EventsExecutor is supported from rclcpp version 21 or greater (iron)
+if(rclcpp_VERSION_MAJOR GREATER_EQUAL 21)
+  message(STATUS "EventsExecutor support enabled")
+  add_executable(socketcan_bridge_ee src/socketcan_bridge_ee.cpp)
+  target_link_libraries(socketcan_bridge_ee socketcan_bridge_component)
+
+  install(TARGETS socketcan_bridge_ee
+    DESTINATION lib/${PROJECT_NAME}
+  )
+else()
+  message(STATUS "EventsExecutor support disabled")
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  socketcan_bridge_component
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_package()

README.md

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-# nobleo_socketcan_bridge
-Simple wrapper around SocketCAN
+<!--
+Copyright (C) 2024 Nobleo Technology B.V.
+
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# ros2_socketcan_bridge
+
+This package provides functionality to expose CAN frames from SocketCAN to ROS2 topics.
+
+## Overview
+
+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 runs a bit more efficient.
+
+### socketcan_bridge
+
+#### Subscribed Topics
+
+* `~/tx` ([can_msgs/Frame])
+  Messages received here will be sent to the SocketCAN device.
+
+#### Published Topics
+
+* `~/rx` ([can_msgs/Frame])
+  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

include/ros2_socketcan_bridge/socketcan_bridge.hpp

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+// Copyright (C) 2024 Nobleo Technology B.V.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <string>
+#include <thread>
+
+#include "can_msgs/msg/frame.hpp"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/logger.hpp"
+
+namespace rclcpp
+{
+class Node;
+class Clock;
+}  // namespace rclcpp
+
+namespace ros2_socketcan_bridge
+{
+class SocketCanBridge
+{
+public:
+  using CanCallback = std::function<void(const can_msgs::msg::Frame &)>;
+
+  SocketCanBridge(
+    const rclcpp::Logger & logger, rclcpp::Clock::SharedPtr clock, const std::string & interface,
+    double read_timeout, const CanCallback & receive_callback);
+
+  ~SocketCanBridge() { close(); }
+
+  SocketCanBridge(const SocketCanBridge &) = delete;
+  SocketCanBridge(SocketCanBridge &&) noexcept = delete;
+  SocketCanBridge & operator=(const SocketCanBridge & other) = delete;
+  SocketCanBridge & operator=(SocketCanBridge && other) noexcept = delete;
+
+  void send(const can_msgs::msg::Frame & msg);
+
+  void close();
+
+private:
+  void receive_loop(std::stop_token stoken);
+
+  rclcpp::Logger logger_;
+  rclcpp::Clock::SharedPtr clock_;
+  int socket_;
+  CanCallback receive_callback_;
+  std::jthread receive_thread_;
+};
+
+}  // namespace ros2_socketcan_bridge

include/ros2_socketcan_bridge/socketcan_bridge_node.hpp

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+// Copyright (C) 2024 Nobleo Technology B.V.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "rclcpp/node.hpp"
+#include "ros2_socketcan_bridge/socketcan_bridge.hpp"
+
+namespace ros2_socketcan_bridge
+{
+class SocketCanBridgeNode : public rclcpp::Node
+{
+public:
+  explicit SocketCanBridgeNode(const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Publisher<can_msgs::msg::Frame>::SharedPtr can_pub;
+  SocketCanBridge bridge;
+  rclcpp::Subscription<can_msgs::msg::Frame>::SharedPtr can_sub;
+};
+}  // namespace ros2_socketcan_bridge

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+
+<!--
+Copyright (C) 2024 Nobleo Technology B.V.
+
+SPDX-License-Identifier: Apache-2.0
+-->
+
+<package format="3">
+  <name>ros2_socketcan_bridge</name>
+  <version>0.0.0</version>
+  <description>Simple wrapper around SocketCAN</description>
+  <maintainer email="[email protected]">Ramon Wijnands</maintainer>
+  <license>TODO: License declaration</license>
+  <author email="[email protected]">Ramon Wijnands</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ament_cmake_ros</depend>
+  <depend>can_msgs</depend>
+  <depend>fmt</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <!-- Linters -->
+  <test_depend>ament_cmake_clang_format</test_depend>
+  <!-- <test_depend>ament_cmake_clang_tidy</test_depend> -->
+  <!-- <test_depend>ament_cmake_copyright</test_depend> -->
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>