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nobleo_socketcan_bridge

The packages provides functionality to expose CAN frames from SocketCAN to a ROS Topic.

Overview

Differences between this package and ros2_socketcan

  • 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.

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 in 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

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Simple wrapper around SocketCAN for ROS 2

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