The packages provides functionality to expose CAN frames from SocketCAN to a ROS Topic.
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
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.
~/tx
(can_msgs/Frame) Messages received here will be sent to the SocketCAN device.
~/rx
(can_msgs/Frame) Frames received on the SocketCAN device are published in this topic.
-
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