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ROS 2/CAN Bridge

Description

A ROS2 package enabling seamless communication between ROS 2 topics and a CAN bus. This bridge facilitates the translation of ROS 2 messages into CAN frames and vice-versa, allowing you to interact with CAN-based hardware within the ROS 2 ecosystem.

Features

  • Bidirectional Communication: Translates ROS 2 messages to CAN frames and CAN frames to ROS 2 messages.
  • Message Mapping: Offers flexible configuration for mapping ROS 2 topics to specific CAN IDs.
  • Multiple Socket Support: Supports multiple CAN sockets to interface with different CAN buses or devices.

Dependencies

  • ROS 2 (Distribution of your choice)
  • SocketCAN libraries

Installation

  1. Clone this repository into your ROS 2 workspace: 
    cd <your_ros2_workspace>/src
git clone https://github.com/Dragonrock/ros2can_bridge
  2. Build your workspace: 
    cd <your_ros2_workspace>
colcon build
  3. Source your workspace setup: 
     source <your_ros2_workspace>/install/setup.bash

Usage

  1. Launch the bridge: 
    ros2 run ros2can_bridge can_to_ros_node
  2. Customize Mappings: The can_to_ros.hpp file contains mappings for translating between ROS 2 topics and CAN IDs. Edit this file to adjust mappings according to your requirements.

Explanation of Key Code Sections

  • Mapping Dictionaries:

    • can_id_mapping: Maps CAN IDs to ROS 2 topics and their corresponding message types.
    • can_id_socket_mapping: Maps CAN IDs to specific CAN sockets, allowing for management of multiple CAN interfaces.

  • readCanFrameZero( ) and readCanFrameOne():

    • Functions that run in separate threads, each reading data from a dedicated CAN socket.
    • Incoming CAN frames are processed and translated to ROS 2 messages by the translateRosMsg function.

  • translateRosMsg( ):

    • Translates CAN frames into their corresponding ROS 2 messages based on the can_id_mapping.
    • Publishes the translated messages onto the appropriate ROS 2 topics.

  • readRosTopics ( ):

    • Subscribes to ROS 2 topics.
    • Calls the translatetoCan function to convert ROS 2 messages back into CAN frames.

  • translatetoCan( ):

    • Converts ROS 2 messages into CAN frames using the can_id_mapping.
    • Sends the CAN frame on the appropriate socket based on the can_id_socket_mapping.

License

This project is licensed under the MIT License