The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Provided you are actually using CANopen, you could look at the ros_canopen packages. The canopen_motor_node abstracts CiA 402 devices, by exposing ros_control compatible hardware interfaces (based on what the configured devices support). There are other OSS implementations for ROS and CANopen, but I don't know of any that come with plug-and-play ros_control support.
After you have the ros_control interface configured, things will be similar to how you used the ur_modern_driver (or at least: I'm assuming that's what you meant when you wrote "used ros_control with Universal Robots").
I was looking for tutorials on the wiki page, and didn't find anything of real use.
That doens't surprise me too much, as "I'm creating a custom robot and interfacing with my actuators and sensors using CAN" is apparently not common enough that it warrant(s)(ed) a dedicated tutorial (yet).
It would be nice to add one though.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
