What are ROS packages suited to communicate to drivers via a usb/can cable?

asked 2014-06-25 03:58:08 -0600

ken
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Hi, I have to make a ROS interface for interactive robot arm with several actuators that communicate via a CAN bus. I watched tutorials on ROS and I do not know what package or software installed that would be best suited to my problem.

The objective is to make a linux software (by the principle of the programmation ROS) that gives the ability to send and receive commands to actuators connected to a CAN bus. I use a USB / CAN cable that goes from my PC to the CAN bus. On the other hand I have very little time to do this software and to test it(1 and a half months).

Thank you in advance for your assumptions and your possible explanations.

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answered 2014-06-25 09:20:48 -0600

Kurt Leucht

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This might help:

http://answers.ros.org/question/12309...

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Thanks! I'll check it out as soon as I've finished the ROS Tutorials.

ken ( 2014-06-26 03:28:22 -0600 )edit

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answered 2014-07-02 07:19:43 -0600

ken
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Ok. First; If I understand well, the package "cob_base_drive_chain" enables me to detect the connection of a can bus line. Then If I want to test the communication with one element plugged in the can bus, I have to implement a can-node to send commands: here, you were inspired by the file "cansend.c " that you found in the can-utils of your machine? I have a second question: I use a elmo driver and a motor brushless. Where can I find the can-utils of my machine? In the driver's documentation I suppose? I thank you for your help

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can-utils is a generic CAN utility for Linux. It may or may not be on your machine. It's on the Internet though: https://gitorious.org/linux-can/can-utils/source/67a2bdcd336e6becfa5784742e18c88dbeddc973

Kurt Leucht ( 2014-07-03 14:11:01 -0600 )edit

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What are ROS packages suited to communicate to drivers via a usb/can cable?

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