Publish CAN frame on topic

edit

Hi,

I am trying to publish CAN data to a ROS topic. I followed the talker tutorial and am using the suggestion on this question: http://answers.ros.org/question/21364...

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include "socketcan_interface/socketcan.h"
#include "socketcan_interface/threading.h"
#include "socketcan_interface/string.h"

void handleFrames(const can::Frame &f){
    // handle all frames
    LOG(can::tostring(f, true)); // lowercase: true
}
void handleFrame123(const can::Frame &f){
    // handle specific frame
    LOG("123? " << can::tostring(f, true)); // lowercase: true
}

int main(int argc, char **argv)
{
    can::ThreadedSocketCANInterface driver;
    if(!driver.init("can0", false)) return 1; // read own messages: false

    can::CommInterface::FrameListener::Ptr all_frames = driver.createMsgListener(handleFrames);
    can::CommInterface::FrameListener::Ptr one_frame = driver.createMsgListener(can::MsgHeader(0xFF32), handleFrame123); // handle only frames with CAN-ID 0x123

    ros::init(argc, argv, "data_raw");
    ros::NodeHandle n;
    ros::Publisher canbus_pub = n.advertise<std_msgs::String>("canbus", 1000);

    while (ros::ok())
    {
      std_msgs::String msg;
      std::stringstream ss;

      ss << all_frames;
      msg.data = ss.str();
      canbus_pub.publish(msg);

      //ROS_INFO("%s", msg.data.c_str());

      //ROS_INFO("%s", std::cout<<"all_frames is of type: "<<typeid(all_frames).name()<<std::endl);

      ros::spinOnce();
    }

  driver.shutdown();
  return 0;
}

This line LOG(can::tostring(f, true) will print the CAN frame to the console like:

00063200#8000010100000000
00061200#0000010100000000
00063200#8000010100000000
00EF0900#0000000000000000
00061200#0000010100000000
00063200#8000010100000000
00061200#0000010100000000
00063200#8000010100000000

This line canbus_pub.publish(msg) prints to a rostopic canbus but no frame data:

---
data: 0x1e9db80
---
data: 0x1e9db80

How do I get the individual CAN frames to print to the topic?

Thanks,

Matt