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How Feasible is integrating ROS with a CAN Bus?

asked 2016-10-26 12:06:31 -0600

radix07 gravatar image

I am pretty new to ROS, but I am have troubles finding any useful info about the CAN Bus and ROS. Could someone point me in the right direction?

I would love to use a Raspberry Pi and a PiCAN to interact with my already existing J1939 CAN Bus network. I have it working for monitoring and such with a custom setup at the moment.

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I'm not a CAN expert, but there are some packages targeting CAN, ros_canopen being one of them. Whether you can use that specific pkg I can't say, as it depends on what you are doing exactly and what you're constraints are.

gvdhoorn gravatar image gvdhoorn  ( 2016-10-26 13:08:24 -0600 )edit

Interesting that there is at least something out there. I don't need CAN Open and would be fine with just some frame level access. Perhaps just pulling out the Socket CAN Bridge/Interfaces could be useful for other CAN protocols as well... Thanks!

radix07 gravatar image radix07  ( 2016-10-26 13:35:24 -0600 )edit

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answered 2016-10-27 03:33:28 -0600

gvdhoorn gravatar image

No ROS integration (yet), but gitlab.com/lely_industries/can could also be interesting. It's event-based nature should make it relatively straightforward to map it into ROS.

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Asked: 2016-10-26 12:06:31 -0600

Seen: 4,820 times

Last updated: Oct 26 '16