Rosbag steering angle and throttle [CAN-BUS]

asked 2020-03-20 10:51:07 -0500

Timmic gravatar image

Hi All,

I want to log external sensor data and data about the throttle and steering angle. The data of the throttle and steering angle is send via a CAN-BUS cable, which is connected to the computer with a CAN-USB2 adapter. I am not very familiar with CAN-BUS messages, therefore I am wondering if there is an existing ROS package fit for my application.

I have seen that there are existing packages, which do something with CAN-BUS communication like ros_canopen, socketcan_interface and cob_generic_can. My first question is what package should be used to just read data from the CAN-BUS.

My second question is about the logging of the data. I have seen in some topic on this site, that using rosbag from the command line is not optimal due to several reasons. Since I want to minimize the delay I prefer that the rosnode writes the data directly to the bag file. Is there an existing package, which is also able to do this?

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