Is it possible to use a CAN Bus with ROS2 to interface to a motor driver ?

asked 2020-11-18 10:13:58 -0600

Dawi gravatar image

updated 2020-11-18 14:12:45 -0600

I am new to the CAN protocol and it's usage with ROS2. On one side I have my controller running in ROS2, on the other I have my robot with actuators with drivers equiped with a CAN input.

The documentation for my actuators (Gyems RMD X8 Pro) can be found here : www.gyems.cn/support/download

There is a pdf about the CAN protocol used in the actuator driver (RMD servo motor control protocol (CAN BUS)) but it is unclear for me what this means in term of compatibility with ROS2.

What package can I use to transform the topic from my controller to a CAN message readable by the driver ?

What physical interface do I need ? A USB to CAN interface, a PCI to CAN ? Is the choice of the package dependent on this interface ?

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