Decoding and encoding CAN messages from dbc file

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You can use cantools package for that, assuming you have the DBC file. The cantools generate functions called ..._unpack

You can write a ROS node to read all the CAN data and load the dbc file for decoding.

Or use this package to parse dbc files and encode/decode them into ROS messages.

Hi, You can use this tool to generate a ROS1/2 parser package according to your dbc file.

you can use cantools to generate your C or C++ code.