Hey!

Disclaimer: I'm a canopen noob.

I have a working gazebo simulation of a tricycle robot using ros2control and the gazeboros2_control hardware interface

I'm now looking to implement a hardware interface for the physical hardware. I have Curtis motor controllers 1222 for steering and ACF2-A for traction The datasheets briefly mention a compatibility with canopen. Basically I'm looking for some guidance on how one can interface these controllers with ROS2. With ros2_socketcan, I'm able to get the CAN messages. Do I need to write the conversion logic myself to convert between CAN messages <==> speeds/angles?

ros2_canopen was recently created, could I use that?

Thanks for the help!