How to interface canopen industrial motor controllers in ROS2?

asked 2022-05-25 09:01:03 -0500

tnajjar gravatar image

Hey!

Disclaimer: I'm a canopen noob.

I have a working gazebo simulation of a tricycle robot using ros2_control and the gazebo_ros2_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!

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Comments

Mentioned package ros2_canopen is interesting, I didn't know it, thanks for sharing! I hope it will help you.

ljaniec gravatar image ljaniec  ( 2022-05-25 09:09:10 -0500 )edit

yeah it's still so fresh it's even hard to find with google

tnajjar gravatar image tnajjar  ( 2022-05-25 09:19:17 -0500 )edit
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