How to use CANOpen with ROS2?

Hi,

I have a 4wd robot that I am working on which has four motor controllers that must communicate to a computer running ROS2 using a CAN network. I have already set up the gazeboros2controller and that is all working well with ros_control.

However, there is little to no information about how to use ros2_canopen

Is there anyone who has figured out how to interface ros2_canopen into their ROS2 control stack?

Asked by jclinton830 on 2022-11-28 18:23:52 UTC

Comments

Have you asked the developers?

They are pretty responsive to questions.

I would suggest to start by posting an issue on their tracker.

Asked by gvdhoorn on 2022-11-29 13:04:42 UTC

Hi @gvdhoorn,

I have posted on their issues section in their repo, and turns out all the information I needed is in the development guide provided but the guide available currently is written in a very high-level format and its not very easy to understand for people who have never worked with CAN in ROS or CAN at all. The learning curve is a bit steep, I am still experimenting and learning myself.

Asked by jclinton830 on 2023-01-29 18:53:45 UTC

turns out all the information I needed is in the development guide provided but [it] is written in a very high-level format and its not very easy to understand [..]

seems like valuable feedback to share with them.

people who have never worked with CAN in ROS or CAN at all

well, yes, that might complicate things a bit.

Asked by gvdhoorn on 2023-01-30 04:22:39 UTC

Btw:

I have posted on their issues section in their repo

please always post a comment with a link to any issues you post to trackers and which are connected to your ROS Answers post. That way we keep things connected.

Asked by gvdhoorn on 2023-01-30 04:23:18 UTC