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 gazebo_ros2_controller 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?
Have you asked the developers?
They are pretty responsive to questions.
I would suggest to start by posting an issue on their tracker.
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.
seems like valuable feedback to share with them.
well, yes, that might complicate things a bit.
Btw:
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.