livanov93 / ros2_canopen

CANopen driver framework for ROS2

ROS2 CANopen

Documentation

The documentation is generated using sphinx and doxygen. The current manual can be found here. The current api reference can be found here.

Status

Currently under development. Not for production use.

Available Features:

• Device Manager (using rclcpp::components)
• MasterDriver (Service Interface)
• ProxyDriver (Service Interface)
• Cia402Driver (Service Interface)
• Generic ros2_control Interface (implementing hardware_interface::SystemInterface) - check https://control.ros.org for more details

Post build testing To test stack after it was built from source you should first setup a virtual can network.

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 txqueuelen 1000
sudo ip link set up vcan0

Then you can run the integration tests contained in canopen_tests package.

launch_test src/ros2_canopen/canopen_tests/launch_tests/test_proxy_lifecycle_driver.py
launch_test src/ros2_canopen/canopen_tests/launch_tests/test_proxy_driver.py

Contributing

This repository uses pre-commit for code formatting. This program has to be setup locally and installed inside the repository. For this execute in the repository folder following commands:

sudo apt install -y pre-commit
pre-commit install

The checks are automatically executed before each commit. This helps you to always commit well formatted code. To run all the checks manually use pre-commit run -a command. For the other options check pre-commit --help.

In a case of an "emergency" you can avoid execution of pre-commit hooks by adding -n flag to git commit command - this is NOT recommended to do if you don't know what are you doing!