nguyen-v / omnibot_ros2_control_docker

Starting CAN bus

You can bring up the CAN interface with:

sudo ip link set can0 up type can bitrate 500000

Where the bitrate must match the one set in the GIM6010-8 (by default it is 500000). You can change it using odrivetool.

The communication can be verified by monitoring the correct can interface (in this case we connect the actuator to can0)

candump can0 -xct z -n 10

Automatically starting CAN at startup

Alternatively, it is possible to setup a systemd service to bring up the CAN interface automatically at startup. You can run the scripts located in the scripts folder.

sudo ./create_systemd_can_service.sh

To remove the service, you can run:

sudo ./delete_systemd_can_service.sh

Feel free to modify the can.service file according to your interface and bitrate.

Building the docker image

docker build -t omnibot_ros2_control:latest .

Running the node

./docker-run.sh