tfoldi / ros2_qtcanbus

QT5 QSerialBus / QCanBus support for ROS2

ros2_qtcanbus

QT5 QSerialBus / QCanBus support for ROS2

This package is designed to bridge the gap between CAN buses and ROS2 by publishing CAN bus data through QSerialBus / QCanBus interfaces (including Qt5 QSerial plugins). It has a module for decoding messages (ros2_candecode) and share them as Twist, NavSatFix or DiagnosticArray.

Features

• Read data from CAN buses via QSerialBus / QCanBus interfaces.
• Publish data to ROS2 topics.
• Seamless integration with existing ROS2 setups.

Dependencies

• ROS2 Foxy, Galactic, or Rolling (or later). main should work on all of these.
• Qt 5.12 or later

Installation

1. Clone the repository into your ROS2 workspace:

git clone https://github.com/tfoldi/ros2_qtcanbus.git

2. Build the package using colcon:

colcon build

Usage

1. Source your ROS2 workspace:

source install/setup.bash

2. Run the CAN bus data publisher node:

ros2 run ros2_qtcanbus qtcanbus_sender --ros-args -p canbus_plugin:=<your_qt_plugin> -p canbus_interface:=<your_can_if>

3. Run the decode node:

ros2 launch ros2_candecode standalone.py

Configuration

You can configure the decoder mappings and rules by modifying the ros2_candecode/config/candecode.yaml file to match your CAN bus setup.

Contributing

We welcome contributions, PRs are welcome.

License

This project is licensed under the BSD 3-clause.