multiple_socketcan_bridge

ROS socketCAN bridge node modified for multiple drivers

Originated from ros_canopen.

Installation

You can simply put this node along with ros_canopen nodes.

For example,

cd ~/catkin_ws/src
git clone https://github.com/ros-industrial/ros_canopen
cd ros_canopen
git clone https://github.com/yeongseok94/multiple_socketcan_bridge.git
cd ~/catkin_ws && catkin_make

Usage

You can run this code using roslaunch.

roslaunch multiple_socketcan_bridge multiple_socketcan_bridge.launch

The multiple_socketcan_bridge.launch looks like:

<launch>
  <node ns="can0" pkg="multiple_socketcan_bridge" type="multiple_socketcan_bridge_node" name="multiple_socketcan_bridge_node" output="screen">
    <param name="can_device" value="can0" />
  </node>

  <node ns="can1" pkg="multiple_socketcan_bridge" type="multiple_socketcan_bridge_node" name="multiple_socketcan_bridge_node" output="screen" >
    <param name="can_device" value="can1" />
  </node>
  
  <node ns="can2" pkg="multiple_socketcan_bridge" type="multiple_socketcan_bridge_node" name="multiple_socketcan_bridge_node" output="screen" >
    <param name="can_device" value="can2" />
  </node>
  
  <node ns="can3" pkg="multiple_socketcan_bridge" type="multiple_socketcan_bridge_node" name="multiple_socketcan_bridge_node" output="screen" >
    <param name="can_device" value="can3" />
  </node>
</launch>

Here, every namespaces of the node and the corresponding private parameter can_device should match with your socketCAN device name. In this case above, the socketCAN device name were can0, can1, can2, can3.

You can simply check your socketCAN device name with:

ip link show