English | 简体中文
A ROS2 node wrapper based on SocketCAN.
Tested only on ROS2 Humble. Theoretically compatible with other ROS2 distributions.
Parameters in can_params.yaml:
can_interface: CAN interface name (e.g.,can0,vcan0).can_filter_id: Receive filter ID. The node only processes CAN frames matching this ID.can_send_id: Send ID. CAN frames sent by this node will use this ID.
Modify include/can/protocol.hpp to customize message packets.