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Package Summary
This package contains a generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: indigo)
Package Summary
This package contains a generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: jade)
Package Summary
Generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: kinetic)
Package Summary
Generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: kinetic)
Package Summary
Generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: melodic)
Package Summary
Generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included.
- Maintainer status: maintained
- Maintainer: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- Author: Mathias Lüdtke <mathias.luedtke AT ipa.fraunhofer DOT de>
- License: LGPLv3
- Bug / feature tracker: https://github.com/ros-industrial/ros_canopen/issues
- Source: git https://github.com/ros-industrial/ros_canopen.git (branch: melodic)
Contents
Overview
This packages provides a generic CAN interface class and a SocketCAN-based driver implementation.
The interface is divided into three parts:
StateInterface: Listener interface for the state of the driver
CommInterface: Listener interface for receiving messages and send functionality
DriverInterface: inherits from both and adds management interfaces
The listeners are based on FastDelegate std::function (since melodic) and use RAII-pointers.
The SocketCAN driver interface is based on Boost.Asio and provides concurrent access to SocketCAN interfaces. It is the default CAN implementation used throughout ros_canopen and requires Linux kerner 2.6.25 or newer.
Plug-in system
The SocketCAN driver is exposed as "can::SocketCANInterface" with base class can::DriverInterface via class_loader. In addition the plugin library is announced to pluginlib.
Tested Drivers and Devices
The SocketCAN driver interface should work with all SocketCAN network interfaces. The linux mainline kernel already includes some device drivers, other devices are supported by vendor-provided implementations.
The following devices were tested with socketcan_interface:
Vendor |
Device |
Driver |
Status |
Comments |
PEAK-USB |
Kernel peak_usb |
Works |
|
|
PEAK-cPCI |
Kernel peak_pci |
Not working |
IRQ problems |
|
Vendor (NETDEV!) |
Works |
|
||
CAN-USB/2 |
Kernel esd_usb2 |
Works |
|
|
USB-to-CAN V2 compact |
Works |
optional requirement: libelf-dev |
||
PICAN2 |
Kernel mcp2515 |
Works |
|
Preparation
Load driver
Set-up udev rules or type manually:
sudo modprobe peak_usb # kernel driver, since 3.11
sudo modprobe peak_pci # kernel driver
sudo modprobe pcan # PEAK vendor driver
sudo modprobe esd_usb2 # kernel driver
Initialize NIC
Bring-up CAN NIC (Linux kernel drivers):
sudo ip link set can0 up type can bitrate 500000 # adjust bitrate as needed
Further options are availabe, please consult SocketCAN Readme, section 6.5. For automatic set-up, the network can be configured in /etc/network/interfaces, e.g.:
allow-hotplug can0
iface can0 can static
bitrate 500000
# up ip link set $IFACE txqueuelen 20 # uncomment if more than 4 nodes are used
Tools and Debugging
socketcan_dump
Simple test program provided with the package, just prints the received messages:
rosrun socketcan_interface socketcan_dump can0
Netlink status
ip -details -statistics link show can0
(not available for all drivers)
can-utils
Feature-rich tool suite for SocketCAN, install with:
sudo apt-get install can-utils
- candump
- cansend
- canbusload