Add socketcan node. Split canopen onto its own topic to reduce msg flooding.
Turns out neither of these were the issues - it was hardware can chip issue - but the state transitions on the steering motor are nicer now anyway so its a win.
[required] Documentation
A wholistic overview of the CAN system and connected devices coming soon :tm:
[optional] Usability concerns or breaking changes?
Any topics from CANOpen devices - RES + Steering - need to now interface with the /can/canopen_rosbound topic. No carbound topic so far as they go thru a single driver anyway outbound.
What type of PR is this? (check all applicable)
[required] Description
Add socketcan node. Split canopen onto its own topic to reduce msg flooding. Turns out neither of these were the issues - it was hardware can chip issue - but the state transitions on the steering motor are nicer now anyway so its a win.
[required] Documentation
A wholistic overview of the CAN system and connected devices coming soon :tm:
[optional] Usability concerns or breaking changes?
Any topics from CANOpen devices - RES + Steering - need to now interface with the
/can/canopen_rosboundtopic. No carbound topic so far as they go thru a single driver anyway outbound.