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UOA-FSAE / autonomous

The repo for the autonomus car fsae for the University of Auckland and all the basic building blocks it has
https://www.fsae.co.nz/
MIT License
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[✨FEAT✨]: CAN interface node #5

Open Jack17432 opened 1 year ago

Jack17432 commented 1 year ago

Is there an existing enhancement request for this?

Description

A node that reads the CAN bus and out puts all the raw can messages to a topic and is also a service to publish things to the CAN bus.

Additional Information

Just communicates the raw can messages and dose not care what things are or knows what things are.

Jack17432 commented 1 year ago

This should be put under the moa_driver package as this will be the main CAN interface driver for the jetson nano

Jack17432 commented 1 year ago

This node should output all can messages to a raw_can topic as should be dum. As well as it should publish only though a service so that the node that is wanting something published can know wether it was sent and can react accordinly.

Jack17432 commented 1 year ago

Hardware has arrived and is inside of the computer/telem box in the electrons room

Jack17432 commented 1 year ago

Publish to the /raw_can topic when it receives any new can bus data Opens a service called publish_can_data that takes in moa_msgs/srv/CANSendReq

Jack17432 commented 1 year ago

For now I will leave the diagnostics to do later and just get the telem up and going.