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autowarefoundation / ros2_socketcan

A ROS2 wrapper around Linux SocketCAN
Apache License 2.0
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WIP: Add Bus Time Option #11

Closed asaba96 closed 3 years ago

asaba96 commented 3 years ago

added the ability to get the bus time for the can packet, versus using ros time when received

Currently returns the time stamp & CanId with a std::tuple, but discussed w @JWhitleyWork about returning it as part of the CanId struct instead.

asaba96 commented 3 years ago

Neat! Has it been tested on hardware?

Not hardware but tested w. a replay of a candump using canreplay & a virtual can bus