search

psaucedoa / ros2_j1939

Collection of ros2 J1939 packages
Apache License 2.0
1 stars 0 forks source link

Contributing #1

Open theamazingdrew opened 3 weeks ago

theamazingdrew commented 3 weeks ago

Hey, I Saw some of your notes about the project on Twitter from RosCon. I've been working on a canbus-controlled steer-by-wire assembly. Is the purpose of this project to share knowledge of similar systems? The notes were interesting but not entirely clear from the couple slides I saw

psaucedoa commented 2 weeks ago

Basically, yes!

So lately we've been working on roboticizing heavy construction equipment with the end goal of providing several degrees of autonomous capabilities.

Due to a number of factors, this requires read and write over CAN. For example, to enable by-wire control through ROS2. We noticed that while there was plenty of information available online about using CAN and J1939 with ROS2, it was all pretty dispersed.

So these past few months I've devoted some time here and there on implementing a more user-friendly, generic interface for CAN in ROS2. It's been kind of a pain / rough around the edges since it's mostly just me and I also have other priorities. But we decided to make this public since it seems like it could help other people to have a centralized location for information on this stuff (it's a fairly new thing for us due to new, recent memos).

So yeah, the purpose of this stuff is mostly as a repository for drivers and general info for roboticists using CAN and/or ROS2, particularly with automotive sensors.