Enable simplified bus.yml format - Githubissues

ros-industrial / ros2_canopen

CANopen driver framework for ROS2

https://ros-industrial.github.io/ros2_canopen/manual/rolling/

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Enable simplified bus.yml format #115

Closed hellantos closed 1 year ago

hellantos commented 1 year ago

This PR adds cogen, a tool that enables specifying bus configuration files in a format similar to ros_canopen.

[x] Create simplified structure
[x] Add defaults tag (defaults are added to all nodes)
[x] Add cogen_dcf for usage in CMAKE files
[x] Add example

Bus configuration layout.

options:
  dcf_path

master:
  ...

defaults:
  ...

nodes:
  node_1:
    node_id: 1
...

YAML anchors also work!

For PRBT (6 axis robot) this PR reduces the bus configuration from 310 to 75 lines.