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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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CAN 2.0b physical layer #379

Closed JadTawil-theonly closed 4 years ago

JadTawil-theonly commented 4 years ago

2.0b corresponds to 29 bit CAN-ids

Does this driver support Canopen devices using the CAN 2.0b physical layer?

mathias-luedtke commented 4 years ago

The socketcan_* packages support extended frames, but the canopen_* do not (yet?).

JadTawil-theonly commented 4 years ago

Hey Mathias,

I tried running the driver with a 2.0b device, and it seemed to work fine (publishing to pdos, and reading from pdos, as well as the ros-control layer). Is this surprising to you?

mathias-luedtke commented 4 years ago

As long as you did not use extended frames for addressing, it not really a surprise. Most (all?) modern CAN devices should support both.