Socket CAN Bridges (#93)

* Generate can bridges * Generate script source robot workspace * Remove extra line --------- Co-authored-by: Roni Kreinin <[email protected]>
clearpathrobotics · Oct 10, 2024 · 02e308d · 02e308d
1 parent 6b86389
commit 02e308d
Show file tree

Hide file tree

Showing 2 changed files with 28 additions and 2 deletions.
diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -203,14 +203,39 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
  namespace=self.namespace,
  )
 
+ # ROS2 socketcan bridges
+ ros2_socketcan_package = Package('ros2_socketcan')
+ self.can_bridges = []
+ for can_bridge in self.clearpath_config.platform.can_bridges.get_all():
+ self.can_bridges.append(LaunchFile(
+ 'socket_can_receiver',
+ package=ros2_socketcan_package,
+ args=[
+ ('interface', can_bridge.interface),
+ ('from_can_bus_topic', f'{self.namespace}/{can_bridge.topic_rx}'),
+ ]
+ ))
+
+ self.can_bridges.append(LaunchFile(
+ 'socket_can_sender',
+ package=ros2_socketcan_package,
+ args=[
+ ('interface', can_bridge.interface),
+ ('to_can_bus_topic', f'{self.namespace}/{can_bridge.topic_tx}'),
+ ]
+ ))
+
  # Components required for each platform
  common_platform_components = [
  self.wireless_watcher_node,
  self.diagnostics_launch,
  self.battery_state_estimator,
- self.battery_state_control
+ self.battery_state_control,
  ]
 
+ if len(self.can_bridges) > 0:
+ common_platform_components.extend(self.can_bridges)
+
  self.platform_components = {
  Platform.J100: common_platform_components + [
  self.imu_0_filter_node,

diff --git a/clearpath_robot/scripts/generate b/clearpath_robot/scripts/generate
@@ -27,7 +27,8 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
+source /home/administrator/colcon_ws/install/setup.bash
 
 # Generate and source setup.bash
 ros2 run clearpath_generator_common generate_bash