From 02e308d0492b14b412ba61623fb2dda953d84ec3 Mon Sep 17 00:00:00 2001
From: luis-camero <88782189+luis-camero@users.noreply.github.com>
Date: Thu, 10 Oct 2024 13:27:17 -0400
Subject: [PATCH] Socket CAN Bridges (#93)

* Generate can bridges

* Generate script source robot workspace

* Remove extra line

---------

Co-authored-by: Roni Kreinin <rkreinin@clearpathrobotics.com>
---
 .../launch/generator.py                       | 27 ++++++++++++++++++-
 clearpath_robot/scripts/generate              |  3 ++-
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index a3efcaf..2401c48 100644
--- 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
index d2be7e7..d1b439d 100644
--- 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