ROS2 canopen

Welcome to the ROS2 canopen documentation.

About

ROS2 CANopen is being developed and maintainted by the ROS-Industrial Consortium. The package heavily builds on top of Lely’s canopen stack.

Getting started

Clone the ros2_canopen repository into your workspace’s source directory and build:

  git clone git@gitlab.cc-asp.fraunhofer.de:ipa326/ros-industrial/ros2_canopen.git

  cd ..

  colcon build

  . install/setup.sh

Once built, you are ready to use the package but you need to setup the can interface.

Setting up your CANopen network configuration

In order to use the package for your CANopen network, you need to create a network configuration. We recommend the tools Lely CANopen provides for this (dcfgen). How to do this:

1. Gather the EDS files for the CANopen devices connected to your network and put them into a folder.

2. Create a yaml description of your network. Find an example below. Further options can be found and documentation of the yaml file structure can be found here. ROS2 canopen extends the slave description by the tag driver, which specifies the driver to be used for the specific device. The driver is later loaded using pluginlib.

    master:
    node_id: 1
   
    motioncontroller_1:
    node_id: 2
    dcf: "simple.eds"
    driver: "BasicDevice"
   

3. Generate a master.dcf file using Lely CANopen’s dcfgen tool. This outputs a master.dcf.

    dcfgen -r [path to yaml file]
   

4. Create a ROS parameters YAML file setting the path to your created dcf and yaml file:

    canopen_master:
      ros__parameters:
        dcf_path: [Absolute path to your master dcf]
        yaml_path: [Absolute path to your bus yaml]
        can_interface_name: [interface name]
   

ROS2 canopen (preliminary)

1.

    ros2 launch bring_up_master.launch.py parameter_file_path:=[Path to your config yaml]

1. Set configuration files and can interface. sh

    ros2 param set /canopen_master/dcf_path [path to dcf]
    ros2 param set /canopen_master/yaml_path [path to yaml]
    ros2 param set /canopen_master/can_interface_name [if_name]
   

2. Now you can configure the canopen_master via lifecycle management. The master will now load the configuration files and spawn the necessary driver nodes for each device on the network. You can check the new nodes with ros2 node command.

    ros2 lifecycle set /canopen_master configure
    ros2 node list
   

3. Configure all driver nodes with lifecycle management

4. Activate canopen_master node and then all driver nodes.

5. The system should now be running and you should be able to use the driver nodes to communicate with your devices.

Changelog for package canopen_core

0.2.11 (2024-04-22)

• catalogue for first release humble
• Contributors: ipa-vsp

0.2.10 (2024-04-22)

• Merge pull request #281 from ipa-vsp/humble Sync Humble
• Merge remote-tracking branch 'industrial/humble' into humble
• synch humble
• 0.2.7
• Update changelog
• Add missing license headers and activate ament_copyright (#165)
  • Add missing license headers

  * Add fix ament_lint_cmake ---------

• Fix maintainer naming (#163)
• 0.2.6
• Update changelogs
• 0.2.5
• Update changelogs
• 0.2.4
• Update changelog
• 0.2.3
• Update Changelogs
• 0.2.2
• Update Changelogs
• 0.2.7
• Update changelog
• Add missing license headers and activate ament_copyright (#165)
  • Add missing license headers

  * Add fix ament_lint_cmake ---------

• Fix maintainer naming (#163)
• 0.2.6
• Update changelogs
• 0.2.5
• Update changelogs
• 0.2.4
• Update changelog
• 0.2.3
• Update Changelogs
• 0.2.2
• Update Changelogs
• Sync humble branch with 0.2.1 release (#153)
  • Update rolling.yml

  * Merge pull request #152 from ros-industrial/fix-bdist-dep-in-lely-core Do not build dcf-tools bdist in lely_core_libraries * Merge pull request #142 from ros-industrial/iron-test-fixes-controllers Don't use ros2_control_test_assets since not needed anymore. Add load tests for all controllers. * Merge pull request #145 from ros-industrial/consistent-output-of-hex-values Use consistenlty (uppercase) HEX output for NodeID and Index. * Merge pull request #151 from ros-industrial/upgrade-launch-tests Fix proxy driver lifecyle and launch tests

  • Update Changelogs
  • 0.2.1
  • Fix build warnings

  * Update status badge. ---------Co-authored-by: Christoph Hellmann Santos <<51296695+ipa-cmh@users.noreply.github.com>> Co-authored-by: Christoph Hellmann Santos <<christoph.hellmann.santos@ipa.fraunhofer.de>>

• Fix build warnings
• 0.2.1
• Update Changelogs
• Merge pull request #151 from ros-industrial/upgrade-launch-tests Fix proxy driver lifecyle and launch tests
• Merge pull request #145 from ros-industrial/consistent-output-of-hex-values Use consistenlty (uppercase) HEX output for NodeID and Index.
• Merge pull request #144 from ipa-vsp/humble Sync humble with Beta (0.2.0) release
• 0.2.0
• Update changelog
• set versions
• Update changelofs
• Merge branch 'StoglRobotics-forks-use-can-interface-name-consistently'
• Beta release preparations (#120)
  • Improve lely compilation time
  • Bump lely_core_librries to version 2.3.2
  • Add license files
  • Adapt package xml
  • Add changelogs - forthcoming for now.
  • Update readme

  * Add apacje-2.0 license notifications to files ---------

• Sync humble with newest changes (#123)
  • Introduce canopen system interface.
  • Enable easy testing temporarily.
  • Print config paths on init.
  • Add device manager and executor.
  • Start device manager in system interface.
  • Add nmt and rpdo callbacks.
  • Remove pedantic cmake flags.
  • Add internal caching structures for canopen nodes.
  • Expose necessary stuff from proxy driver.
  • Apply suggestions from code review
  • Fix dependencies for canopen_ros2_control.
  • Move device manager instantation into on_config.
  • Introduce canopen system interface.
  • Enable easy testing temporarily.
  • Print config paths on init.
  • Add device manager and executor.
  • Start device manager in system interface.
  • Add nmt and rpdo callbacks.
  • Remove pedantic cmake flags.
  • Add internal caching structures for canopen nodes.
  • Expose necessary stuff from proxy driver.
  • Apply suggestions from code review
  • Add missig dependencies and execute tests only when testing.
  • Remove unneccesary deps.
  • Rename "device manager" to "device container" and disable test because it is now working in the current setup.
  • Update .gitignore
  • Remove some unecessary changes.
  • Fix merging issues.
  • Update visibility-control macros.
  • Disable test because they can not be eaisly tested.
  • Update canopen_core/CMakeLists.txt
  • Solve Boot Error (#49)
  • Update CI for new version branches
  • Simplify configuration folder and use existing .eds, .dcf file. Improve test launch file. Update runtime deps.
  • Add template for canopen proxy controller.
  • Add dummy services, rt publishers and subscribers to proxy controller.
  • Expose controller plugin. Start canopen proxy controller instance in example.
  • Add publishing of rpdo and nmt state.
  • Add service one shot mechanisms.
  • Apply suggestions from code review
  • Add tests to canopen_tests
  • Reorganise test launch system
  • update package.xml
  • further changes
  • Remove bus.yml
  • Adapt canopen_system.launch.py for 2 nodes
  • Update documentation in the readme
  • Add documentation about testing ros2_control generic interface.
  • Disable dynamic loading for containers (#50)
  • disable loader service
  • Remove artifacts
  • Publish joint state instead of velocity topics (#47)
  • disable loader service
  • add custom target/command and install to macro
  • publish jointstate
  • correct variable name squiggle
  • Minor changes to driver and slave
  • Update lely core library
  • Add sensor_msgs to dependencies
  • Remove artifacts
  • Remove some artifacts
  • Add configuration parameter passthrough (#52)

  * Apply suggestions from code review Co-authored-by: Christoph Hellmann Santos <<51296695+ipa-cmh@users.noreply.github.com>>

  • Correct macro names.
  • Add service qos specific profile.
  • Introduce tests. Adapt proxy controller for easier testing.
  • Update README.md

  * make documentation on test with ros2_control more detailed Make the test documentation a small example with explanations of the functionality.

  • Add in code documentation for canopen_core (#53)
  • Document device container node
  • Document lely_master_bridge
  • Document Lifecycle Device Container
  • Document Lifecycle Device Manager
  • Document LifecyleMasterNode
  • Document Master Node
  • Fix error
  • Document lifecycle base driver
  • Document lely bridge
  • Document canopen_proxy_driver
  • Document canopen_402_driver
  • Restructure documentation (#37)
  • Document device container node
  • Document lely_master_bridge
  • Document Lifecycle Device Container
  • Document Lifecycle Device Manager
  • Document LifecyleMasterNode
  • Document Master Node
  • Fix error
  • Document lifecycle base driver
  • Document lely bridge
  • Document canopen_proxy_driver
  • Document canopen_402_driver
  • Update sphinx documentation
  • Add profiled position to mock slave (#58)
  • Implement review requests regarding tests.
  • Add core node interfaces
  • Add errors
  • Add node base classes
  • Remove device and do some renaming
  • Add tests to canopen core
  • Update CmakeFile of canopen core
  • Add canopen_master_driver package and contents
  • Make changes to canopen_base_driver for new structure
  • Change canopen_base_driver for templating problems
  • Add canopen_proxy_driver with new framework
  • canopen_402_driver adaption to new framework
  • Update header guards
  • Add device container and general changes to make things work.
  • Add function to device container
  • Integration with ros2_control
  • Add type accessor functions to device_container
  • add node interface accessor and lifecycle information to drivers
  • Add master dcfs and remove from gitignore
  • Add 402 driver functions for ros2_control
  • Add CanopenDriverInterface Documentation
  • Feature parity for lifecycle nodes
  • Fix canopen_master_driver for explicit instantiation
  • Fix canopen_master_driver tests
  • Fix tests canopen_core
  • Fix tests base driver
  • Try running source install/setup.bash
  • Fix integration tests
  • Integrate lifecycle manager
  • Fix get speed and get position
  • Fix node_canopen_402_drivers add_to_master and handlers
  • Streamline logging
  • Remove canopen_lifecycle.launch.py as it i no longer needed.
  • Add lifecycle manager to device_container library
  • Undo formatting in ros2_control
  • fix ci
  • Fix 402 issues from testing
  • undo renaming can_interface_name -> can_interface

  * Publish to joint_states, not joint_state (#63) Co-authored-by: G.A. vd. Hoorn <<g.a.vanderhoorn@tudelft.nl>> Co-authored-by: Christoph Hellmann Santos <<christoph.hellmann.santos@ipa.fraunhofer.de>>

  • Add unit tests for canopen_core (#64)
  • Testing changes to canopen_core
  • Testing changes to canopen_base_driver and canopen_402_driver
  • Add canopen_core tests (90% coverage)
  • Fix DriverException error in canopen_402_driver
  • Catch errors in nmt and rpdo listeners
  • Fix naming issues
  • Fix deactivate transition
  • Fix unclean shutdown
  • Rename canopen_mock_slave package to canopen_fake_slaves (#66)
  • Testing changes to canopen_core
  • Testing changes to canopen_base_driver and canopen_402_driver
  • Add canopen_core tests (90% coverage)
  • Fix DriverException error in canopen_402_driver
  • Catch errors in nmt and rpdo listeners
  • Fix naming issues
  • Fix deactivate transition
  • Fix unclean shutdown
  • Rename canopen_mock_slave to canopen_fake_slaves
  • Build flage CANOPEN_ENABLED for disabling tests on CI.
  • Update deployment
  • Documentation for streamlined design (#67)
  • Add canopen_core tests (90% coverage)
  • Restructure and add plantuml
  • Changes to quickstart/configuration

  * Revert "Add canopen_core tests (90% coverage)" as it is not needed. This reverts commit 771c498347f190777fb28edfd5044b96cbfd7bf0.

  • Create custom driver documentation
  • Remove breathe api reference and use doxygen
  • Update interface and naming information for drivers
  • Update test documentation
  • install plantuml
  • Update README.md
  • Add bare-bone 402 profile system interface.
  • Add position and speed getter.
  • State and command interfaces.
  • Update dependencies.
  • To protected members for easier inheritance policy.
  • Fix public fcn visibility.
  • Adapt 402 hardware interface to device container getter.
  • Prepare read/write/
  • Extend 402 functions via public methods - same as callback based ones.
  • Expose 402 main functionalities to ros2_control system interface.
  • Add vel and pos interfaves.
  • Update proxy canopen system.
  • Add basic read and write. Divide targets into position, velocity, effort interfaces.
  • Duplicate some code for configure, init, write phase from proxy driver.
  • Set target based on condition.
  • Handle init, recover, halt. Switch modes.
  • Fix feedback for services for proxy driver and controlller.
  • Prepare cia 402 device controller.
  • Add base function ret values first.
  • State and command interfaces.
  • Add services for one shot interfaces in cia402 profile.
  • Better handling of base class on_methods.
  • Update runtime deps.
  • Fix joint states scaling.
  • Add virtual can example for cia 402.
  • Fix internal launch test.
  • Fix proxy test.
  • intra_process_comms
  • Doxygen documentation for canopen_core (#78)
  • canopen_core in code documentation
  • Some more documentation
  • intra_process_comms
  • Doxygen documentation for canopen_core (#78)
  • canopen_core in code documentation
  • Some more documentation
  • Remove scalers
  • Clean cia402 fake shutdown (#72)
  • adapt fake cia402 slave
  • Handle demand set master failure (#70)
  • adapt fake cia402 slave
  • Add retries for demand_set_master in case of failure
  • Scaling factors for position and velocity (#74)
  • Introduce scaling factors
  • Remove false license statements (#76)
  • Remove false license statements
  • Disable device container tests (#77)
  • Add formatters as used in ros2_control framework.
  • Changes to format and checkers
  • Substitute \@BUS_CONFIG_PATH@ in bus configuration file
  • Use \@BUS_CONFIG_PATH@ variable in bus configuration files
  • Precommit changes (#79)
  • Precommit changes
  • Update to clang-format-14
  • Don't treat options section as another device
  • Use options section in test bus config files

  * Remove references to sympy.true (#84) Co-authored-by: James Ward <<j.ward@sydney.edu.au>>

  • add short documentation
  • Add dcf_path to bus.ymls
  • Don't treat options as driver
  • Format updates
  • Better organize dependencies (#88)
  • Add EMCY callback to base driver (#91)
  • Add post build testing in readme (#87)
  • Simplify 402 driver (#89)
  • Split motor.hpp and motor.cpp into different files

  * Fix missing symbol error ---------

  • Add Interpolated Position Mode (linear only, no PT or PVT) (#90)
  • Add Interpolated Position Mode (linear only, no PT or PVT)
  • add interpolated position mode to system interface
  • Add interpolated position mode to controllers.

  * Add to interpolated position mode to documentation ---------

  • Fix typo in README (#92)
  • Correct repo link (#94)
  • Implemented thread-safe queue for rpdo and emcy listener (#97)
  • Boost lock free queue implemetation
  • include boost libraries in CMakelists
  • Testing rpdo/tpdo ping pond
  • pre-commit changes
  • Bugfix: implemented timeout for wait_and_pop to avoid thread blocking
  • Fixed typo
  • pre-commit update
  • FIxed: properly export Boost libraries
  • Update code documentation
  • proper vel and pos scaling from device
  • Include rpdo/tpdo test in launch_test. (#98)
  • Implement rpdo/tpdo test
  • Removed unnecessary files
  • Fix stack smashing (#103)
  • Motor Profile Updates (#101)
  • Extend and fix info statement.
  • Fix service handler overwriting.
  • Consider enum 3 as profiled velocity. Remove some code duplication by reusing private setters in service cbs. Create setter for interpolated position mode.
  • Fix cyclic position mode.
  • Simplify write method cases defined by mode of op.
  • Add driver dictionaries (#110)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue

  * Add typed sdo operations ---------

  • Remove type indication from msg and srv interfaces (#112)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations

  * Remove object datatype where possible ---------

  • Reduce processor load (#111)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format

  * Add polling mode variable for config. ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

  • Robot system interface (#113)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format

  * Add polling mode variable for config. ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

  • Enable simplified bus.yml format (#115)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format
  • Add polling mode variable for config.
  • Add cogen
  • Add example usage for cogen

  * Remove explicit path ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>> * add dedicated documentation for humble, rolling and iron ---------Co-authored-by: Lovro <<lovro.ivanov@gmail.com>> Co-authored-by: Denis Štogl <<denis@stogl.de>> Co-authored-by: Denis Štogl <<denis@stoglrobotics.de>> Co-authored-by: Dr.-Ing. Denis Štogl <<denis.stogl@stoglrobotics.de>> Co-authored-by: G.A. vd. Hoorn <<g.a.vanderhoorn@tudelft.nl>> Co-authored-by: Błażej Sowa <<bsowa123@gmail.com>> Co-authored-by: James Ward <<james@robomo.co>> Co-authored-by: James Ward <<j.ward@sydney.edu.au>> Co-authored-by: Chris Schindlbeck <<chris.schindlbeck@gmail.com>> Co-authored-by: Vishnuprasad Prachandabhanu <<32260301+ipa-vsp@users.noreply.github.com>> Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

• fix-ifndef-directive (#43)
• Add lifecycle to service-based operation (#34)
  • Add check if remote object already exists to avoid multiple objects with same target.
  • Renaming and changes to MasterNode
  • restrucutring for lifecycle support
  • changes to build
  • Add lifecycle to drivers, masters and add device manager
  • Add lifecycled operation canopen_core
  • Added non lifecycle stuff to canopen_core
  • Add lifecyle to canopen_base_driver
  • Add lifecycle to canopen_proxy_driver
  • restructured canopen_core for lifecycle support
  • restructured canopen_base_driver for lifecycle support
  • Restrucutured canopen_proxy_driver for lifecycle support
  • Restructured canopen_402_driver for lifecycle support
  • Add canopen_mock_slave add cia402 slave
  • add canopen_tests package for testing canopen stack
  • Disable linting for the moment and some foxy compat changes
  • Further changes for foxy compatability
• Add yaml_cpp_vendor as dependency for master_node (#18)
  • commented out the yaml_cpp vendor since it doesnt let it build on the 20.04 machine
  • Update CMakeLists.txt
  • Update CMakeLists.txt

  * Update CMakeLists.txt Co-authored-by: Christoph Hellmann Santos <<51296695+ipa-cmh@users.noreply.github.com>>

• Configuration manager integration (#14)
  • Add longer startup delay and test documentation
  • Add speed and position publisher
  • Create Configuration Manager
  • make MasterNode a component and add configuration manager functionalities
  • add configuration manager functionalities
  • add configuration manger functionalities
  • Add documentation for Configuration Manager
  • add info messages and documentation
  • update launch files and configuration fiels
  • add can_utils package
  • add info text
  • simplify dependencies
  • remove tests from can_utils
  • avoid tests for canopen_utils
  • changes info logging and adds nmt and sdo tests
  • add tests
  • remove launch_tests from cmake
• Add Industrial CI for foxy and galactic (#10)
  • Add ci
  • remove rclcpp_lifecycle stuff from CMAKElists.txt
  • add rclcpp_lifecycle and msgs
  • add galactic to ci and limit ci to prs and pushes to master
• Merge branch 'licenses' into 'master' add licenses to each package See merge request ipa326/ros-industrial/ros2_canopen!22
• add header guards
• update package descriptions
• add license in files
• Merge branch 'renaming' into 'master' Update package names to fit ROS2 naming rules better See merge request ipa326/ros-industrial/ros2_canopen!21
• store tests of proxy driver in canopen_proxy_driver
• rename packages to fit ROS2 conventions better
• Contributors: Aulon Bajrami, Borong Yuan, Christoph Hellmann Santos, Vishnuprasad Prachandabhanu, ipa-vsp