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Package Summary
| Tags | No category tags. |
| Version | 0.5.1 |
| License | Apache-2.0, MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/bosch-engineering/off_highway_sensor_drivers.git |
| VCS Type | git |
| VCS Version | humble-devel |
| Last Updated | 2024-03-27 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Robin Petereit
Authors
- Robin Petereit
- Marcus Huenerbein
off_highway_can
The off_highway_can package provides a C++ library to
- receive
can_msgs/FrameROS messages and decode their bytes into custom C++ message structures, - encode the bytes of
can_msgs/FrameROS messages from custom C++ message structures and send them.
The list of message structures containing the definition of a CAN message and signals need to be filled by derived classes for CAN node specific functionality. The more generic handling of a cyclic redundancy check and a rolling message counter per message is provided by the library. Have a look directly into the CAN message structure definition for further information.
Classes
Receiver
The off_highway_can::Receiver is an abstract base class and needs to be derived for specific
sensor types and behavior. It provides the functionality to process
can_msgs/Frame ROS messages and
decode configured ones based on provided message definitions. The decoded signal values are
forwarded to the derived class for user-defined processing of them.
The processing chain is based completely on message callbacks and thus event-based. The needed
processing time per message can be logged as ROS debug message at runtime with the compile time
optionCOMPILE_DEBUG_LOG.
Furthermore, the off_highway_can::Receiver provides a watchdog which checks whether any configured
message was received in the period of time defined by the parameter timeout and sends a diagnostic
error on the /diagnostics topic when a timeout occurs.
Subscribed Topics
-
from_can_bus
(
can_msgs/Frame)- CAN frames to decode
Published Topics
-
/diagnostics
(
diagnostic_msgs/DiagnosticArray)- Update Rate: normally 1 Hz, can be forced
- Diagnostic error in base class only contains timeout status
Parameters
See receiver_params.yaml.
Sender
The off_highway_can::Sender is an abstract base class and needs to be derived for specific
behavior. It provides the functionality to send
can_msgs/Frame ROS messages by
encoding configured CAN messages as bytes based on provided message definitions. The encoded signal
values are published to the to_can_bus topic.
The encoding and publishing chain is just a method call and thus event-based. The needed processing
time to encode and publish all configured messages can be logged as ROS debug message at runtime
with the compile time optionCOMPILE_DEBUG_LOG.
Furthermore, the off_highway_can::Sender provides a watchdog which checks whether a ROS message
was published in a defined by the parameter timeout and sends a diagnostic error on the
/diagnostics topic when a timeout occurs.
Published Topics
-
to_can_bus
(
can_msgs/Frame)- Encoded CAN frames
-
/diagnostics
(
diagnostic_msgs/DiagnosticArray)- Update Rate: normally 1 Hz, can be forced
- Diagnostic status in base class only contains timeout status
Parameters
See sender_params.yaml.
Free and Open Source Software (FOSS)
This library uses the libcan-encode-decode library for encoding and decoding raw bytes into / from floating values. See the FOSS documentation for further information.
Changelog for package off_highway_can
0.5.1 (2024-03-27)
- Align Clang FP contraction to GCC for passing tests
- Add virtual destructor for base class
- Contributors: Robin Petereit