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uavcan_communicator package from uavcan_communicator repouavcan_communicator |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/InnopolisAero/uavcan_communicator.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-09-25 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The uavcan_communicator package
Additional Links
No additional links.
Maintainers
- dmitry
Authors
No additional authors.
DroneCAN communicator 
It is recommended to use Cyphal communicator in new designs.
DroneCAN communicator converts DroneCAN messages to ROS and vice versa.
It covers a minimal set of sensors required for such applications as Ardupilot/PX4 DroneCAN HITL simulation. This communicator can be used for other purposes as well.
1. Conversions
The tables below represent the supported conversions:
DroneCAN->ROS
| № | Brige name | ROS msg | DroneCAN msg |
|---|---|---|---|
| 1 | RawCommandUavcanToRos | sensor_msgs/Joy | esc::RawCommand |
| 2 | ArrayCommandUavcanToRos | sensor_msgs/Joy | actuator::ArrayCommand |
| 3 | ArmUavcanToRos | std_msgs::Bool | safety::ArmingStatus |
| 4 | AhrsSolutionUavcanToRos | sensor_msgs::Imu | ahrs::AhrsSolution |
| 5 | EscStatusUavcanToRos | mavros_msgs::ESCTelemetryItem | esc::Status |
| 6 | CircuitStatusUavcanToRos | mavros_msgs::BatteryStatus | power::CircuitStatus |
ROS->DroneCAN
| № | Brige name | ROS msg | DroneCAN msg |
|---|---|---|---|
| 1 | BaroStaticTemperatureRosToUavcan | std_msgs/Float32 | air_data::StaticTemperature |
| 2 | BaroStaticPressureRosToUavcan | std_msgs/Float32 | air_data::StaticPressure |
| 3 | DiffPressureRosToUavcan | std_msgs/Float32 | air_data::RawAirData |
| 4 | GpsRosToUavcan | sensor_msgs/NavSatFix | gnss::Fix2 |
| geometry_msgs/Twist | gnss::Fix2 | ||
| 5 | ImuRosToUavcan | sensor_msgs/Imu | ahrs::RawIMU |
| 6 | MagnetometerRosToUavcan | sensor_msgs/MagneticField | ahrs::MagneticFieldStrength |
| 7 | EscStatusRosToUavcan | mavros_msgs::ESCTelemetryItem | esc::Status |
| 8 | IceReciprocatingStatusRosToUavcan | mavros_msgs::ESCStatusItem | ice::reciprocating::Status |
| 9 | IceFuelTankStatusRosToUavcan | std_msgs/UInt8 | ice::FuelTankStatus |
| 10 | BatteryInfoRosToUavcan | sensor_msgs/BatteryState | power::BatteryInfo |
2. Preparation
You need to perform the following steps to use this package:
- Clone this repository using recursive. Update submodules every time you pull this repo
- Install required packages using
install_requirements.shscript - Build libuavcan v0.1 as a static library and install it on the system globally
- (optionally) Build DSDL if you want to use custom messages
cd catkin_ws/src
git clone --recursive git@github.com:RaccoonlabDev/uavcan_communicator.git
cd uavcan_communicator
git submodule update --init --recursive
./scripts/install_requirements.sh
./scripts/install_libuavcan.sh
./scripts/compile_dsdl.sh
3. Running
- At first, you need to create a virtual can port
- Then specify in
config/params.yamlwhich conversions do you need to use - Then launch communicator typing:
Example:
roslaunch uavcan_communicator example_communicator.launch
4. Usage example
Below you can see an example of using the uavcan_communicator in conjunction with a VTOL dynamics simulator.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| catkin | |
| std_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| mavros_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uavcan_communicator at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
|
|
uavcan_communicator package from uavcan_communicator repouavcan_communicator |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/InnopolisAero/uavcan_communicator.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-09-25 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The uavcan_communicator package
Additional Links
No additional links.
Maintainers
- dmitry
Authors
No additional authors.
DroneCAN communicator
It is recommended to use Cyphal communicator in new designs.
DroneCAN communicator converts DroneCAN messages to ROS and vice versa.
It covers a minimal set of sensors required for such applications as Ardupilot/PX4 DroneCAN HITL simulation. This communicator can be used for other purposes as well.
1. Conversions
The tables below represent the supported conversions:
DroneCAN->ROS
| № | Brige name | ROS msg | DroneCAN msg |
|---|---|---|---|
| 1 | RawCommandUavcanToRos | sensor_msgs/Joy | esc::RawCommand |
| 2 | ArrayCommandUavcanToRos | sensor_msgs/Joy | actuator::ArrayCommand |
| 3 | ArmUavcanToRos | std_msgs::Bool | safety::ArmingStatus |
| 4 | AhrsSolutionUavcanToRos | sensor_msgs::Imu | ahrs::AhrsSolution |
| 5 | EscStatusUavcanToRos | mavros_msgs::ESCTelemetryItem | esc::Status |
| 6 | CircuitStatusUavcanToRos | mavros_msgs::BatteryStatus | power::CircuitStatus |
ROS->DroneCAN
| № | Brige name | ROS msg | DroneCAN msg |
|---|---|---|---|
| 1 | BaroStaticTemperatureRosToUavcan | std_msgs/Float32 | air_data::StaticTemperature |
| 2 | BaroStaticPressureRosToUavcan | std_msgs/Float32 | air_data::StaticPressure |
| 3 | DiffPressureRosToUavcan | std_msgs/Float32 | air_data::RawAirData |
| 4 | GpsRosToUavcan | sensor_msgs/NavSatFix | gnss::Fix2 |
| geometry_msgs/Twist | gnss::Fix2 | ||
| 5 | ImuRosToUavcan | sensor_msgs/Imu | ahrs::RawIMU |
| 6 | MagnetometerRosToUavcan | sensor_msgs/MagneticField | ahrs::MagneticFieldStrength |
| 7 | EscStatusRosToUavcan | mavros_msgs::ESCTelemetryItem | esc::Status |
| 8 | IceReciprocatingStatusRosToUavcan | mavros_msgs::ESCStatusItem | ice::reciprocating::Status |
| 9 | IceFuelTankStatusRosToUavcan | std_msgs/UInt8 | ice::FuelTankStatus |
| 10 | BatteryInfoRosToUavcan | sensor_msgs/BatteryState | power::BatteryInfo |
2. Preparation
You need to perform the following steps to use this package:
- Clone this repository using recursive. Update submodules every time you pull this repo
- Install required packages using
install_requirements.shscript - Build libuavcan v0.1 as a static library and install it on the system globally
- (optionally) Build DSDL if you want to use custom messages
cd catkin_ws/src
git clone --recursive git@github.com:RaccoonlabDev/uavcan_communicator.git
cd uavcan_communicator
git submodule update --init --recursive
./scripts/install_requirements.sh
./scripts/install_libuavcan.sh
./scripts/compile_dsdl.sh
3. Running
- At first, you need to create a virtual can port
- Then specify in
config/params.yamlwhich conversions do you need to use - Then launch communicator typing:
Example:
roslaunch uavcan_communicator example_communicator.launch
4. Usage example
Below you can see an example of using the uavcan_communicator in conjunction with a VTOL dynamics simulator.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| catkin | |
| std_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| mavros_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.