uavcan_communicator package from uavcan_communicator repo

uavcan_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 No 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 Build Status Build Status Build Status

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:

  1. Clone this repository using recursive. Update submodules every time you pull this repo
  2. Install required packages using install_requirements.sh script
  3. Build libuavcan v0.1 as a static library and install it on the system globally
  4. (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

  1. At first, you need to create a virtual can port
  2. Then specify in config/params.yaml which conversions do you need to use
  3. 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.

uavcan vtol dynamics simulator

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uavcan_communicator at Robotics Stack Exchange

uavcan_communicator package from uavcan_communicator repo

uavcan_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 No 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 Build Status Build Status Build Status

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:

  1. Clone this repository using recursive. Update submodules every time you pull this repo
  2. Install required packages using install_requirements.sh script
  3. Build libuavcan v0.1 as a static library and install it on the system globally
  4. (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

  1. At first, you need to create a virtual can port
  2. Then specify in config/params.yaml which conversions do you need to use
  3. 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.

uavcan vtol dynamics simulator

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uavcan_communicator at Robotics Stack Exchange