raptor-dbw-ros2-dashing

This is a continuation of the raptor_dbw_ros repo but in ROS2-Dashing. This is the product of transferring the ROS1 codebase to ROS2-Dashing

This branch is NOT being actively developed. New Eagle recommends using distro “foxy” or later.

This repository contains a collection of ROS2 packages which allow DBW kit developers to quickly implement a generic ROS2 node for interacting with the New Eagle Raptor controller.

Packages

• can_dbc_parser - module for handling everything related to translating CAN messages to ROS
• raptor_dbw_can - DBW CAN driver
• raptor_dbw_joystick - a demo that allows you to use a game controller to interact with the DBW ROS2 node
• raptor_dbw_msgs - DBW ROS2 message definitions
• raptor_pdu - power distribution unit (PDU) driver. The PDU is a separate CAN-enabled device that’s part of New Eagle’s product line.
• raptor_pdu_msgs - PDU ROS2 message definitions

Installing and building

Official Releases

raptor-dbw-ros2 is being officially released through the ROS Build Farm for foxy and later distros. Dashing is not being released through the ROS Build Farm.
See the “Tags” tab for other releases.

Building from source

raptor-dbw-ros2 can be built from source using colcon build. It also requires package kvaser-interface.

1. Create a ROS2 workspace. Instructions below assume the workspace was created in directory YourWorkspace.
2. cd YourWorkspace/src
3. git clone https://github.com/NewEagleRaptor/raptor-dbw-ros2.git

Usage

Running raptor_dbw_can with kvaser hardware:

1. Make sure kvaser-interface is built and installed first. You can get it from github:
   • From inside YourWorkspace/src:
     1. git clone https://github.com/astuff/kvaser_interface.git
     2. cd kvaser-interface
     3. git checkout ros2-master
2. clone this repository (see “Building from source”)
3. modify the launch parameters file in raptor_dbw_can/launch/launch_params.yaml
   • “hardware_id” is the serial number (S/N) for the kvaser hardware. This must match your hardware.
   • “circuit_id” is the can channel number (0-n)
4. in the terminal, with the path set to the base of the workspace:
   • colcon build –packages-up-to raptor_dbw_can
   • ros2 launch raptor_dbw_can raptor_dbw_can_launch.py