ros2_canopen repository

Repository Summary

Checkout URI https://github.com/ros-industrial/ros2_canopen.git
VCS Type git
VCS Version humble
Last Updated 2023-11-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 CANopen

Status

Build Process Status
Industrial CI Build CI Build Status
Documentation Build CI Documentation Status
Buildfarm Build Buildfarm Status

humble HUMBLE Documentation

The stack is currently under development and not yet ready for production use.

Binary Package (rolling) Jammy Rhel9
canopen_interfaces Build Status Build Status
lely_core_libraries Build Status Build Status
canopen_core Build Status Build Status
canopen_master_driver Build Status Build Status
canopen_base_driver Build Status Build Status
canopen_proxy_driver Build Status Build Status
canopen_402_driver Build Status Build Status
canopen_ros2_control Build Status Build Status
canopen_ros2_control Build Status Build Status
canopen_tests Build Status Build Status
canopen_utils Build Status Build Status

Documentation

The documentation consists of two parts: a manual and an api reference. The documentation is built for rolling (master), iron and humble and hosted on github pages. Older ROS 2 releases are EOL and are not supported anymore.

Rolling

Iron

Humble

Features

These are some of the features this stack implements. For further information please refer to the documentation.

  • YAML-Bus configuration This canopen stack enables you to configure the bus using a YAML file. In this file you define the nodes that are connected to the bus by specifying their node id, the corresponding EDS file and the driver to run for the node. You can also specify further parameters that overwrite EDS parameters or are inputs to the driver.
  • Service based operation The stack can be operated using standard ROS2 nodes. In this case the device container will load the drivers for master and slave nodes. Each driver will be visible as a node and expose a ROS 2 interface. All drivers are brought up when the device manager is launched.
  • Managed service based operation The stack can be opeprated using managed ROS2 nodes. In this case the device container will load the drivers for master and slave nodes based on the bus configuration. Each driver will be a lifecycle node and expose a ROS 2 interface. The lifecycle manager can be used to bring all device up and down in the correct sequence.
  • ROS2 control based operation Currently, multiple ros2_control interfaces are available. These can be used for controlling CANopen devices. The interfaces are:
    • canopen_ros2_control/CANopenSystem
    • canopen_ros2_control/CIA402System
    • canopen_ros2_control/RobotSystem
  • CANopen drivers Currently, the following drivers are available:
    • ProxyDriver
    • Cia402Driver

Post testing

To test stack after it was built from source you should first setup a virtual can network.

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 txqueuelen 1000
sudo ip link set up vcan0

Then you can launch a managed example

ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
ros2 lifecycle set /lifecycle_manager configure
ros2 lifecycle set /lifecycle_manager activate

Or you can launch a standard example

ros2 launch canopen_tests cia402_setup.launch.py

Or you can launch a ros2_control example

ros2 launch canopen_tests robot_control_setup.launch.py

Contributing

This repository uses pre-commit for code formatting. This program has to be setup locally and installed inside the repository. For this execute in the repository folder following commands:

sudo apt install -y pre-commit
pre-commit install

The checks are automatically executed before each commit. This helps you to always commit well formatted code. To run all the checks manually use pre-commit run -a command. For the other options check pre-commit --help.

In a case of an "emergency" you can avoid execution of pre-commit hooks by adding -n flag to git commit command - this is NOT recommended to do if you don't know what are you doing!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-industrial/ros2_canopen.git
VCS Type git
VCS Version iron
Last Updated 2023-06-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 CANopen

Build Status Documentation Status

Documentation

The documentation consists of two parts: a manual and an api reference. The documentation is built for rolling (master), iron and humble and hosted on github pages. Older ROS 2 releases are EOL and are not supported anymore.

Rolling

Iron

Humble

Status

Currently under development. Not for production use.

Available Features: * Device Manager (using rclcpp::components) * MasterDriver (Service Interface) * ProxyDriver (Service Interface) * Cia402Driver (Service Interface) * Generic ros2_control Interface (implementing hardware_interface::SystemInterface) - check https://control.ros.org for more details

Post build testing To test stack after it was built from source you should first setup a virtual can network.

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 txqueuelen 1000
sudo ip link set up vcan0

Then you can run the integration tests contained in canopen_tests package.

launch_test src/ros2_canopen/canopen_tests/launch_tests/test_proxy_lifecycle_driver.py
launch_test src/ros2_canopen/canopen_tests/launch_tests/test_proxy_driver.py

Contributing

This repository uses pre-commit for code formatting. This program has to be setup locally and installed inside the repository. For this execute in the repository folder following commands:

sudo apt install -y pre-commit
pre-commit install

The checks are automatically executed before each commit. This helps you to always commit well formatted code. To run all the checks manually use pre-commit run -a command. For the other options check pre-commit --help.

In a case of an "emergency" you can avoid execution of pre-commit hooks by adding -n flag to git commit command - this is NOT recommended to do if you don't know what are you doing!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-industrial/ros2_canopen.git
VCS Type git
VCS Version master
Last Updated 2024-01-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 CANopen

Status

Build Process Status
Industrial CI Build CI Build Status
Documentation Build CI Documentation Status
Buildfarm Build Buildfarm Status

The stack is currently under development and not yet ready for production use.

Binary Package (rolling) Jammy Rhel9
canopen_interfaces Build Status Build Status
lely_core_libraries Build Status Build Status
canopen_core Build Status Build Status
canopen_master_driver Build Status Build Status
canopen_base_driver Build Status Build Status
canopen_proxy_driver Build Status Build Status
canopen_402_driver Build Status Build Status
canopen_ros2_control Build Status Build Status
canopen_ros2_control Build Status Build Status
canopen_tests Build Status Build Status
canopen_utils Build Status Build Status

Documentation

The documentation consists of two parts: a manual and an api reference. The documentation is built for rolling (master), iron and humble and hosted on github pages. Older ROS 2 releases are EOL and are not supported anymore.

Rolling

Iron

Humble

Features

These are some of the features this stack implements. For further information please refer to the documentation.

  • YAML-Bus configuration This canopen stack enables you to configure the bus using a YAML file. In this file you define the nodes that are connected to the bus by specifying their node id, the corresponding EDS file and the driver to run for the node. You can also specify further parameters that overwrite EDS parameters or are inputs to the driver.
  • Service based operation The stack can be operated using standard ROS2 nodes. In this case the device container will load the drivers for master and slave nodes. Each driver will be visible as a node and expose a ROS 2 interface. All drivers are brought up when the device manager is launched.
  • Managed service based operation The stack can be opeprated using managed ROS2 nodes. In this case the device container will load the drivers for master and slave nodes based on the bus configuration. Each driver will be a lifecycle node and expose a ROS 2 interface. The lifecycle manager can be used to bring all device up and down in the correct sequence.
  • ROS2 control based operation Currently, multiple ros2_control interfaces are available. These can be used for controlling CANopen devices. The interfaces are:
    • canopen_ros2_control/CANopenSystem
    • canopen_ros2_control/CIA402System
    • canopen_ros2_control/RobotSystem
  • CANopen drivers Currently, the following drivers are available:
    • ProxyDriver
    • Cia402Driver

Post testing

To test stack after it was built from source you should first setup a virtual can network.

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 txqueuelen 1000
sudo ip link set up vcan0

Then you can launch a managed example

ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
ros2 lifecycle set /lifecycle_manager configure
ros2 lifecycle set /lifecycle_manager activate

Or you can launch a standard example

ros2 launch canopen_tests cia402_setup.launch.py

Or you can launch a ros2_control example

ros2 launch canopen_tests robot_control_setup.launch.py

Contributing

This repository uses pre-commit for code formatting. This program has to be setup locally and installed inside the repository. For this execute in the repository folder following commands:

sudo apt install -y pre-commit
pre-commit install

The checks are automatically executed before each commit. This helps you to always commit well formatted code. To run all the checks manually use pre-commit run -a command. For the other options check pre-commit --help.

In a case of an "emergency" you can avoid execution of pre-commit hooks by adding -n flag to git commit command - this is NOT recommended to do if you don't know what are you doing!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-industrial/ros2_canopen.git
VCS Type git
VCS Version galactic
Last Updated 2023-06-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 CANopen - (GALACTIC end of life - no updates)

Build Status Build Status Build Status Build Status Documentation Status

Package License
canopen license - apache 2.0
canopen_core license - apache 2.0
canopen_interfaces license - apache 2.0
canopen_base_driver license - apache 2.0
canopen_proxy_driver license - apache 2.0
canopen_402_driver license - LGPLv3
canopen_utils license - apache 2.0
lely_core_libraries license - apache 2.0

Documentation

The documentation is generated using sphinx and doxygen. The current version for master can be found here.

Status

Currently under development. Not for production use.

Available Features: * Device Manager (using rclcpp::components) * CANopen Master (Service Interface) * ProxyDriver (Service Interface) * MotionControllerDriver (Service Interface)

Features under Development: * System Interface (using ros2_control::SystemInterface)

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-industrial/ros2_canopen.git
VCS Type git
VCS Version foxy
Last Updated 2023-06-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 CANopen - (FOXY end of life - no updates)

Build Status Build Status Build Status Build Status Documentation Status

Package License
canopen license - apache 2.0
canopen_core license - apache 2.0
canopen_interfaces license - apache 2.0
canopen_base_driver license - apache 2.0
canopen_proxy_driver license - apache 2.0
canopen_402_driver license - LGPLv3
canopen_utils license - apache 2.0
lely_core_libraries license - apache 2.0

Documentation

The documentation is generated using sphinx and doxygen. The current version for master can be found here.

Status

Currently under development. Not for production use.

Available Features: * Device Manager (using rclcpp::components) * CANopen Master (Service Interface) * ProxyDriver (Service Interface) * MotionControllerDriver (Service Interface)

Features under Development: * System Interface (using ros2_control::SystemInterface)

CONTRIBUTING

No CONTRIBUTING.md found.