canusb

ROS node of LAWICEL CANUSB

##Install clone this project into ~/catkin_ws/src

cd ~/catkin_ws/src
git clone https://github.com/spiralray/canusb.git
cd ..
catkin_make

##Usage

rosparam set /canusb/baud 500k #Set 500Kbps
rosparam set /canusb/port /dev/ttyUSB0 #Set CANUSB port
rosrun canusb canusb.py

This node publish received messages on "/canrx".

rostopic echo /canrx

#rosmsg This node uses original message formtat "CAN"
This format contains

• time timestamp
• uint16 stdId
• int32 extId
• uint8[] data

When you transmit messages in standard format, you have to set minus value to extId

##Supported baudrate

• 10k
• 20k
• 50k
• 100k
• 125k
• 250k
• 500k
• 800k
• 1m

You can choose baudrate using rosparam.

rosparam set /canusb/baud  500k

Sample of transmitting CAN messages

rosrun canusb test.py