pcan_topics Documentation

pcan_topics

pcan topics is based on transmi- and receivetest. It consists of two nodes; pcan_transmit and pcan_receive. The pcan_transmit is subscribed to the pcan_transmit topic and sends a CAN message based on the string published. The pcan_receive publishes incomming CAN messages on the pcan_receive topic in string format.

The pcan_topics package is based on the transmi- and receivetest programs. It only supports the PCAN-USB adapter and standard CAN messages. The package contains two nodes. the PCAN_transmit node sends CAN messages based on the strings that are published on the "pcan_transmitted" topic. The PCAN_receive node publishes a string representation of received CAN messages on the "pcan_received" topic. The pcan_topic package depends on the libpcan package. Make sure it is correctly installed. The steps to install the libpcan package can be found here:

http://wiki.ros.org/libpcan

After these steps the nodes can be started. With the -b argument the Baudrate of the adapter can be set. The following values correspond to the following Baudrates:

            0x0014  =   1 MBit/s 
            0x001C  = 500 kBit/s 
            0x011C  = 250 kBit/s 
            0x031C  = 125 kBit/s 
            0x432F  = 100 kBit/s 
            0x472F  =  50 kBit/s 
            0x532F  =  20 kBit/s 
            0x672F  =  10 kBit/s 
            0x7F7F  =   5 kBit/s 

The default Baudrate is 1MBit/s. With the -f argument the device node can be set. The default device node is "/dev/pcan32". After starting the transmit node the command line can be used to send CAN messages. An example of such a command:

    rostopic pub /pcan_transmitted std_msgs/String "0x00B 0x06 0x00 0x06 0x11 0x00 0x11 0x11" -r 100

After starting the receive node incomming can messages are send to the "pcan_received" topic. An example of a string representation of a received CAN message is:

    data: 10929481.089 0x00C 0x06 0x05 0xC7 0x15 0xB1 0xA3 0xB8 0x00 0x00


pcan_topics
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autogenerated on Sun Dec 14 2014 19:01:10