Dear Stéphane,

have you consider to base your work on the CanFestival [1] project?

I am currently working on pretty much the same job that you have probably
already done. At this moment I am communicating with my EPOS2 devices
with USB and RS232 [3]. I have gathered code from various sources [2] (together
with mentioned patches), cleaned it up a bit and put it into a C++ class.

The CAN chip inside my embedded pc-board is the SJA1000 supported with
the standard Linux sja1000_isa kernel module. Now I was going to implement
the CANopen master with help of CanFestival. This project seems to be a kind
of overhead, but what is is nice, that it supports different OSes. I think that this is
the way to go in the spirit of the open-source community.

I can see, that your repository contains just a very initial stage of the project.

Do you think you can share more of your work? I would be happy to merge
the my code [3] with your CanOpen layer.

[1] http://www.canfestival.org/
[2] http://www.lsw.uni-heidelberg.de/users/mhauser/libEPOS/
[3] https://github.com/ptroja/mrrocpp/tree/master/src/robot/epos/,
     files epos.h, epos.cc, test.cc and epos.i (a SWIG interface for command-line
     testing).

Yours,

2010/12/1 Stéphane Magnenat <stephane.magnenat@mavt.ethz.ch>
Hello,

We have developed in-house drivers for EPOS/ELMO controllers, which are
based on the CanOpen/CiA DSP 402 protocol.

These drivers are written in C, and we are currently in the process of
re-factoring these libraries in C++, with the goal of doing a clean ROS
driver afterwards. Initially, the library [1] will contain
implementations of subsets of both CanOpen and CiA DSP 402, with quirks
for EPOS and ELMO. On the longer run, we will probably split the CanOpen
part into another library and add more complete CiA DSP 402 support,
including PDO.

I guess that this might be of interest for the ROS user community. We
are commited to an open-development model and so contributions are very
welcome.

Kind regards,

Stéphane

[1] https://github.com/ethz-asl/libcia-dsp-402

--
Dr Stéphane Magnenat
http://stephane.magnenat.net
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Piotr Trojanek
Robot Control and Recognition Systems Team,
Institute of Control & Computation Engineering,
Warsaw University of Technology