[ros-users] Announcing: KaCanOpen - An Open Plug&Play CANopen Stack for ROS in Modern C++
Andreas Bihlmaier
andreas.bihlmaier at gmx.de
Wed Jun 22 11:56:22 UTC 2016
tl;dr: You use CANopen devices and ROS? Then checkout:
http://wiki.ros.org/kacanopen (Repository:
https://github.com/KITmedical/kacanopen)
Dear ROS community,
I'm happy to announce KaCanOpen <http://wiki.ros.org/kacanopen>, a
plug&play ROS stack for CANopen devices (motors, remote I/Os, ...)
written in modern C++.
KaCanOpen is an easy-to-use CANopen stack, which consists of four parts:
*
*Drivers*: A wide range of CAN hardware (USB, PCI, embedded) is
supported using different CAN drivers. They have been developed by
the CanFestival <http://wiki.ros.org/CanFestival>project. Follow the
link for details.
*
*Core*: This is a library which implements basic CANopen protocols
like NMT, SDO and PDO. As an example, you can easily fetch a value
from a device (uploading inCANopen
<http://wiki.ros.org/CanOpen>terminology)
viacore.sdo.upload(node_id, index, subindex). Furthermore, it allows
you to register callbacks on certain events or any incoming
messages, so one can build arbitrary CANopen nodes (master or slave)
using this library.
*
*Master*: This library is intended to be used for a master node. It
detects all nodes in a CAN network and gives direct access to them
via standardized CiA® profiles. For example, on a motor device
(profile CiA® 402) you can simply call
mymotor.set_entry("Target velocity", 500). A main feature of this
library is transparent SDO/PDO access to dictionary entries: By
default a value is fetched and set via SDO. But you can also
configure PDO mappings, which keep the value up-to-date in
background via (much more lightweight) PDO messages. The call itself
(mymotor.set_entry("Target velocity", 500)) remains unchanged.
*
*ROS Bridge*: This library provides a bridge to a ROS network, which
makes KaCanOpen especially interesting for robotics. After setting
up the CANopen network, the library can publish slave nodes so they
are accessible through ROS messages. Special effort is put into the
use of standardized message types which allows interaction with
other software from the ROS universe. For example, motors can be
operated using JointState messages.
KaCanOpen is designed to make use of modern C++11/14 features and to
avoid redundant code on the user side wherever possible. Reusing all the
available functionality, a custom node for a custom CANopen device can
be written in less than 100 lines of code.
Although, I have the joy to announce KaCanOpen here, most credit goes to
Thomas for all the effort he put into it!
Cheers,
Andreas
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