nobleo_socketcan_bridge

This package provides functionality to expose CAN frames from SocketCAN to ROS2 topics.

Overview

This is a from-scratch re-implementation of socketcan_bridge from ROS1. There is a different ROS2 package ros2_socketcan which is similar to this package. The differences between this package and ros2_socketcan are:

• No loopback, i.e. CAN frames that are send are not received by the same node
• No lifecycle management, just run it
• Less CPU usage

Nodes

The main node (socketcan_bridge) is also available as dynamically loadable component. The node socketcan_bridge_ee is also provided that uses the EventsExecutor that runs a bit more efficient.

socketcan_bridge

Subscribed Topics

• ~/tx (can_msgs/Frame) Messages received here will be sent to the SocketCAN device.

Published Topics

• ~/rx (can_msgs/Frame) Frames received on the SocketCAN device are published on this topic.

Parameters

• interface (default=can0) Name of the SocketCAN device, by default these devices are named can0 and upwards.
• read_timeout (default=1.0) Maximum duration in seconds to wait for data on the file descriptor
• reconnect_timeout (default=5.0) Sleep duration in seconds before reconnecting to the SocketCAN device

Changelog for package nobleo_socketcan_bridge

1.0.3 (2025-05-21)

• Remove deprecated call to ament_target_dependencies
• Bump minimum CMake version to avoid compatiility warning
• Contributors: Ramon Wijnands

1.0.2 (2025-04-02)

• fix: make [state_]{.title-ref} atomic It is accessed from the main thread and updated via the receiver thread.
• Add url to the package.xml
• Fix CI by updating its dependencies
• Contributors: Ramon Wijnands, Rein Appeldoorn

1.0.1 (2025-02-28)

• Disable clang_format on humble This version of clang_format has a different output.
• Contributors: Ramon Wijnands

1.0.0 (2025-02-12)

• First release
• Contributors: Ramon Wijnands, dkorenkovnl, Rein Appeldoorn, Ferry Schoenmakers, Tim Clephas