wangwenqiang2019/ros_can_driver

使用： 1.给外界USB转can设备权限 2.查看can设备id，'can0' 3.修改run.sh文件中对应的can设备id和波特率，运行该脚本，'./run.sh' 4.检查硬件设备连接，启动ros节点 5.'roslaunch decodeframe decode_frame_can_node.launch‘

注意： decodeframe: 下一个can驱动！！！！

ros_canopen: 1.修改can id 1.1 源码修改socketcan_to_topic_node.cpp和topic_to_socketcan_node.cpp两个文件中第45行的can id，如can0 1.2 laucnh文件中修改rosparam中的can_device的value

<node pkg="socketcan_bridge" name="topic_to_socketcan_node" type="topic_to_socketcan_node" output="screen">
 	<param name="can_device" value="can0"/>
</node>

<node pkg="socketcan_bridge" name="socketcan_to_topic_node" type="socketcan_to_topic_node" output="screen">
    <param name="can_device" value="can0"/>
</node>

2.修改topic 2.1 laucnh文件重映射topic名称

<node pkg="socketcan_bridge" name="topic_to_socketcan_node" type="topic_to_socketcan_node" output="screen">
    <remap from="received_messages" to="/bigrobot2/received_messages"/>
</node>

<node pkg="socketcan_bridge" name="socketcan_to_topic_node" type="socketcan_to_topic_node" output="screen">
    <remap from="sent_messages" to="/bigrobot2/sent_messages"/>
</node>