DroneCAN communicator

It is recommended to use Cyphal communicator in new designs.

DroneCAN communicator converts DroneCAN messages to ROS and vice versa.

It covers a minimal set of sensors required for such applications as Ardupilot/PX4 DroneCAN HITL simulation. This communicator can be used for other purposes as well.

1. Conversions

The tables below represent the supported conversions:

DroneCAN->ROS

№	Brige name	ROS msg	DroneCAN msg
1	RawCommandUavcanToRos	sensor_msgs/Joy	esc::RawCommand
2	ArrayCommandUavcanToRos	sensor_msgs/Joy	actuator::ArrayCommand
3	ArmUavcanToRos	std_msgs::Bool	safety::ArmingStatus
4	AhrsSolutionUavcanToRos	sensor_msgs::Imu	ahrs::AhrsSolution
5	EscStatusUavcanToRos	mavros_msgs::ESCTelemetryItem	esc::Status
6	CircuitStatusUavcanToRos	mavros_msgs::BatteryStatus	power::CircuitStatus

ROS->DroneCAN

№	Brige name	ROS msg	DroneCAN msg
1	BaroStaticTemperatureRosToUavcan	std_msgs/Float32	air_data::StaticTemperature
2	BaroStaticPressureRosToUavcan	std_msgs/Float32	air_data::StaticPressure
3	DiffPressureRosToUavcan	std_msgs/Float32	air_data::RawAirData
4	GpsRosToUavcan	sensor_msgs/NavSatFix	gnss::Fix2
		geometry_msgs/Twist	gnss::Fix2
5	ImuRosToUavcan	sensor_msgs/Imu	ahrs::RawIMU
6	MagnetometerRosToUavcan	sensor_msgs/MagneticField	ahrs::MagneticFieldStrength
7	EscStatusRosToUavcan	mavros_msgs::ESCTelemetryItem	esc::Status
8	IceReciprocatingStatusRosToUavcan	mavros_msgs::ESCStatusItem	ice::reciprocating::Status
9	IceFuelTankStatusRosToUavcan	std_msgs/UInt8	ice::FuelTankStatus
10	BatteryInfoRosToUavcan	sensor_msgs/BatteryState	power::BatteryInfo

2. Preparation

You need to perform the following steps to use this package:

1. Clone this repository using recursive. Update submodules every time you pull this repo
2. Install required packages using install_requirements.sh script
3. Build libuavcan v0.1 as a static library and install it on the system globally
4. (optionally) Build DSDL if you want to use custom messages

cd catkin_ws/src
git clone --recursive [email protected]:RaccoonlabDev/uavcan_communicator.git
cd uavcan_communicator
git submodule update --init --recursive
./scripts/install.sh

3. Running

1. At first, you need to create a virtual can port
2. Then specify in config/params.yaml which conversions do you need to use
3. Then launch communicator typing:

Example:

roslaunch uavcan_communicator example_communicator.launch

4. Usage example

Below you can see an example of using the uavcan_communicator in conjunction with a VTOL dynamics simulator.