CAN Python Interface

[ryan-barry-99]

Set up the Python end of the CAN interface to control on the Jetson Nano

[ryan-barry-99]

To my knowledge we should be able to interface using the python-can library

[ryan-barry-99]

Create custom ROS message types for can messages

File: CAN.msg
Contents:
uint32 id
uint8[8] buf

File: CANFD.msg
Contents:
uint32 id
uint8[64] buf

[ryan-barry-99]

The CAN node should run independently as a ROS node and publish and subscribe to topics for the messages sent over them. The messages will be packed and unpacked at their respective nodes (ie for the drive base velocities we would pack that at the drive base node and the CAN node will only need to deal with sending and receiving the messages)

[ryan-barry-99]

sudo chmod 766 /dev/ttyS0