💾 ros2_cyphal_bridge

This package provides the interface between ROS and L3X-Z's Cyphal connected components.

How-to-build

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/ros2_cyphal_bridge
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select ros2_cyphal_bridge

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch ros2_cyphal_bridge bridge.py

Interface Documentation

Published Topics

Default name	Type	Description
/l3xz/ros2_cyphal_bridge/heartbeat	std_msgs/UInt64	Heartbeat signal containing the node uptime in seconds.

Parameters

Name	Default	Description
can_iface	can0	Network name of CAN bus.
'can_node_id'	100	Cyphal/CAN node id.

Notes

Configure light mode from bash:

ros2 topic pub --once /l3xz/light_mode/target std_msgs/msg/Int8 "{data: 3}"

Turn on Zubax Orel 20 from bash:

# yakut
y pub --period=0.1 5001:reg.udral.service.common.Readiness.0.1 "{value: 3}"
y pub --period=0.1 5002:reg.udral.service.actuator.common.sp.Scalar.0.1 "{value: 10.0}"
# ros
ros2 topic pub -r 10 /l3xz/pump/readiness/target std_msgs/msg/Int8 "{data: 3}"
ros2 topic pub -r 10 /l3xz/pump/rpm/target std_msgs/msg/Float32 "{data: 10}"