I am using ROS2 real-time (still a lot to learn) to implement the various control element of my robot : SLAM, path planning, controller, etc...
For the first step of prototyping we would like to build a system with only the actuators : A PC will run ROS2 with the controller, an external power supply for the power. Our idea is to have the computer (through ROS2) send the torque control command and receive the sensor info from our actuators.
Our actuators have built in drivers with a CAN Bus interface : What are our options to connect the computer running ROS2 to the drivers of the actuators ?
Since our controller must run real-time, I imagine the bandwidth of the Computer/Actuator interface is a critical factor.