Hi,
I am trying to publish CAN data to a ROS topic. I followed the talker tutorial and am using the suggestion on this question: http://answers.ros.org/question/213645/running-can-radar-on-ros-through-raspberry-pi-2/?comment=218160#post-id-218160
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include "socketcan_interface/socketcan.h"
#include "socketcan_interface/threading.h"
#include "socketcan_interface/string.h"
void handleFrames(const can::Frame &f){
// handle all frames
LOG(can::tostring(f, true)); // lowercase: true
}
void handleFrame123(const can::Frame &f){
// handle specific frame
LOG("123? " << can::tostring(f, true)); // lowercase: true
}
int main(int argc, char **argv)
{
can::ThreadedSocketCANInterface driver;
if(!driver.init("can0", false)) return 1; // read own messages: false
can::CommInterface::FrameListener::Ptr all_frames = driver.createMsgListener(handleFrames);
can::CommInterface::FrameListener::Ptr one_frame = driver.createMsgListener(can::MsgHeader(0xFF32), handleFrame123); // handle only frames with CAN-ID 0x123
ros::init(argc, argv, "data_raw");
ros::NodeHandle n;
ros::Publisher canbus_pub = n.advertise<std_msgs::String>("canbus", 1000);
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << all_frames;
msg.data = ss.str();
canbus_pub.publish(msg);
//ROS_INFO("%s", msg.data.c_str());
//ROS_INFO("%s", std::cout<<"all_frames is of type: "<<typeid(all_frames).name()<<std::endl);
ros::spinOnce();
}
driver.shutdown();
return 0;
}
This line LOG(can::tostring(f, true) will print the CAN frame to the console like:
00063200#8000010100000000
00061200#0000010100000000
00063200#8000010100000000
00EF0900#0000000000000000
00061200#0000010100000000
00063200#8000010100000000
00061200#0000010100000000
00063200#8000010100000000
This line canbus_pub.publish(msg) prints to a rostopic canbus but no frame data:
---
data: 0x1e9db80
---
data: 0x1e9db80
How do I get the individual CAN frames to print to the topic?
Thanks,
Matt
Originally posted by Droter on ROS Answers with karma: 90 on 2015-09-24
Post score: 0
Original comments
Comment by Mathias Lüdtke on 2015-09-25:
This code cannot compile! Please move std_msgs::String msg; into handleFrames.
The CAN-IDs in the LOG outputs look strange, too. I have to check can::tostring next week.
Comment by Droter on 2015-09-25:
I found this package. Maybe it is a better place to start.
https://github.com/juancamilog/canbus_interface
Haven't got it working yet.
Comment by khairulizwan on 2015-11-13:
Any good news about this? Please advice me how to us it...