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Dataspeed CAN

dataspeed_can_usb: Interface with up to four CAN buses with Dataspeed USB CAN Tool
dataspeed_can_msg_filters: Time synchronize multiple CAN messages to get a single callback

Example

roslaunch dataspeed_can_usb example.launch

Parameters

Global parameters:

  • error_topic: Separate topic for CAN error frames. Default: True
  • mac_addr: Connect to specific USB device by MAC address. Default: "" for disabled
  • bitrate: CAN bitrate in bit/s up to 1Mbit/s (if not set by channel). Default: 0 for disabled
  • mode: CAN mode (normal/listen-only). Default: "" for normal

CAN channel parameters:

  • bitrate_X: CAN bitrate in bit/s up to 1Mbit/s, 0 for disabled
  • channel_X_mask_Y: Up to 32 mask/match filter pairs to filter received CAN messages
  • channel_X_match_Y: Up to 32 mask/match filter pairs to filter received CAN messages

Troubleshooting

  • [WARN]: Dataspeed USB CAN Tool: not found
    • Is the device plugged in to a USB port and powered with 12V?
      • The power LED should blink green every two seconds.
    • Can Linux see the USB device?
      • lsusb | grep 6923:0112
    • Only one executable can use a hardware device at a time.
      • Make sure no other running software is using the hardware.
    • By default, Linux USB devices have very limited permissions. Udev rules are used to modify device permissions when connected.
      • When installing with binaries with apt-get, the udev rules are installed automatically.
      • Check if this package's udev rules are installed: ls /etc/udev/rules.d/ | grep 90-DataspeedUsbCanToolRules.rules or ls /lib/udev/rules.d/ | grep dataspeed-can-usb.rules
      • Otherwise, follow the directions in 90-DataspeedUsbCanToolRules.rules to perform a manual install.
  • Why is the power LED blinking green?
    • The power LED blinks green every two seconds under normal operation.

Migration

In September 2017, the ROS message type was migrated to can_msgs/Frame. See can_msgs_migration for more details.