The Kvaser ROS Interface API is based on the Autonomous Stuff Code (https://github.com/astuff/kvaser_interface). Kvser_interface is modified to enable CANFD communication.
TOPICS
can_tx [can_msgs::Frame] can_tx [can_msgs::FrameFd]
This topic is published by the node. It expects to have other nodes subscribe to it to receive data which are sent by the CAN device.
can_rx [can_msgs::Frame] can_rx [can_msgs::FrameFd]
This topic is subscribed to by the node. It expects to have data published to it which are intended to be received by the CAN device.
PARAMETERS
~can_hardware_id
This is the Kvaser Hardware ID (serial number) of the connected device.
~can_circuit_id
This is the 0-based index of the channel number on the specific hardware device designated by the ~can_hardware_id.
~can_bit_rate
This is the communication rate to be used on the CAN channel in bits per second (default: 500000).
~canfd
This is the canfd flag (0 : not canfd, 1 : canfd).
~canfd_tseg1
Time segment 1, that is, the number of quanta from (but not including) the Sync Segment to the sampling point (default: 15).
~canfd_tseg2
Time segment 2, that is, the number of quanta from the sampling point to the end of the bit (default: 4).
~canfd_sjw
The Synchronization Jump Width (default: 4).
~canfd_data_rate
The canfd data rate (defalut : 2000000)