{"id":1984,"date":"2025-01-04T10:40:28","date_gmt":"2025-01-04T02:40:28","guid":{"rendered":"http:\/\/www.liuyeshu.cn\/?page_id=1984"},"modified":"2025-01-05T09:11:01","modified_gmt":"2025-01-05T01:11:01","slug":"%e5%85%ad%e5%8f%b6%e6%a0%91ros2-canopen%e7%a7%bb%e6%a4%8d%e6%95%99%e7%a8%8b","status":"publish","type":"page","link":"http:\/\/www.liuyeshu.cn\/?page_id=1984","title":{"rendered":"\u516d\u53f6\u6811ROS2 CANopen\u79fb\u690d\u6559\u7a0b"},"content":{"rendered":"\n

ROS2 CANopen\u79fb\u690d\u6559\u7a0b<\/h2>\n\n\n\n

\u672c\u6587\u4e3b\u8981\u4ecb\u7ecdROS2\u7cfb\u7edf(humble)\u4e0bCANopen\u5de5\u7a0b\u7684\u79fb\u690d\u7684\u4e3b\u8981\u6b65\u9aa4\uff0c\u5305\u62ec\u73af\u5883\u51c6\u5907\u3001\u6e90\u7801\u4e0b\u8f7d\u3001\u7f16\u8bd1\u4f9d\u8d56\u5b89\u88c5\u3001\u6d4b\u8bd5\u9a8c\u8bc1\u7b49\uff0c\u9002\u7528\u4e8eROS2\u7cfb\u7edf\u548cCANopen\u4ea4\u4e92\u7684\u5e94\u7528\u573a\u666f\u3002\u8be6\u7ec6\u7684\u6559\u7a0b\u89c1\u9875\u9762\u6700\u4e0b\u65b9\u7684PDF\u6587\u6863\u3002<\/mark><\/p>\n\n\n\n

\n\n\n\n

\u6b65\u9aa4\u4e00\uff1a\u4f9d\u8d56\u5e93\u5b89\u88c5<\/h5>\n\n\n\n

apt-get install -y ros-humble-diagnostic-updater ros-humble-controller-interface ros-humble-controller-manager ros-humble-realtime-tools<\/p>\n\n\n\n

apt-get install -y python3-rosdep python3-argcomplete python3-colcon-common-extensions build-essential  pkg-config  python3-wheel<\/p>\n\n\n\n

\u6b65\u9aa4\u4e8c\uff1a\u5de5\u7a0b\u6e90\u7801\u4e0b\u8f7d\u4e0e\u7f16\u8bd1<\/h5>\n\n\n\n
1.\u521d\u59cb\u5316ROS2\u7684\u5de5\u4f5c\u7a7a\u95f4<\/h6>\n\n\n\n

mkdir -p ~\/ros2\/src<\/p>\n\n\n\n

cd ~\/ros2\/src<\/p>\n\n\n\n

2.\u514b\u9686ROS CANopen\u5230\u5de5\u4f5c\u7a7a\u95f4<\/h6>\n\n\n\n

\u65b9\u5f0f\u4e00:<\/p>\n\n\n\n

git clone https:\/\/github.com\/ros-industrial\/ros2_canopen.git<\/p>\n\n\n\n

\u4e0d\u63a8\u8350:<\/p>\n\n\n\n

1.github\u7ecf\u5e38\u8bbf\u95ee\u4e0d\u4e86<\/p>\n\n\n\n

2.\u4e0b\u8f7d\u7684\u4ee3\u7801\u6709\u95ee\u9898\uff0c\u5728\u5f53\u524d(2025\u5e7401\u670803\u65e5)\u7684ROS2\u7cfb\u7edf\u4e0b\u7f16\u8bd1\u6709\u95ee\u9898\u3002<\/p>\n\n\n\n

\u65b9\u5f0f\u4e8c:(\u63a8\u8350\uff0c\u4ee3\u7801\u95ee\u9898\u5df2\u7ea0\u6b63)<\/mark><\/p>\n\n\n\n

wget http:\/\/www.liuyeshu.cn\/wp-content\/uploads\/2024\/12\/lysRos2CanOpenSrc.tar.gz<\/p>\n\n\n\n

tar -xvf lysRos2CanOpenSrc.tar.gz<\/p>\n\n\n\n

cd ros2_canopen<\/p>\n\n\n\n

3.\u6784\u5efa\u5e76\u5b89\u88c5:<\/h6>\n\n\n\n

cd ..\/..\/<\/p>\n\n\n\n

sudo rosdep init<\/p>\n\n\n\n

rosdep update<\/p>\n\n\n\n

rosdep install –from-paths src\/ros2_canopen –ignore-src -r -y<\/p>\n\n\n\n

\u6b65\u9aa4\u4e09\uff1aCAN\u5361\u8c03\u8bd5\u5de5\u5177\u5b89\u88c5<\/h5>\n\n\n\n

apt-get install can-utils<\/p>\n\n\n\n

\u6b65\u9aa4\u56db:CAN\u5361\u53c2\u6570\u914d\u7f6e<\/h5>\n\n\n\n

\u516d\u53f6\u6811\u652f\u6301\u4ea7\u54c1:<\/p>\n\n\n\n

\u4ea7\u54c1\u7cfb\u5217<\/td>\u652f\u6301\u7684\u578b\u53f7<\/td>\u9a71\u52a8<\/td><\/tr>
\u516d\u53f6\u6811USBCAN\u7cfb\u5217\u9002\u914d\u5668<\/td>USBCAN1\/USBCAN2<\/td>\u9700\u5b89\u88c5\u5bf9\u5e94\u7684\u9a71\u52a8<\/td><\/tr>
\u516d\u53f6\u6811USBCANFD\u7cfb\u5217\u9002\u914d\u5668<\/td>USBCANFD-Mini\/USBCANFD1\/USBCANFD2<\/td>\u9700\u5b89\u88c5\u5bf9\u5e94\u7684\u9a71\u52a8<\/td><\/tr>
\u516d\u53f6\u6811SOCKETCAN\u7cfb\u5217\u9002\u914d\u5668<\/td>UTC2201\/UTC2202\/UTF2202<\/td>\u514d\u9a71<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

\u6ce2\u7279\u7387\u914d\u7f6e\u4e3aCANopen\u8bbe\u5907\u7684\u5b9e\u9645\u901a\u8baf\u6ce2\u7279\u7387\uff0c\u4ee5\u4e0b\u7528\u4f8b\u5c06CAN\u5361\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e3a\u4e86500K\u3002<\/p>\n\n\n\n

ip link set can0 type can bitrate 500000<\/p>\n\n\n\n

Ip link set up can0<\/p>\n\n\n\n

\u6b65\u9aa4\u4e94\uff1acia402_setup.launch.py\u6d4b\u8bd5<\/h5>\n\n\n\n
1.\u542f\u52a8\u670d\u52a1<\/h6>\n\n\n\n

ros2 launch canopen_tests cia402_setup.launch.py<\/p>\n\n\n\n

2.\u67e5\u770b\u8bdd\u9898<\/h6>\n\n\n\n

ros2 topic list<\/p>\n\n\n\n

\n\n\n\n

\"\"<\/sub>\u516d\u53f6\u6811\u4ea7\u54c1\u6559\u7a0b-ROS2 CANopen\u6559\u7a0b \u70b9\u51fb\u4e0b\u8f7d<\/a><\/p>\n\n\n\n

\n\n\n\n

\u8054\u7cfb\u6211\u4eec<\/a> | \u4ea7\u54c1\u8d2d\u4e70<\/a> | \u8d44\u6599\u4e0b\u8f7d<\/a> | \u957f\u6c99\u516d\u53f6\u6811\u6559\u80b2\u79d1\u6280\u6709\u9650\u516c\u53f8<\/p>\n\n\n\n

\u5907\u6848\u53f7\uff1a\u6e58ICP\u59072022016499\u53f7-1<\/a> \"\"<\/sub>\u6e58\u516c\u7f51\u5b89\u590743012102001021<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

ROS2 CANopen\u79fb\u690d\u6559\u7a0b \u672c\u6587\u4e3b\u8981\u4ecb\u7ecdROS2\u7cfb\u7edf(humble)\u4e0bCANopen\u5de5\u7a0b\u7684\u79fb\u690d\u7684\u4e3b\u8981\u6b65\u9aa4… \u9605\u8bfb\u66f4\u591a »\u516d\u53f6\u6811ROS2 CANopen\u79fb\u690d\u6559\u7a0b<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"on","neve_meta_disable_title":"on","footnotes":""},"class_list":["post-1984","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/pages\/1984","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1984"}],"version-history":[{"count":2,"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/pages\/1984\/revisions"}],"predecessor-version":[{"id":2004,"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=\/wp\/v2\/pages\/1984\/revisions\/2004"}],"wp:attachment":[{"href":"http:\/\/www.liuyeshu.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1984"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}