ROS2 CANopen Stack

This is the documentation of the ROS2 CANopen stack.

Quickstart

• Installation
• Setup CAN Controller
• Running Examples

User Guide

• Operation
• Configuration Package
• Bus Configuration File
• Configuration Package CMake
• Master Driver
• Proxy Driver
• Cia402 Driver
• How to create a configuration package
• How to create a cia301 system with ros2_control
• How to create a robot system with ros2_control

Developer Guide

• Design Objectives
• Overview
• Architecture
• Creating a new device driver
• Creating a new master
• API Reference

Software Tests

• Lifecycle Proxy Driver Test
• Proxy Driver Test
• ros2_control SystemInterface test

Application Demos

• Pilz manipulator PRBT 6
• Trinamic Stepper Motor control