Overview
========
ros2_canopen provides nodes for interfacing with CANopen devices. The library builds upon the professional and open source
lelycore canopen library as opposed to the previous ros_canopen stack.
In ros2_canopen the bus configuration is simplified through the use of
lelycore's configutaration toolchain.

ros2_canopen contains a number of packages that serve different serve different purposes.

* **canopen**:

  Meta-package for easy installation and contains overall documentation
  of the ros2_canopen stack.

* **lely_core_libraries**:

  A colcon package wrapper for the lelycore canopen library, for convenient
  installation with rosdep.

* **canopen_core**:

  Contains the core structures of the ros2_canopen stack such as the device manager
  and the master node and the driver node interface.

* **canopen_base_driver**:

  This package contains the base implementation of a ROS2 CANopen device driver. It can base
  used by other drivers for easy extension.

* **canopen_proxy_driver**:

  Contains an implementation of a proxy driver which simply forwards CANopen functionality
  for a specific device via ROS2 services and messages.

* **canopen_402_driver**:

  Contains an implementation of the CIA402 profile for motion controllers and exposes
  the profiles functionalities via ROS2 services and messages. The implementation is
  copied from ros_canopen/canopen_402 and this package is licensed accordingly under
  GNU Lesser General Public License v3.0!