Starting a Configuration Package

Setup CAN Controller

Option 1: Virtual CANController

$ sudo modprobe vcan
$ sudo ip link add dev vcan0 type vcan
$ sudo ip link set vcan0 txqueuelen 1000
$ sudo ip link set up vcan0

Option 2: Peak CANController

$ sudo modprobe peak_usb
$ sudo ip link set can0 up type can bitrate 1000000
$ sudo ip link set can0 txqueuelen 1000
$ sudo ip link set up can0

Bitrate depends on your bus and devices capabilities.

Option 3: candleLight USB-CAN Adapter

$ sudo modprobe gs_usb
$ sudo ip link set can0 up type can bitrate 500000
$ sudo ip link set can0 txqueuelen 1000
$ sudo ip link set up can0

Bitrate depends on your bus and devices capabilities.

Option 4: Adapt these steps to other socketcan devices

Once the CANController is setup you can go on and launch your configuration package.

$ ros2 launch [package] [launchfile]