ROS 2 Waveshare USB-CAN-B Driver

This repository provides a ROS 2 Humble package for communicating with the Waveshare USB-CAN-B adapter on ARM Linux 64-bit systems.

It enables CAN communication over ISO-TP protocol, primarily intended for sending motor control commands in the format "m<left>,<right>" over CAN ID 0x123.

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📂 Repository Structure

implementation/ # Example application for testing CAN communication

usb_can_node/ # Core driver library for USB-CAN-B adapter

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🔧 Dependencies

1️⃣ Download the ARM64 driver from the official Waveshare site:
https://www.waveshare.com/wiki/USB-CAN-B#c_2

Ensure the following files are available:

• controlcan.h
• libcontrolcan.so

These are already included in this repository.

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📥 Build Instructions

# Navigate to your ROS 2 workspace
cd ~/ros2_ws/src
git clone https://github.com/AniArka/ros2_waveshare_canb.git
cd ..
colcon build --packages-select usb_can_node implementation
source install/setup.bash

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🚀 Run with ROS 2:

ros2 run implementation test_send

📡 What It Does

• CAN ID: 0x123
• Payload Format: "m<left>,<right>"
• Protocol: ISO-TP over CAN
• Functionality: Sends motor control commands via Waveshare USB-CAN-B to connected CAN devices.

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⚠️ Notes

• This is currently an API-based implementation; ROS 2 topics or services are not provided (yet).
• Designed and tested on ARM Linux 64-bit platforms. [NVIDIA Jetson Orin Nano]

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📄 License

This project is licensed under the MIT License.

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🛠️ Planned Future Features

• ROS 2 Node for /can_tx and /can_rx
• Diagnostics / Error Reporting
• Configurable CAN parameters via ROS 2 parameters

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✨ Author

Arka Ghosh
Feel free to open Issues or PRs for improvements.