moa_drivers

moa_drivers pkg

can_interface_jnano Node

Description

ROS node to convert messages in the CANbus to raw CANStamped ROS2 messages.

Input

Reads CAN data from the CANbus every 0.05ms

Output

Publishes each CAN message onto /raw_can topic.

Service publish_can_data

can_decoder_jnano Node

Description

Decode raw CANStamped messages into messages useful for inferring the car's status.

Input

Reads from /raw_can topic.

Output

• battery status onto /battery_state as BatteryState msg
• drive status onto /drive_status as AckermannStamped msg
• glv status onto /glv_state as BatteryState msg

Battery Status

0x6b0 : voltage [3] + [2], current [1] + [0]

0x6b3 : No of cells present [6]

0x6b4 : temperature of the battery [3] + [2]

Drive Status

0x604 : drive speed [4]

0x605 : steering angle [0]

GLV Status

0x602 : current [4] + [3], voltage [2] + [1], percentage [0]