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Merged
IshanDutta11 merged 3 commits into from
May 13, 2026
Merged

Centralize CAN Interface #123

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714ebfa
can interface can now be easily swapped without having to rewrite it …
May 12, 2026
f1d0afc
Merge branch 'main' into centralize-can-interface
mdurrani808 May 13, 2026
c9ae906
mission tasks default to can1
IshanDutta11 May 13, 2026
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Binary file added libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb
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8 changes: 8 additions & 0 deletions src/bringup/launch/autonav.launch.py
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Expand Up @@ -99,6 +99,11 @@ def generate_launch_description():
choices=['true', 'false'],
description='Launch the Nav2 config GUI.',
),
DeclareLaunchArgument(
'can_interface',
default_value='can1',
description='CAN interface to use for hardware interfaces.',
),
OpaqueFunction(function=launch_setup),
])

Expand All @@ -116,6 +121,7 @@ def launch_setup(context, *args, **kwargs):
use_respawn = LaunchConfiguration('use_respawn').perform(context)
log_level = LaunchConfiguration('log_level').perform(context)
use_config = LaunchConfiguration('use_config').perform(context)
can_interface = LaunchConfiguration('can_interface').perform(context)

drive_bringup = get_package_share_directory('drive_bringup')
nav_bringup = get_package_share_directory('nav_bringup')
Expand All @@ -131,6 +137,7 @@ def launch_setup(context, *args, **kwargs):
'use_mock_hardware': use_mock_hardware,
'mock_sensor_commands': mock_sensor_commands,
'robot_controller': robot_controller,
'can_interface': can_interface,
}.items(),
)

Expand All @@ -147,6 +154,7 @@ def launch_setup(context, *args, **kwargs):
'use_respawn': use_respawn,
'log_level': log_level,
'use_config': use_config,
'can_interface': can_interface,
}.items(),
)

Expand Down
4 changes: 4 additions & 0 deletions src/bringup/launch/delivery.launch.py
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Expand Up @@ -43,6 +43,7 @@ def generate_launch_description():
),
DeclareLaunchArgument('use_3dof', default_value='false', choices=['true', 'false']),
DeclareLaunchArgument('deactivate_talon', default_value='false', choices=['true', 'false']),
DeclareLaunchArgument('can_interface', default_value='can1'),
OpaqueFunction(function=launch_setup),
])

Expand All @@ -55,6 +56,7 @@ def launch_setup(context, *args, **kwargs):
robot_controller = LaunchConfiguration('robot_controller').perform(context)
use_3dof = LaunchConfiguration('use_3dof').perform(context)
deactivate_talon = LaunchConfiguration('deactivate_talon').perform(context)
can_interface = LaunchConfiguration('can_interface').perform(context)

drive_share = get_package_share_directory('drive_bringup')
arm_bringup_share = get_package_share_directory('arm_bringup')
Expand All @@ -73,6 +75,7 @@ def launch_setup(context, *args, **kwargs):
'use_mock_hardware': use_mock_hardware,
'mock_sensor_commands': mock_sensor_commands,
'robot_controller': robot_controller,
'can_interface': can_interface,
}.items(),
)

Expand Down Expand Up @@ -103,6 +106,7 @@ def launch_setup(context, *args, **kwargs):
' mock_sensor_commands:=', mock_sensor_commands,
' use_3dof:=', use_3dof,
' deactivate_talon:=', deactivate_talon, ' ',
' can_interface:=', can_interface, ' ',
])

use_3dof_bool = use_3dof.lower() == 'true'
Expand Down
4 changes: 4 additions & 0 deletions src/bringup/launch/equipment_servicing.launch.py
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Expand Up @@ -43,6 +43,7 @@ def generate_launch_description():
),
DeclareLaunchArgument('use_3dof', default_value='false', choices=['true', 'false']),
DeclareLaunchArgument('deactivate_talon', default_value='false', choices=['true', 'false']),
DeclareLaunchArgument('can_interface', default_value='can1'),
OpaqueFunction(function=launch_setup),
])

Expand All @@ -55,6 +56,7 @@ def launch_setup(context, *args, **kwargs):
robot_controller = LaunchConfiguration('robot_controller').perform(context)
use_3dof = LaunchConfiguration('use_3dof').perform(context)
deactivate_talon = LaunchConfiguration('deactivate_talon').perform(context)
can_interface = LaunchConfiguration('can_interface').perform(context)

drive_share = get_package_share_directory('drive_bringup')
arm_bringup_share = get_package_share_directory('arm_bringup')
Expand All @@ -73,6 +75,7 @@ def launch_setup(context, *args, **kwargs):
'use_mock_hardware': use_mock_hardware,
'mock_sensor_commands': mock_sensor_commands,
'robot_controller': robot_controller,
'can_interface': can_interface,
}.items(),
)

Expand Down Expand Up @@ -103,6 +106,7 @@ def launch_setup(context, *args, **kwargs):
' mock_sensor_commands:=', mock_sensor_commands,
' use_3dof:=', use_3dof,
' deactivate_talon:=', deactivate_talon, ' ',
' can_interface:=', can_interface, ' ',
])

use_3dof_bool = use_3dof.lower() == 'true'
Expand Down
6 changes: 3 additions & 3 deletions src/description/config/odrive.ros2_control.xacro
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="odrive_ros2_control" params="name">
<xacro:macro name="odrive_ros2_control" params="name can_interface:=can0">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
<param name="can">can0</param>
<param name="can">${can_interface}</param>
</hardware>

<!--
Expand Down Expand Up @@ -39,4 +39,4 @@

</xacro:macro>

</robot>
</robot>
9 changes: 9 additions & 0 deletions src/description/launch/display.launch.py
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Expand Up @@ -10,6 +10,12 @@

def generate_launch_description():
model_arg = DeclareLaunchArgument('model', default_value='', description='Model argument')
can_interface_arg = DeclareLaunchArgument(
'can_interface',
default_value='can0',
description='CAN interface to use for hardware interfaces.',
)
can_interface = LaunchConfiguration('can_interface')

# Get URDF path
robot_description_path = PathJoinSubstitution([
Expand All @@ -25,6 +31,8 @@ def generate_launch_description():
" ",
robot_description_path,
" use_mock_hardware:=true",
" can_interface:=",
can_interface,
]
)

Expand Down Expand Up @@ -120,6 +128,7 @@ def generate_launch_description():

return LaunchDescription([
model_arg,
can_interface_arg,
robot_state_publisher_node,
ros2_control_node,
joint_state_broadcaster_spawner,
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.base_limit_switch.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="base_arm_limit_switch_ros2_control" params="name">
<xacro:macro name="base_arm_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x130</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.end_effector_limit_switch.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="end_effector_limit_switch_ros2_control" params="name">
<xacro:macro name="end_effector_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x60</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.rmd.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rmd_ros2_control" params="name">
<xacro:macro name="rmd_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="shoulder_pitch">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.rotary_encoder.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rotary_encoder_ros2_control" params="name">
<xacro:macro name="rotary_encoder_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rotary_encoder_ros2_control/RotaryEncoderHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x130</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.servo.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="servo_ros2_control" params="name">
<xacro:macro name="servo_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">1</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.smc_2dof.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="smc_2dof_ros2_control" params="name">
<xacro:macro name="smc_2dof_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="base_yaw">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.smc_3dof.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="smc_3dof_ros2_control" params="name">
<xacro:macro name="smc_3dof_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="base_yaw">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.talon_2dof.ros2_control.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_2dof_ros2_control" params="name deactivate_talon">
<xacro:macro name="talon_2dof_ros2_control" params="name deactivate_talon can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<param name="deactivate_talon">${deactivate_talon}</param>
Expand All @@ -12,7 +12,7 @@
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.talon_3dof.ros2_control.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_3dof_ros2_control" params="name deactivate_talon">
<xacro:macro name="talon_3dof_ros2_control" params="name deactivate_talon can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${deactivate_talon}">
Expand All @@ -11,7 +11,7 @@
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down
2 changes: 1 addition & 1 deletion src/description/ros2_control/drive/drive.led.ros2_control.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="led_ros2_control" params="name can_interface">
<xacro:macro name="led_ros2_control" params="name can_interface:=can0">

<ros2_control name="${name}" type="system">
<hardware>
Expand Down
6 changes: 3 additions & 3 deletions src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="odrive_ros2_control" params="name deactivate_odrive">
<xacro:macro name="odrive_ros2_control" params="name deactivate_odrive can_interface:=can0">

<ros2_control name="${name}" type="system">
<hardware>
Expand All @@ -14,7 +14,7 @@
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can">can1</param>
<param name="can">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down Expand Up @@ -50,4 +50,4 @@

</xacro:macro>

</robot>
</robot>
4 changes: 2 additions & 2 deletions src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rmd_ros2_control" params="name">
<xacro:macro name="rmd_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="propulsion_fl_joint">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.dc.ros2_control.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="dc_ros2_control" params="name">
<xacro:macro name="dc_ros2_control" params="name can_interface:=can0">

<ros2_control name="${name}" type="system">

Expand All @@ -10,7 +10,7 @@
<param name="update_rate">20</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x70</param>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.led.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="science_led_ros2_control" params="name">
<xacro:macro name="science_led_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>led_ros2_control/LEDHardwareInterface</plugin>
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x110</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.limit_switch.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="science_limit_switch_ros2_control" params="name">
<xacro:macro name="science_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x100</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.servo.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="servo_ros2_control" params="name">
<xacro:macro name="servo_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">20</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

Expand Down
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