microstrain_mv5_can_driver

Ros2 driver for the Microstrain MV5 J1939 CAN Driver. This includes a ros2 node and a ros2_control sensor interface

https://www.engr.colostate.edu/~jdaily/CyberBoat/Introduction%20to%20SAE%20J1939%20-%20CyberBoat%202022.pdf

Setup

make sure can-utils is installed (on bare-metal as well as your docker, just to make sure)

1. Get a Microastrain MV5-AR J1939 IMU

2. Physically connect and power the sensor

3. Set up a CAN port on the host machine

   • For a PEAK CAN device:

     sudo ip link set can0 up type can bitrate 250000 dbitrate 2000000 fd on fd-non-iso on

   • For a Lawicel CANusb:

     sudo slcand -o -c -f -s5 /dev/ttyUSB0 can0

     sudo ifconfig can0 up

   • For a Virtual CAN network:

     ip link add dev vcan0 type vcan

     ip link set up vcan0

4. Modify microstrain_mv5_can_driver/config/socketcan_params.yaml for your interface (e.g. can0)

5. Modify microstrain_mv5_can_driver/config/microstrain_mv5_can_params.yaml for your device's id

   • This is the last two digits in the identifier of the sensor's CAN frame (e.g. E5) converted to decimal

6. Launch ros2 launch microstrain_mv5_can_driver microstrain_mv5_can.launch.py

Services

Reset Attitude

Definition: Resets the attitude of the device through a PGN

Example: put_example_service

Notes

1. Can address claim init output -> can0 18EEFFE5 [8] 00 00 20 47 00 91 00 20