microstrain_mv5_can_driver

See generic_can_driver for details

Setup

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

Notes

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