Question: Usage of CAN bus data of LGSVL

[ashwinsarvesh]

Hello,

I have a question. I want to pack the CAN data of the simulator into CAN messages and send it to a CAN bus hardware connected to the PC using PCAN-USB adapter.

Can I directly use the can bus sensor output of LGSVL (what is the format of sensor output?) instead of accessing it through rosbridge? I mean can I use the can bus sensor output before it is converted to CanBusData type?

Or only way to access can bus sensor output is to subscribe to the ROS topic /apollo/canbus/chassis? If other ways are available to access this data please tell me. Kindly help.

[EricBoiseLGSVL]

@ashwinsarvesh You could create UDP messages to the driver of the CAN Bus hardware. Look at our UDP Lidar sensor as an example

[ashwinsarvesh]

Thank you for your answer. That means there are only 2 ways available to send the sensor data. One is via bridge and the other is via UDP packets. Am I right?

To send via UDP, I need to create a can bus sensor plugin and then use Ethernet to CAN converter to get the can messages on the can bus. Am I right?

[EricBoiseLGSVL]

@ashwinsarvesh We have two types of communication with examples currently. Yes, we worked directly with the driver to communicate

[ijklmnopqr]

@ashwinsarvesh was you able to get data from CAN sensor and send it via PCAN?