From CAN to ROS: A Monitoring and Data Recording Bridge

Conference · Tue May 18 04:00:00 EDT 2021

DOI:https://doi.org/10.1145/3459609.3460531· OSTI ID:1783431

Elmadani, Safwan ^[1]; Nice, Matthew; Bunting, Matthew; Sprinkle, Jonathan; Bhadani, Rahul

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1. University of Minnesota

The Controller Area Network (CAN) bus protocol is used in modern vehicles for sharing messages between several control units within a vehicle. CAN bus messages are encoded with unknown scheme and decoding these messages provide unlimited access to valuable information that is used in many autonomous vehicles applications. This paper proposes a ROS based package (CAN-to-ROS) for monitoring, recording, and real-time and offline decoding of CAN bus messages. The package is developed in the ROS framework to add modularity and ease of integration with other software, and it is written in C++ to guarantee speed of the execution during run-time. For realtime decoding of CAN bus data, CAN-to-ROS package used in conjunction with other library called Libpanda that provide access to CAN bus message from a vehicle. The package was evaluated and tested on a Raspberry Pi with real CAN bus data from a Toyota RAV4. The results confirm the capabilities of CAN-to-ROS package and resulted in using the package in other research projects.

• Research Organization: University of Arizona; Vanderbilt University
• Sponsoring Organization: USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office
• DOE Contract Number: EE0008872
• OSTI ID: 1783431
• Report Number(s): DOE-UA-08872
• Country of Publication: United States
• Language: English