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CANopen driver framework for ROS2
| Date | Stars |
|---|---|
| 2026-07-24 | 282 |
| 2026-07-25 | 282 |
| 2026-07-28 | 282 |
| 2026-07-30 | 282 |
| 2026-08-06 | 282 |
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# ROS2 CANopen
## Status
| Build Process | Status |
|---------------|--------|
| Industrial CI Build | [](https://github.com/ros-industrial/ros2_canopen/actions/workflows/rolling.yml) |
| Documentation Build | [](https://github.com/ros-industrial/ros2_canopen/actions/workflows/rolling_documentation.yml) |
| Buildfarm Build (rolling) | [](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_resolute_amd64/) |
| Buildfarm Build (kilted) | [](https://build.ros2.org/job/Kdev__ros2_canopen__ubuntu_noble_amd64/) |
| Buildfarm Build (jazzy) | [](https://build.ros2.org/job/Jdev__ros2_canopen__ubuntu_noble_amd64/) |
| Buildfarm Build (lyrical) | [](https://build.ros2.org/job/Ldev__ros2_canopen__ubuntu_resolute_amd64/) |
The stack is currently under development and not yet ready for production use.
## Documentation
The documentation consists of two parts: a manual and an api reference.
The documentation is built for rolling (master), kilted, jazzy, iron and humble and hosted on github pages.
Older ROS 2 releases are EOL and are not supported anymore.
***Note:** Master branch works with ROS2 **Lyrical**, **Jazzy**, **Kilted** and **Rolling** distributions. For **Humble** distribution use the `humble` branch.*
### Rolling
* Manual: https://ros-industrial.github.io/ros2_canopen/manual/rolling/
* API reference: https://ros-industrial.github.io/ros2_canopen/api/rolling/
### Humble
* Manual: https://ros-industrial.github.io/ros2_canopen/manual/humble/
* API reference: https://ros-industrial.github.io/ros2_canopen/api/humble/
## Features
These are some of the features this stack implements. For further information please refer to the documentation.
* **YAML-Bus configuration**
This canopen stack enables you to configure the bus using a YAML file. In this file you define the nodes that are connected to the bus by specifying their node id, the corresponding EDS file and the driver to run for the node. You can also specify further parameters that overwrite EDS parameters or are inputs to the driver.
* **Service based operation**
The stack can be operated using standard ROS2 nodes. In this case the device container will load the drivers for master and slave nodes. Each driver will be visible as a
node and expose a ROS 2 interface. All drivers are brought up when the device manager is launched.
* **Managed service based operation**
The stack can be opeprated using managed ROS2 nodes. In
this case the device container will load the drivers for master and slave nodes based on the bus configuration. Each driver will be a lifecycle node and expose a ROS 2 interface. The lifecycle manager can be used to bring all
device up and down in the correct sequence.
* **ROS2 control based operation**
Currently, multiple ros2_control interfaces are available. These can be used for controlling CANopen devices. The interfaces are:
* canopen_ros2_control/CANopenSystem
* canopen_ros2_control/CIA402System
* canopen_ros2_control/RobotSystem
* **CANopen drivers**
Currently, the following drivers are available:
* ProxyDriver
* Cia402Driver
## Post testing
To test stack after it was built from source you should first setup a virtual can network.
```bash
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 txqueuelen 1000
sudo ip link set up vcan0
```
Then you can launch a managed example
```bash
ros2 lExcerpt of 21,374 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:df550063350a4b5a, topic:robotics, topic:ros2