From CAN to ROS: A Monitoring and Data Recording Bridge

Safwan Elmadani, Matthew Nice, Matthew Bunting, Jonathan Sprinkle, Rahul Bhadani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationDICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021
PublisherAssociation for Computing Machinery, Inc
Pages17-21
Number of pages5
ISBN (Electronic)9781450384452
DOIs
StatePublished - May 18 2021
Event1st ACM Workshop on Data-Driven and Intelligent Cyber-Physical Systems, DICPS 2021 - Part of CPS-IoT Week 2021 - Virtual, Online, United States
Duration: May 18 2021 → …

Publication series

NameDICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021

Conference

Conference1st ACM Workshop on Data-Driven and Intelligent Cyber-Physical Systems, DICPS 2021 - Part of CPS-IoT Week 2021
Country/TerritoryUnited States
CityVirtual, Online
Period5/18/21 → …

Keywords

  • CAN Coach
  • CAN-to-ROS
  • Libpanda
  • ROS

ASJC Scopus subject areas

  • Computer Networks and Communications

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