houyongdi/dreamDeckAutopilot
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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/can_driver/launch/can_driver.launch
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<launch>
<!-- CAN驱动节点 -->
<node pkg="can_driver" type="can_ros_node" name="can_ros_node" output="screen">
<!-- CAN设备参数 -->
<param name="device_type" value="4" />
<param name="device_index" value="0" />
<param name="can_index_1" value="0" />
<param name="can_index_2" value="1" />
<!-- 波特率设置，单位为kbps 波特率修改在can_driver.cpp initCanChannel 函数内修改 -->
<!-- <param name="baud_rate_1" value="1000" />
<param name="baud_rate_2" value="250" /> -->
<!-- ROS主题配置 -->
<param name="vcu_topic" value="can_frame_topic" />
<param name="bms_topic" value="/sent_messages_bms" />
<param name="output_topic" value="/receive_canMessages" />
<!-- 接收缓冲区大小 -->
<param name="receive_buffer_size" value="1000" />
</node>
</launch>