dreamDeckAutopilot/sensors/ros_canopen-melodic/socketcan_bridge/launch/socketcan_bridge.launch

<launch>
  <node name="socketcan_bridge_node" pkg="socketcan_bridge" type="socketcan_bridge_node" output="screen">
       <!-- can通道 -->
       <param name="can_device" value="can_motor" type="string"/>
       <!-- 发布的can话题 -->
       <param name="sent_messages" value="sent_messages_vcuDriver" type="string"/>
       <!-- 接收的can话题 -->
       <param name="received_messages" value="received_messages_vcuDriver" type="string"/>
  </node>
  <node name="socketcan_bridge_node" pkg="socketcan_bridge" type="socketcan_bridge_node" output="screen">
       <!-- can通道 -->
       <param name="can_device" value="can_bms" type="string"/>
       <!-- 发布的can话题 -->
       <param name="sent_messages" value="sent_messages_bms" type="string"/>
       <!-- 接收的can话题 -->
       <param name="received_messages" value="received_messages_bms" type="string"/>
  </node>

</launch>