vcan-setup.sh

Motivation

Many of the ROS2 nodes used on perseus will not function without a CAN interface active. This script sets up a virtual CAN interface, allowing these scripts to use the virtual interface and run while not on Perseus.

Any node using the CAN interface should have a parameter for changing the name of the interface. When using a virtual interface, the name can be passed to these nodes and they should run as if it was a real CAN interface.

Arguments

The script takes one argument: the name of the virtual CAN interface to create. It defaults to "vcan0" if not supplied.

How it works

The script turns on the kernel modules can, vcan, and can-raw. Then creates a device named after the first argument (or defaulting to vcan0) and turns it on.