[Backport] Socket CAN Bridges (#93) (#98)

* Socket CAN Bridges (#93)

* Generate can bridges

* Generate script source robot workspace

* Remove extra line

---------

Co-authored-by: Roni Kreinin <[email protected]>

* Revert source path in generate script

* Remove trailing comma

---------

Co-authored-by: Roni Kreinin <[email protected]>

clearpath_generator_robot/clearpath_generator_robot/launch/generator.py

@@ -203,6 +203,28 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
           namespace=self.namespace,
         )
 
+        # ROS2 socketcan bridges
+        ros2_socketcan_package = Package('ros2_socketcan')
+        self.can_bridges = []
+        for can_bridge in self.clearpath_config.platform.can_bridges.get_all():
+            self.can_bridges.append(LaunchFile(
+                'socket_can_receiver',
+                package=ros2_socketcan_package,
+                args=[
+                    ('interface', can_bridge.interface),
+                    ('from_can_bus_topic', f'{self.namespace}/{can_bridge.topic_rx}'),
+                ]
+            ))
+
+            self.can_bridges.append(LaunchFile(
+                'socket_can_sender',
+                package=ros2_socketcan_package,
+                args=[
+                    ('interface', can_bridge.interface),
+                    ('to_can_bus_topic', f'{self.namespace}/{can_bridge.topic_tx}'),
+                ]
+            ))
+
         # Components required for each platform
         common_platform_components = [
             self.wireless_watcher_node,
@@ -211,6 +233,9 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             self.battery_state_control
         ]
 
+        if len(self.can_bridges) > 0:
+            common_platform_components.extend(self.can_bridges)
+
         self.platform_components = {
             Platform.J100: common_platform_components + [
                 self.imu_0_filter_node,