ROS2 Launch File: Continental ARS408 SocketCAN Node

This document provides information on launching the Continental ARS408 SocketCAN node using a ROS2 launch file. The command ros2 launch /home/ubuntu/lslidar_ws/install/pe_ars408_ros/share/pe_ars408_ros/launch/continental_ars408_socket_can.launch.xml starts two nodes: 'socket_can_receiver_node_exe-1' and 'pe_ars408_node-2'.

The output shows that the 'socket_can_receiver_node_exe-1' node uses 'can0' interface with a 0.01 second interval.

Confirmation of Nodes and Topics

To verify the launched nodes and identify available topics, run the following command in a separate terminal after launching the nodes:

ros2 topic list

This command will list all available topics, providing insight into the communication happening within the ROS2 system.