[TASK] CAN interface

[forrisdahl]

Description of task

Develop a CAN interface that:

1. Receives all incoming CAN frames from the network.

2. Parses and converts the raw CAN frame data into the correct, predefined data structures or message formats.

3. Publishes the processed data to the appropriate ROS topics for use by other nodes in the system

Suggested Workflow

No response

Specifications

• Support for receiving frames from the specified CAN bus (CAN0/CAN1 as applicable).

• Correct handling of frame IDs, DLC, and data payloads according to the project’s CAN message definitions.

• Data conversion logic must match the expected ROS message types.

• ROS publishing must use consistent topic names and message definitions agreed upon by the team.

• Code should be modular to allow future expansion for sending CAN messages

Contacts

• @forrisdahl

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)