@inproceedings{5d9e70c3cb114e989e4498daf0ab0600,
title = "From CAN to ROS: A Monitoring and Data Recording Bridge",
abstract = "The Controller Area Network (CAN) bus protocol is used in modern vehicles for sharing messages between several control units within a vehicle. CAN bus messages are encoded with unknown scheme and decoding these messages provide unlimited access to valuable information that is used in many autonomous vehicles applications. This paper proposes a ROS based package (CAN-to-ROS) for monitoring, recording, and real-time and offline decoding of CAN bus messages. The package is developed in the ROS framework to add modularity and ease of integration with other software, and it is written in C++ to guarantee speed of the execution during run-time. For realtime decoding of CAN bus data, CAN-to-ROS package used in conjunction with other library called Libpanda that provide access to CAN bus message from a vehicle. The package was evaluated and tested on a Raspberry Pi with real CAN bus data from a Toyota RAV4. The results confirm the capabilities of CAN-to-ROS package and resulted in using the package in other research projects.",
keywords = "CAN Coach, CAN-to-ROS, Libpanda, ROS",
author = "Safwan Elmadani and Matthew Nice and Matthew Bunting and Jonathan Sprinkle and Rahul Bhadani",
note = "Funding Information: This work is supported by the National Science Foundation under awards 1544395 and 1837652. This material is based upon work supported by the U.S. Department of Energy's Office of Energy Efficiency and Renewable Energy (EERE) under the Vehicle Technologies Office award number CID DE-EE0008872. The views expressed herein do not necessarily represent the views of the U.S. Department of Energy or the United States Government. Publisher Copyright: {\textcopyright} 2021 ACM.; 1st ACM Workshop on Data-Driven and Intelligent Cyber-Physical Systems, DICPS 2021 - Part of CPS-IoT Week 2021 ; Conference date: 18-05-2021",
year = "2021",
month = may,
day = "18",
doi = "10.1145/3459609.3460531",
language = "English (US)",
series = "DICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021",
publisher = "Association for Computing Machinery, Inc",
pages = "17--21",
booktitle = "DICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021",
}