Building software system of real-time controller communication by CANopen protocol based on ROS

The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication, aiming at these problems, the robot operating system (ROS) software framework was used to improve the efficiency of software development; the use of high performance industrial control protocol CANopen as the communication scheme of controller; and the help of modular manipulator hardware platform to further improve the speed of software development. Finally, the software system of controller communication by CANopen protocol based on ROS for modular manipulator was constructed. The experimental results show that the communication software system not only has the high developing efficiency and flexibility, but also meets the requirements for the real-time performance of the general robot.