Module Transceiver CAN-Bus Isolé (Passerelle MCU / Bus Industriel)

import rclpy
from rclpy.node import Node
from std_msgs.msg import String
import can

class CanBridgeNode(Node):
    """Nœud ROS2 pont CAN-Bus pour télémétrie mécatronique."""
    def __init__(self):
        super().__init__('can_bridge_node')
        self.pub = self.create_publisher(String, '/can/rx', 10)
        self.bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=500000)
        self.timer = self.create_timer(0.01, self.poll_can) # 100 Hz

    def poll_can(self):
        msg = self.bus.recv(timeout=0.001)
        if msg:
            self.pub.publish(String(data=f"ID:0x{msg.arbitration_id:X} Data:{msg.data.hex()}"))

def main():
    rclpy.init()
    node = CanBridgeNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()