This is a continuation of the raptor_dbw_ros repo but in ROS2 This is the product of transferring the ROS1 codebase to ROS2

Running raptor_dbw_can with kvaser hardware:

1. make sure kvaser-interface is built and installed first
2. clone this repository
3. modify the launch parameters file in raptor_dbw_can/launch/launch_params.yaml -"hardware_id" is the serial number (S/N) for the kvaser hardware. This must match your hardware -"circuit_id" is the can channel number (0-n)
4. in the terminal, with the path set to the base the workspace:
   • colcon build --packages-up-to raptor_dbw_can
   • ros2 launch raptor_dbw_can raptor_dbw_can_launch.py