VirtualCAN-ROS2-Interface

• ROS2 interface for virtual CAN (vcan0), for developing and testing CAN logic without vehicle hardware
• Type a signal name and a value in the terminal, and it is encoded into a CAN frame from the .dbc definition
• The received frame is decoded back into physical values and published as one topic per signal, so the round trip is visible end to end

terminal input vcan0 ROS2 topic
Vehicle_speed 80 ──► 711 [8] 00 50 00 ... ──► /can/Vehicle_speed { value: 80.0, unit: kph }

Environment

• Ubuntu 22.04
• ROS2 Humble
• CAN : SocketCAN virtual interface (vcan0)

Package

Package	Description
can_interface	Bus (raw SocketCAN socket), DbcLoader (.dbc parser), DBC (signal encode/decode)
can_msgs	Frame.msg (raw frame), Signal.msg (one decoded signal), ParsedMessage.msg (one message)
socketcan_interface	Receives frames from vcan0, publishes raw frames and decoded signals
virtual_can	Encodes values typed in the terminal and writes them to vcan0

Virtual CAN Setup

sudo modprobe vcan # Load the vcan kernel module
sudo ip link add dev vcan0 type vcan # Create the interface
sudo ip link set up vcan0 # Bring it up

• The setting is lost on reboot, so it must be re-applied

ip link show vcan0 # Check the interface
candump vcan0 # Check reception

DBC Pull

DBC files live in a separate private repository (IVSP-DBC), registered as a submodule at dbc/.

git clone --recursive git@github.com:dev-muuu/VirtualCAN-ROS2-Interface.git
git submodule update --init --recursive # If dbc/ is empty
git submodule update --remote dbc # Pull the latest DBC

• Access to the private repository is required — without it the clone succeeds but dbc/ stays empty

Signal Database

DbcLoader parses BO_ (message) and SG_ (signal) lines of a .dbc file directly. Bit layout follows the DBC convention.

Byte order	start_bit	Extraction
Little endian (@1)	LSB position	Shift the 8-byte little-endian value
Big endian (@0)	MSB position	Collect bits in Motorola order

Resolution order for the DBC path:

Priority	Source	Example
1	Command line argument	ros2 run virtual_can virtual_can_sender dbc/Sportage_CAN_ver01.dbc
2	CAN_DBC_PATH environment variable	export CAN_DBC_PATH=$PWD/dbc/Sportage_CAN_ver01.dbc
3	Default	dbc/Sportage_CAN_ver01.dbc (relative to the working directory)

Frame Generation

Inject arbitrary values into the bus without vehicle hardware, to verify the receive → parse → log path end to end.

• Values are given in physical units (km/h, deg) — bit packing (start bit, length, byte order, sign, factor/offset) is resolved from the signal database
• Symmetric with extract_signal, so encode → send → receive → decode can be verified in a single loop
• Reproduces specific conditions (e.g. speed 80 km/h) on demand, which is hard to trigger in an actual vehicle

Method	Input	Output
create_frame_by_signal_name	One signal name and value	One frame, message ID resolved automatically
create_frame	Message ID and multiple signal values	One frame
create_frames_by_signal_names	Multiple signal values across messages	Multiple frames, grouped by message ID

#include"can_interface/dbc.h"
can_interface::DBCdbc("dbc/Sportage_CAN_ver01.dbc");
// 1. One signal — message ID is resolved from the signal nameauto frame = dbc.create_frame_by_signal_name("EPS_command", 90.0);
if (frame) bus.send(*frame);
// 2. Multiple signals within one messageauto frame = dbc.create_frame(343, {
{"EPS_command", 90.0},
{"SCC_command", 1.5},
});
// 3. Multiple signals across messages — grouped by message ID automaticallyauto frames = dbc.create_frames_by_signal_names({
{"EPS_command", 90.0},
{"Alive_count", 7.0},
});
for (constauto& f : frames) bus.send(f);

• Signal names must match the SG_ names in the DBC exactly — check with print_signal_map()
• create_frame returns std::nullopt if the message ID is unknown, or if a signal does not belong to that message
• create_frames_by_signal_names silently skips unknown signal names, so verify the returned count

For values entered at runtime, use the sender directly — see Interactive Command. Define a generator in can_frame_generator.h only for fixed patterns that are repeated often.

namespacecan_frame_generator
{
can_frame generate_velocity()
{
can_interface::DBC dbc;
auto frame_opt = dbc.create_frame_by_signal_name("EPS_command", 90.0);
return frame_opt ? *frame_opt : can_frame{};
}
}

Build

colcon build --symlink-install
source install/setup.bash

Execute Command

Run from the workspace root — both executables resolve the DBC through a relative path.

1. ROS2 Interface — reads vcan0, publishes raw frames and decoded signals

source install/setup.bash
ros2 run socketcan_interface socketcan_interface

2. Frame Sender — encodes the values typed in the terminal

source install/setup.bash
ros2 run virtual_can virtual_can_sender

3. Monitor — see Monitoring

ros2 topic echo /can/Vehicle_speed

Parameters of the ROS2 interface:

Parameter	Default	Description
interface	vcan0	SocketCAN interface name — set to can0 for a real bus
dbc_path	(empty)	Falls back to CAN_DBC_PATH, then dbc/Sportage_CAN_ver01.dbc
parsed_prefix	/can	Namespace of the decoded topics
publish_grouped	false	Also publish one topic per message, carrying all of its signals

ros2 run socketcan_interface socketcan_interface --ros-args \
-p interface:=vcan0 \
-p dbc_path:=$PWD/dbc/Sportage_CAN_ver01.dbc \
-p publish_grouped:=true

Interactive Command

Type a signal name and a value in the sender terminal, and the frame is encoded and sent at that moment. No rebuild is needed to change a value.

Command	Description
<signal> <value> [...]	Send once — the default
hold <signal> <value> [...]	Repeat at 10 Hz until changed, like a real bus
show	Print the values currently being repeated
clear	Stop repeating
list	Print every message and signal defined in the DBC
test	Send the fixed test frame (0x123) once
quit	Exit

EPS_command 90 # One frame, right now
EPS_command 90 SCC_command 1.5 # Two signals of one message -> one frame
Alive_count 7 # Different message -> separate frame
hold EPS_command 90 # Start repeating at 10 Hz
hold EPS_command 120 # Change the value while repeating
clear # Stop repeating

• Signals are grouped by message ID automatically, so signals from different messages can be given on one line
• A signal name that is not in the DBC is rejected before sending, with the name printed
• Nothing is sent until an input arrives — hold is the only command that keeps sending

Topic

Topic	Type	Description
/frame_can0	can_msgs/Frame	Raw CAN frame, every ID including those absent from the DBC
/can/<signal>	can_msgs/Signal	One topic per signal — header, name, value, unit
/can/<message>/<signal>	can_msgs/Signal	Used only when the same signal name appears in more than one message
/can/<message>	can_msgs/ParsedMessage	All signals of one message at once — only with publish_grouped:=true

• Every topic in the DBC is created at startup, so ros2 topic echo resolves the type before the first frame arrives
• value is a single scalar, so it can be plotted directly in rqt_plot or Foxglove

Monitoring

ros2 topic list | grep ^/can # Every decoded signal
ros2 topic echo /can/Vehicle_speed # One signal
ros2 topic echo /frame_can0 # Raw frame
candump vcan0 # Check at the SocketCAN layer

• Start echobefore typing into the sender — a single-shot send is gone by the time it starts
• Use hold to keep a value on the bus while inspecting it