openarm_ros2/openarm_bringup/utils/init_can.sh

#!/bin/bash
#
# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# This script initializes the CAN interface on a Linux system.

echo  Using CAN interface: $1 with $2

if [ ! -e $1 ]; then
    echo "Device $1 does not exist."
    exit 1
fi

bitrate=1000000
sudo slcand -o -c -s8 $1
sudo ip link set $2 type can bitrate $bitrate
sudo ip link set $2 up
sudo ip link show $2