Our current CAN bus communication system makes use of two separate ROS2 Nodes running in both the drive and arm. These two ROS2 nodes are nearly identical, just interfacing with CAN nodes on different arbitration ids. Each ROS2 node, when attempting to read a message, discards all messages prior the queue that do match the message we're looking for.
Since each of these ROS2 nodes are run on different threads, this could potentially cause timing issues with one Node discarding the other's message, or even potential race conditions between threads attempting to read from the /dev/can0 file.
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Our current CAN bus communication system makes use of two separate ROS2 Nodes running in both the drive and arm. These two ROS2 nodes are nearly identical, just interfacing with CAN nodes on different arbitration ids. Each ROS2 node, when attempting to read a message, discards all messages prior the queue that do match the message we're looking for.
Since each of these ROS2 nodes are run on different threads, this could potentially cause timing issues with one Node discarding the other's message, or even potential race conditions between threads attempting to read from the /dev/can0 file.
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