Design and development of a generic Arduino ROS interface for brain actuated powered wheelchairs

The project has the aim to develop a Python/Arduino software to control a powered wheelchair and manage the communication between the CAN bus and ROS. The development period has been fundamental to deeply understand the technology used. Starting from CAN-Bus, the focus has been on the structure of the messages transmitted by this kind of system. It has been useful to develop a complete and working interface with ROS and python to program the creation of the message and to implement an Arduino code to send the complete message in the correct frame structure.