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CANable 2.0 bringup: udev rule + can0 SocketCAN interface setup on Jetson Orin #643

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opened 2026-03-17 09:45:30 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 09:45:30 -04:00
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Goal

Bring up CANable 2.0 USB-to-CAN adapter as a SocketCAN interface on the Jetson Orin.

Requirements

  • udev rule for CANable 2.0 (gs_usb driver) so it always appears as can0
  • Systemd service or script to bring up: ip link set can0 up type can bitrate 500000
  • Verify with candump can0 that frames are visible from VESCs (IDs 61 and 79)
  • Add to saltybot_bringup launch or a setup script
  • Document in README

Hardware

  • CANable 2.0 (candleLight/gs_usb firmware)
  • Two VESC motor controllers, CAN IDs 61 and 79
  • CAN bus at 500 kbps

Notes

  • This is Jetson-side only, no STM32 firmware changes needed
## Goal Bring up CANable 2.0 USB-to-CAN adapter as a SocketCAN interface on the Jetson Orin. ## Requirements - udev rule for CANable 2.0 (gs_usb driver) so it always appears as `can0` - Systemd service or script to bring up: `ip link set can0 up type can bitrate 500000` - Verify with `candump can0` that frames are visible from VESCs (IDs 61 and 79) - Add to saltybot_bringup launch or a setup script - Document in README ## Hardware - CANable 2.0 (candleLight/gs_usb firmware) - Two VESC motor controllers, CAN IDs 61 and 79 - CAN bus at 500 kbps ## Notes - This is Jetson-side only, no STM32 firmware changes needed
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#643
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