ros2_canopen is a ROS 2 stack that natively integrates CANopen industrial devices into the ROS 2 ecosystem, built on top of the open-source lely-core library. It supports three operation modes: standard ROS 2 nodes, managed lifecycle nodes, and ros2_control integration for high-performance control. The stack provides two out-of-the-box drivers: a generic Proxy Driver for raw CANopen messaging and a CiA 402 Driver for motor drives and servo controllers. A recent addition is CiA 402 multi-channel support, enabling a single CANopen node to expose multiple drive axes, each with its own state machine. Multi-drive systems are presented to ROS 2 as a unified robot, controllable via standard ROS 2 controllers and visualizable in RViz.
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