Hi and a happy New Year to all of you…
on a side project I am working on connecting my TurtleBot3 to the CAN bus.
The OpenCR 1.0 board has a CAN port…
… and the Arduino port includes a CAN library, but I have no idea how to use it (especially if it provides a transceiver or only a controller) and there is no mentioning of it in the eManual.
Has anyone ideas?
Thanks in advance and greetings
Kai
You might be required to to convert the DYNAMIXEL protocol to CAN protocol and vice versa. Unfortunately, I’ve never used the CAN port, so that I could not give you a big help 
However, I found that ROBOTIS e-Manual provides a arduino example called " CAN2DYNAMIXEL which converts the DYNAMIXEL Protocol to CAN protocol through some interface which converts the USB to CAN
Although this is based on Arduino, it would be worthy of referencing.
@Yogurt_Man thank for your your reply. I saw the CAN2DYNAMIXEL example and it inspired me to try a different approach on the Rotortug (only on my testbed) with two Arduino MKR boards + CAN-Shields + Dynamixel Shield (I red-boxed both the MKR’s and the CAN connection in the picture):
What I have in mind for the TurtleBot3 is a bit different, since the OpenCR board there should finally run the Arduino port of micro-ROS and connect to other MCU’s via CAN. But before diving into micro-ROS I would like to kown the board hardware better… 
Using CAN to connect different MCU’s, SOC’s (like Raspi’s) and even PC’s could be a real game changer for my project. The MCU (STM32F103CB) of the OpenCM 9.04 does have a CAN controller, but that’s not mentioned in the eManual, too (maybe it’s not even HAL-connected to a board pin).
