Jetson AGX Orin Dev Kit Not Communicating with Hunter 2.0 via CAN

[minjs4562]

Hi,

I’m experiencing an issue connecting my Jetson AGX Orin Dev Kit with a Hunter 2.0 robot using a USB to CAN adapter.

Setup:

1. Flashed Jetson Orin with JetPack 6.0 and configured the kernel with gs_usb.
2. Followed the instructions on the Hunter ROS2 GitHub page to clone and build the necessary packages (ROS installed).

Commands Executed:

sudo modprobe gs_usb
sudo ip link set can0 up type can bitrate 500000
sudo apt install -y can-utils
sudo ip link set can0 up type can bitrate 500000

Testing CAN Connection:

candump can0

However, no output is printed.

Additional Information:

• The CAN connection uses a USB to CAN adapter, which is plugged into the Jetson Orin’s USB port (not PCI).
• Output of sudo ifconfig -a | grep can:

can0: flags=193<UP,RUNNING,NOARP>  mtu 16
can1: flags=128<NOARP>  mtu 16
can2: flags=128<NOARP>  mtu 16

• Detailed output of sudo ifconfig -a for can0:

can0: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 212

• Output of lsusb shows the adapter:

Bus 002 Device 002: ID 0bda:0420 Realtek Semiconductor Corp. 4-Port USB 3.0 Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 006: ID 0566:3107 Monterey International Corp. Keyboard
Bus 001 Device 005: ID 046d:c092 Logitech, Inc. G203 LIGHTSYNC Gaming Mouse
Bus 001 Device 009: ID 1d50:606f OpenMoko, Inc. Geschwister Schneider CAN adapter
Bus 001 Device 003: ID 0bda:5420 Realtek Semiconductor Corp. 4-Port USB 2.0 Hub
Bus 001 Device 002: ID 13d3:3549 IMC Networks Bluetooth Radio
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The adapter is identified as Bus 001 Device 009: ID 1d50:606f OpenMoko, Inc. Geschwister Schneider CAN adapter.

Question: Is this issue due to the kernel configuration, or is there another step I need to take to get the CAN interface to communicate properly? Any help or suggestions would be greatly appreciated.

Thanks!

[KevinFFF]

Hi minjs4562,

There’re 2 CAN interface available on the AGX Orin devkit.
You can connect them from 40-pin expansion header.
Please refer to Controller Area Network (CAN) — NVIDIA Jetson Linux Developer Guide 1 documentation for details.

@minjs4562

Jetson AGX Orin Dev Kit with a Hunter 2.0 robot using a USB to CAN adapter.

If you are using USB to CAN adapter, maybe your CAN interface is can2 rather than can0.
Please share full dmesg for further check.

[minjs4562]

Hi,

Thanks for replying.

For me, it works well by using can2.

Thanks!