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AddressManager Node (ISO 11783‑5)

Purpose

  • Implements the ISO 11783‑5 address claim state machine (PGN 60928) and PGN 59904 requests.
  • Maintains an address book (NAME/SA pairs) and publishes it latched so late‑joining nodes get the latest mapping.

Standards / PGNs

  • PGN 60928 Address Claim (send/respond)
  • PGN 59904 Request (responds to 60928 requests)
  • Keeps an internal NAME vs SA map

Topics

  • ISOBUS/address_manager/status (IsobusAddressStatus): current SA and state.
  • ISOBUS/address_manager/address_book (IsobusAddressBook): full NAME/SA list (latched).
  • ISOBUS/bus_tx_frames / ISOBUS/bus_rx_frames: raw ISOBUS frames (via CanBridge).

Messages (custom)

  • IsobusAddressStatus: sa, state — our claimed address and FSM state.
  • IsobusAddressEntry: 8-byte name, sa — single NAME/SA pair (big-endian NAME).
  • IsobusAddressBook: array of IsobusAddressEntry records (latched snapshot).

Key Parameters

  • ecu_name_hex (string, default 0100E0FF00820180)
  • preferred_address (int, default 0x1C)

Build/Run
See root README for build. Run single node:

ros2 run ros2_isobus address_manager_node