Canopen slave implementation?

edit

I would guess the answer is yes, checkout these packages and see if there is anything you can use: https://wiki.ros.org/ros_canopen. I have not used any of the nodes, so I do not know if there is anything specific you need implemented that it doesn't support.

Thanks for the answer. I have seen this package and i think this is a master implementation, when i am right. But i am new in this topic and in my application i have a existing can open network on my robot and the can open master works on the robot. So i need a ros node as a slave on a another computer to communicate with the different can nodes in this network.

Then it might need to be something you create, some of the work is already done with the socketcan_interface class in the package as long as you have the hardware setup. All you would need to do is make a node that uses that class and implements the messages the master is looking to send / receive.

I will thinking about it and find hopefully a good solution for my specific application. Thanks for your respond!