Enabling Virtual CAN Interface for Launch Files

Some launch files require setting up virtual CAN (vcan) interfaces automatically.
If any of these commands require sudo, the launch will fail because it cannot ask for a password interactively.

To avoid this, you must configure sudo so that your user can execute the required vcan commands without a password.

1. Create the sudoers rule

Run:

sudoedit /etc/sudoers.d/99-vcan

Paste the following content, and replace with your actual Linux username:

Cmnd_Alias VCAN_CMDS = \
    /usr/sbin/modprobe vcan, \
    /usr/sbin/ip link add dev can0 type vcan, \
    /usr/sbin/ip link set up can0, \
    /usr/sbin/ip link set down can0, \
    /usr/sbin/ip link add dev can1 type vcan, \
    /usr/sbin/ip link set up can1, \
    /usr/sbin/ip link set down can1 \
    /usr/sbin/ip link add dev can2 type vcan, \
    /usr/sbin/ip link set up can2, \
    /usr/sbin/ip link set down can2

<your-username> ALL=(ALL) NOPASSWD: VCAN_CMDS

2. Give execution privilegies to arussim node

Run:

chmod +x ws/src/ARUSSim/src/arussim/src/arussim_node.cpp