This is a yet incomplete list of features which are planned for the future. Feel free to contact me you have any further ideas or if you want to contribute code.

Short-term

• Bridge: Rename ros_bridge to something that is not as easily confused with the rosbridge (http://wiki.ros.org/rosbridge_suite), e.g. kacanopen_ros
• Bridge: Implement a ROS service for accessing any dictionary entry of a slave by name.
• Bridge: Subscribers / Publishers: Allow configuration of queue_size.
• Bridge: Trigger publishing on entry change.
• Core: Automatically map PDOs like they are configured in slave's dictionary.
• Core: Add methods for manipulating PDO mapping configuration in slave's dictionary.
• Core: Add ability to remove/change existing PDO transmitters / receivers / mappings.
• Master: Device: Add methods print_operations(), print_constants() and read_complete_dictionary().

Long-term

• Master: Make master a CiA 301 compliant node. This means it has to implement some slave functionality. Changes in core library are necessary in order to parse SDO request messages.
• Project: Implement a slave node library.
• Project: Check thread safety. Should be achievable with very few changes (mutexes on driver and callback vectors).
• Bridge: Have a look into ros_control. Can we use it for controlling CiA 402 devices?
• Core: Support multiple device profiles per slave.
• Core: Improve error handling.
• Core: Implement missing protocol parts like LSS, EMERGENCY and SYNC master.