...
- Polaris GEM Series (e2/e4/e6/eLXD)
- Polaris Ranger X900
- International Prostar+ 122
- More coming soon...
Published Topics
| Message Type | Topic Name | Description | ||||
|---|---|---|---|---|---|---|
can_msgs/Frame | can_ | txA copy of all raw CAN data received by the driver from the PACMod. | can_msgs/Frame | can_rx_echo | A copy of all raw CAN data sent to the PACMod from the driverrx | All data published on this topic is intended to be sent to the PACMod system via a CAN interface. |
pacmod_msgs/GlobalRpt | parsed_tx/global_rpt | High-level data about the entire PACMod system. | ||||
pacmod_msgs/SystemRptFloat | parsed_tx/accel_rpt | Status and parsed values [pct] of the throttle subsystem. | ||||
pacmod_msgs/GlobalRptSystemRptFloat | parsed_tx/globalbrake_rpt | High-level data about the entire PACMod systemStatus and parsed values [pct] of the steering susbsystem. | ||||
pacmod_msgs/SystemRptInt | parsed_tx/turn_rpt | Status and parsed values [enum] of the turn signal subsystem. | ||||
pacmod_msgs/SystemRptInt | parsed_tx/shift_rpt | Status and parsed values [enum] of the gear/transmission subsystem. | ||||
pacmod_msgs/SystemRptFloat | parsed_tx/accelsteer_rpt | Status and parsed values [rad] of the steering susbsystem. | ||||
pacmod_msgs/VehicleSpeedRpt | parsed_tx/vehicle_speed_rpt | The vehicle's current speed [mph], the validity of the speed message [bool], and the raw CAN message from the vehicle CAN. | ||||
std_msgs/Float64 | as_tx/vehicle_speed | The vehicle's current speed [m/s]. | ||||
std_msgs/Bool | as_tx/enable | The current status of the PACMod's control of the vehicle. If the PACMod is enabled, this value will be true. If it is disabled or overridden, this value will be false. |
Conditionally Published Topics (Dependent Upon Vehicle Type)
| Message Type | Topic Name | Description |
|---|---|---|
pacmod_msgs/SystemRptInt | parsed_tx/wiper_rpt | Status and parsed values [pctenum] of the throttle windshield wiper subsystem. |
pacmod_msgs/SystemRptFloatSystemRptInt | parsed_tx/steerheadlight_rpt | Status and parsed values [radenum] of the steering susbsystemheadlight subsystem. |
pacmod_msgs/SystemRptFloatSystemRptInt | parsed_tx/brakehorn_rpt | Status and parsed values [pctenum] of the steering susbsystem.horn subsystem. |
pacmod_msgs/SystemRptFloat | parsed_tx/steer_rpt_2 | TBD |
pacmod_msgs/SystemRptFloat | parsed_tx/steer_rpt_3 | TBD |
pacmod_msgs/MotorRpt1 | parsed_tx/steer_rpt_detail_1 | Motor detail report values for the steering motor (current [A] and position [rad]). |
pacmod_msgs/MotorRpt2 | parsed_tx/steer_rpt_detail_2 | Motor detail report values for the steering motor (encoder temp [C], motor temp [C], and rotation velocity [rad/s]). |
pacmod_msgs/MotorRpt3 | parsed_tx/steer_rpt_detail_3 | Motor detail report values for the steering motor (torque output and input [Nm]). |
pacmod_msgs/MotorRpt1 | parsed_tx/brake_rpt_detail_1 | Motor detail report values for the brake motor (current [A] and position [rad]). |
pacmod_msgs/MotorRpt2 | parsed_tx/brake_rpt_detail_2 | Motor detail report values for the brake motor (encoder temp [C], motor temp [C], and rotation velocity [rad/s]). |
pacmod_msgs/MotorRpt3 | parsed_tx/brake_rpt_detail_3 | Motor detail report values for the brake motor (torque output and input [Nm]). |
pacmod_msgs/VehicleSpeedRpt | parsed_tx/vehicle_speed_rpt | The vehicle's current speed [mph], the validity of the speed message [bool], and the raw CAN message from the vehicle CAN. |
std_msgs/Float64 | as_tx/vehicle_speed | The vehicle's current speed [m/s]. |
| Message Type | Topic Name | Description |
pacmod_msgs/SystemRptInt | parsed_tx/wiper_rpt | Status and parsed values [enum] of the windshield wiper subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/headlight_rpt | Status and parsed values [enum] of the headlight subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/horn_rpt | Status and parsed values [enum] of the horn subsystem. |
pacmod_msgs/SystemRptFloat | parsed_tx/steer_rpt_2 | TBD |
pacmod_msgs/SystemRptFloat | parsed_tx/steer_rpt_3 | TBD |
_msgs | /Boolas_tx/ | enableThe current status of the PACMod's control of the vehicle. If the PACMod is enabled, this value will be true. If it is disabled or overridden, this value will be false. |
Conditionally Published Topics (Dependent Upon Vehicle Type)
pacmod_msgs/WheelSpeedRpt | parsed_tx/wheel_speed_rpt | Speeds of individual wheels [m/s]. |
pacmod_msgs/SteeringPIDRpt1 | parsed_tx/steer_pid_rpt_1 | Current dt, Kp, Ki, and Kd values of the torque-based steering control PID loop. |
pacmod_msgs/SteeringPIDRpt2 | parsed_tx/steer_pid_rpt_2 | Current P, I, and D terms and the sum of P, I, and D terms of the torque-based steering control PID loop. |
pacmod_msgs/SteeringPIDRpt3 | parsed_tx/steer_pid_rpt_3 | The new torque, torque feedback, calculated angular position, and error values from the torque-based steering control PID loop. |
pacmod_msgs/YawRateRpt | parsed_tx/yaw_rate_rpt | The yaw rate reported by the vehicle's internal IMU. |
pacmod_msgs/LatLonHeadingRpt | parsed_tx/lat_lon_heading_rpt | The current latitude, longitude, and heading provided by the vehicle's internal GPS. |
pacmod_msgs/ParkingBrakeStatusRpt | parsed_tx/parking_brake_status_rpt | Status on the current state of the parking brake (engaged/disengaged). |
...
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rxWill forward any raw CAN tx | All data published to this topic directly to will be parsed by the PACMod driver. This should be connected to a CAN interface. |
pacmod_msgs/PacmodCmd | as_rx/turn_cmd | Commands the turn signal subsystem to transition to a given state [enum]. |
pacmod_msgs/PacmodCmd | as_rx/shift_cmd | Commands the gear/transmission subsystem to shift to a different gear [enum]. |
pacmod_msgs/PacmodCmd | as_rx/accel_cmd | Commands the throttle subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/PositionWithSpeed | as_rx/steer_cmd | Commands the steering subsystem to seek a specific steering wheel angle [rad] at a given rotation velocity [rad/s]. |
pacmod_msgs/PacmodCmd | as_rx/brake_cmd | Commands the brake subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
std_msgs/Bool | as_rx/enable | Enables [true] or disables [false] PACMod's control of the vehicle. |
...