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| Message Type | Topic Name | Description |
|---|---|---|
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/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/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). |
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/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/WheelSpeedRpt | parsed_tx/wheel_speed_rpt | Speeds of individual wheels [m/s]. |
pacmod_msgs/SystemRptInt | parsed_tx/wiper_rpt | Status and parsed values [enum] of the windshield wiper subsystem. |
pacmod_msgs/YawRateRpt | parsed_tx/yaw_rate_rpt | The yaw rate reported by the vehicle's internal IMU. |
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| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | All data published to this topic will be parsed by the PACMod driver. This should be connected to a CAN interface. |
pacmod_msgs/PacmodCmd | as_rx/turnaccel_cmd | Commands the turn signal throttle subsystem to transition to a given state [enumseek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/PacmodCmd | as_rx/shiftbrake_cmd | Commands the gear/transmission brake subsystem to shift to a different gear [enumseek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/PacmodCmd | as_rx/accelshift_cmd | Commands the throttle gear/transmission subsystem to shift to seek a specific pedal position [pct - 0.0 to 1.0different gear [enum]. |
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/braketurn_cmd | Commands the brake turn signal subsystem to transition to seek a specific pedal position [pct - 0.0 to 1.0given state [enum]. |
std_msgs/Bool | as_rx/enable | Enables [true] or disables [false] PACMod's control of the vehicle. |
Parameters
~can_hardware_id
The serial number of the Kvaser device.
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~vehicle_type
A string value indicating the type of vehicle to which the PACMod is connected. Valid values are: POLARIS_GEM, POLARIS_RANGER, and INTERNATIONAL_PROSTAR_122.