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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/SystemCmdFloat | as_rx/accel_cmd | Commands the throttle subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/SystemCmdFloat | as_rx/brake_cmd | Commands the brake subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/SystemCmdInt | as_rx/shift_cmd | Commands the gear/transmission subsystem to shift to a different gear [enum]. |
pacmod_msgs/SteerSystemCmd | 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/SystemCmdInt | as_rx/turn_cmd | Commands the turn signal subsystem to transition to a given state [enum]. |
std_msgs/Bool | as_rx/enable | Enables [true] or disables [false] PACMod's control of the vehicle. |
Parameters
~vehicle_type
A string value indicating the type of vehicle to which the PACMod is connected. Valid values are: LEXUS_RX_450H, VEHICLE_4 or VEHICLE_5 (more coming soon).