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An open-source ROS driver for interacting with the PACMod (v3 and above) drive-by-wire system.
Supported Hardware
- Lexus RX-450h
- More coming soon...
Published Topics
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Description
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The vehicle's current speed [mph], the validity of the speed message [bool], and the raw CAN message from the vehicle CAN.
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Conditionally Published Topics (Dependent Upon Vehicle Type)
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The yaw rate reported by the vehicle's internal IMU.
Subscribed Topics
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Conditionally Subscribed Topics (Dependent Upon Vehicle Type)
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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)For more information see the ROS wiki entry.