...
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | All data published on this topic is are raw CAN messages intended to be sent to the PACMod system via . This topic should be subscribed to by a CAN interface node (like kvaser_interface or socketcan_bridge). |
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/SystemRptFloat | parsed_tx/brake_rpt | Status and parsed values [pct] of the steering subsystem. |
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/steer_rpt | Status and parsed values [rad] of the steering susbsystem. |
pacmod_msgs/AccelAuxRpt | parsed_tx/accel_aux_rpt | Additional information about the vehicle's accelerator system. Includes _is_valid flags for each field to indicate validity. |
pacmod_msgs/BrakeAuxRpt | parsed_tx/brake_aux_rpt | Additional information about the vehicle's brake system. Includes _is_valid flags for each field to indicate validity. |
pacmod_msgs/ShiftAuxRpt | parsed_tx/shift_aux_rpt | Additional information about the vehicle's shifting system. Includes _is_valid flags for each field to indicate validity. |
pacmod_msgs/SteerAuxRpt | parsed_tx/steer_aux_rpt | Additional information about the vehicle's steering system. Includes _is_valid flags for each field to indicate validity. |
pacmod_msgs/TurnAuxRpt | parsed_tx/turn_aux_rpt | Additional information about the vehicle's turn signal system. Includes _is_valid flags for each field to indicate validity. |
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. |
pacmod_msgs/VinRpt | parsed_tx/vin_rpt | The configured vehicle's VIN, make, model, manufacturer, and model year. |
pacmod_msgs/AllSystemStatuses | as_tx/all_system_statuses | The current enable, fault, and override active statuses of all vehicle systems for this vehicle. |
std_msgs/Bool | as_tx/enabled | 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. |
std_msgs/Float64 | as_tx/vehicle_speed | The vehicle's current speed [m/s]. |
...
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | All data published to on this topic will be are parsed by the PACMod driver. This topic should be connected published to by a CAN interface node (like kvaser_interface or socketcan_bridge). |
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]. |
Conditionally Subscribed Topics (Dependent Upon Vehicle Type)
| Message Type | Topic Name | Description |
|---|---|---|
pacmod_msgs/SystemCmdInt | as_rx/headlight_cmd | Commands to the headlight subsystem to enable/disable and set to low/high beams [enum]. |
pacmod_msgs/SystemCmdBool | as_rx/horn_cmd | Commands to the horn subsystem to enable/disable [bool]. |
pacmod_msgs/SystemCmdBool | as_rx/parking_brake_cmd | Commands to the parking brake subsystem to enable/disable [bool]. |
pacmod_msgs/SystemCmdInt | as_rx/wiper_cmd | Commands to the wiper subsystem to set off, intermittent (1-6), low, or high [enum]. |
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).