driver_name: pacmod3
msgs_name: pacmod_msgs
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
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | All data published on this topic are raw CAN messages intended to be sent to the PACMod. 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]. |
Conditionally Published Topics (Dependent Upon Vehicle Type)
| Message Type | Topic Name | Description |
|---|---|---|
pacmod_msgs/SystemRptInt | parsed_tx/cruise_control_buttons_rpt | Status and parsed values [enum] of the cruise control buttons subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/dash_controls_left_rpt | Status and parsed values [enum] of the dash controls (left) subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/dash_controls_right_rpt | Status and parsed values [enum] of the dash controls (right) subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/headlight_rpt | Status and parsed values [enum] of the headlight subsystem. |
pacmod_msgs/SystemRptBool | parsed_tx/horn_rpt | Status and parsed values [bool] of the horn subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/media_controls_rpt | Status and parsed values [enum] of the media controls subsystem. |
pacmod_msgs/SystemRptBool | parsed_tx/parking_brake_rpt | Status and parsed values [bool] of the parking brake subsystem. |
pacmod_msgs/SystemRptInt | parsed_tx/wiper_rpt | Status and parsed values [enum] of the wiper subsystem. |
| parsed_tx/headlight_aux_rpt | Additional information about the vehicle's headlight subsystem. Includes _is_valid flags for each field to indicate validity. | |
pacmod_msgs/WiperAuxRpt | parsed_tx/wiper_aux_rpt | Additional information about the vehicle's wiper subsystem. Includes _is_valid flags for each field to indicate validity. |
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/DateTimeRpt | parsed_tx/date_time_rpt | The vehicle-provided date and time (usually from GPS). |
pacmod_msgs/DoorRpt | parsed_tx/door_rpt | Current status of all doors on the vehicle (open or closed) and _is_valid flags for each. |
pacmod_msgs/InteriorLightsRpt | parsed_tx/interior_lights_rpt | The on/off and dim level status of vehicle interior lights and _is_valid flags for each. |
pacmod_msgs/LatLonHeadingRpt | parsed_tx/lat_lon_heading_rpt | The vehicle-provided latitude, longitude, and heading |
pacmod_msgs/OccupancyRpt | parsed_tx/occupancy_rpt | The occupancy and seat belt status of the available passenger locations in the car and _is_valid flags for each. |
pacmod_msgs/RearLightsRpt | parsed_tx/rear_lights_rpt | The on/off status of the brake and reverse lights and _is_valid flags for each. |
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/SteeringPIDRpt4 | parsed_tx/steer_pid_rpt_4 | The angular velocity and angular acceleration 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/YawRateRpt | parsed_tx/yaw_rate_rpt | The yaw rate reported by the vehicle's internal IMU. |
Subscribed Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_tx | All data published on this topic are parsed by the PACMod driver. This topic should be 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).