driver_name: pacmod
msgs_name: pacmod_msgs
An open-source ROS driver for interacting with the PACMod (v1 and v2 only) drive-by-wire system.
Supported Hardware
- Polaris GEM Series (e2/e4/e6/eLXD)
- Polaris Ranger X900
- International Prostar+ 122
- Lexus RX-450h
- More coming soon...
Published Topics
| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | can_rx | All data published on this topic is intended to be sent to the PACMod system via a CAN interface. |
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 susbsystem. |
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/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. |
std_msgs/Float64 | as_tx/vehicle_speed | The vehicle's current speed [m/s]. |
std_msgs/Bool | as_tx/enable | 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. |
Conditionally Published Topics (Dependent Upon Vehicle Type)
| 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. |
Subscribed Topics
| 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/accel_cmd | Commands the throttle subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/PacmodCmd | as_rx/brake_cmd | Commands the brake subsystem to seek a specific pedal position [pct - 0.0 to 1.0]. |
pacmod_msgs/PacmodCmd | as_rx/shift_cmd | Commands the gear/transmission subsystem to shift to a different 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/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: POLARIS_GEM, POLARIS_RANGER, INTERNATIONAL_PROSTAR_122, and LEXUS_RX_450H.