PACMod3 (Platform Actuation and Control MODule) ROS Driver

This ROS node is designed to allow the user to control a vehicle (see SUPPORTED VEHICLES below) with the PACMod drive-by-wire system, board revision 3. The main purpose of the driver is to provide a common ROS API to PACMod devices regardless of vehicle type or specific PACMod version in use.

For access to the DBC file which defines the CAN interface for the PACMod, see the pacmod_dbc repo.

Installation

Install pacmod3 using our debian repository:

sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
sudo apt install ros-$ROS_DISTRO-pacmod3

Note: Previously the pacmod3 driver was released via the ROS buildfarm. This has changed as of Ubuntu 20.04 (ROS2 Foxy and ROS1 Noetic) to keep old package versions available for download, which gives users greater control over their installed software and also allows downgrades if an upgrade breaks software dependencies.

ROS API

The driver will automatically adapt the ROS API (published and subscribed topics) according to what data the PACMod system supports. Please consult the PACMod user manual you received with your vehicle in order to determine what types of data the PACMod system is able to send and receive.

Launch Arguments

• dbc_major_version: This should be set to match the DBC version of your PACMod system. See the "Supported Vehicles" section at the bottom of this README for more details.
• use_kvaser: Set this to true if a Kvaser CAN device is being used with Kvaser canlib drivers to connect to the PACMod. Defaults to false.
• kvaser_hardware_id: The hardware id of the kvaser device, only applies if use_kvaser is true.
• kvaser_circuit_id: The circuit/channel id that the PACMod is plugged into on the kvaser device, only applies if use_kvaser is true.
• use_socketcan: Set this to true if Linux SocketCAN drivers are being used to connect to the PACMod. Defaults to false.
• socketcan_device: The device id of the SocketCAN channel the PACMod is plugged into, only applies if use_socketcan is true.
• namespace: The namespace of the PACMod driver, topics will be namespaced accordingly. Defaults to pacmod.

Published Topics

Topics published on all platforms:

• accel_rpt (pacmod3_msgs/SystemRptFloat)
• accel_aux_rpt (pacmod3_msgs/AccelAuxRpt)
• brake_rpt (pacmod3_msgs/SystemRptFloat)
• brake_aux_rpt (pacmod3_msgs/BrakeAuxRpt)
• steering_rpt (pacmod3_msgs/SystemRptFloat)
• steering_aux_rpt (pacmod3_msgs/SteeringAuxRpt)
• shift_rpt (pacmod3_msgs/SystemRptInt)
• shift_aux_rpt (pacmod3_msgs/ShiftAuxRpt)
• turn_rpt (pacmod3_msgs/SystemRptInt)
• turn_aux_rpt (pacmod3_msgs/TurnAuxRpt)
• vehicle_speed_rpt (pacmod3_msgs/VehicleSpeedRpt)
• vin_rpt (pacmod3_msgs/VinRpt)
• global_rpt (pacmod3_msgs/GlobalRpt)
• component_rpt_00 (pacmod3_msgs/ComponentRpt)
• component_rpt_01 (pacmod3_msgs/ComponentRpt)
• component_rpt_02 (pacmod3_msgs/ComponentRpt)
• all_system_statuses (pacmod3_msgs/AllSystemStatuses)
• can_rx (can_msgs/Frame)

Topics published on supported platforms only:

• brake_motor_rpt_1 (pacmod3_msgs/MotorRpt1)
• brake_motor_rpt_2 (pacmod3_msgs/MotorRpt2)
• brake_motor_rpt_3 (pacmod3_msgs/MotorRpt3)
• cruise_control_buttons_rpt (pacmod3_msgs/SystemRptInt)
• date_time_rpt (pacmod3_msgs/DateTimeRpt)
• detected_object_rpt (pacmod3_msgs/DetectedObjectRpt)
• door_rpt (pacmod3_msgs/DoorRpt)
• estop_rpt (pacmod3_msgs/EStopRpt)
• global_rpt_2 (pacmod3_msgs/GlobalRpt2)
• engine_brake_rpt (pacmod3_msgs/SystemRptInt)
• hazard_lights_rpt (pacmod3_msgs/SystemRptBool)
• headlight_aux_rpt (pacmod3_msgs/HeadlightAuxRpt)
• headlight_rpt (pacmod3_msgs/SystemRptInt)
• horn_rpt (pacmod3_msgs/SystemRptBool)
• interior_lights_rpt (pacmod3_msgs/InteriorLightsRpt)
• lat_lon_heading_rpt (pacmod3_msgs/LatLonHeadingRpt)
• marker_lamp_rpt (pacmod3_msgs/SystemRptBool)
• occupancy_rpt (pacmod3_msgs/OccupancyRpt)
• parking_brake_rpt (pacmod3_msgs/SystemRptBool)
• rear_lights_rpt (pacmod3_msgs/RearLightsRpt)
• sprayer_rpt (pacmod3_msgs/SystemRptBool)
• steering_motor_rpt_1 (pacmod3_msgs/MotorRpt1)
• steering_motor_rpt_2 (pacmod3_msgs/MotorRpt2)
• steering_motor_rpt_3 (pacmod3_msgs/MotorRpt3)
• vehicle_dynamics_rpt (pacmod3_msgs/VehicleDynamicsRpt)
• wheel_speed_rpt (pacmod3_msgs/WheelSpeedRpt)
• wiper_aux_rpt (pacmod3_msgs/WiperAuxRpt)
• wiper_rpt (pacmod3_msgs/SystemRptInt)
• yaw_rate_rpt (pacmod3_msgs/YawRateRpt)

Subscribed Topics

Topics subscribed on all platforms:

• accel_cmd (pacmod3_msgs/SystemCmdFloat)
• brake_cmd (pacmod3_msgs/SystemCmdFloat)
• steering_cmd (pacmod3_msgs/SystemCmdFloat)
• shift_cmd (pacmod3_msgs/SystemCmdInt)
• turn_cmd (pacmod3_msgs/SystemCmdInt)
• can_tx (can_msgs/Frame)

Topics subscribed on supported platforms only:

• cruise_control_buttons_cmd (pacmod3_msgs/SystemCmdInt)
• engine_brake_cmd (pacmod3_msgs/SystemCmdInt)
• hazard_lights_cmd (pacmod3_msgs/SystemCmdBool)
• headlight_cmd (pacmod3_msgs/SystemCmdInt)
• horn_cmd (pacmod3_msgs/SystemCmdBool)
• marker_lamp_cmd (pacmod3_msgs/SystemCmdBool)
• rear_pass_door_cmd (pacmod3_msgs/SystemCmdInt)
• sprayer_cmd (pacmod3_msgs/SystemCmdBool)
• wiper_cmd (pacmod3_msgs/SystemCmdInt)

Supported Vehicles

At the moment, this pacmod3 driver supports DBC versions 3 through 12 for a core set of common messages. This means not all vehicle-specific CAN messages are currently supported. If you need a specific CAN message to be supported please open an issue here.

If you are unsure about which DBC version your existing PACMod supports, please reach out to our support team: https://autonomoustuff.com/support