PACMod (Platform Actuation and Control MODule) Vehicle Interface for Board Revision 3

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. For more information about the topics, parameters, and details on the implementation, see the ROS wiki.

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

| Supported Vehicles | ROS Version Available | PACMod Version | ROS Driver Branch | | - | - | - | - | | Polaris GEM Series (e2/e4/e6) MY 2016+ | ROS | PACMod2 | PACMod2 Driver | | Polaris eLXD MY 2016+ | ROS | PACMod2 | PACMod2 Driver | | International Prostar+ 122 | ROS | PACMod2 | PACMod2 Driver | | Lexus RX-450h MY 2016+ | ROS and ROS2 | PACMod3 | PACMod3 Driver and ROS2 Driver (DBC 3.4) | | Lexus RX-450h MY 2016+ V3| ROS | PACMod3 | PACMod3 Driver with message migration | | Kenworth T680 Semi 2017+ |ROS | PACMod3 | PACMod3 Driver | | Freightliner Cascadia DD13 DayCab/Sleeper/Extended-Sleeper | ROS | PACMod3 | PACMod3 Driver| | Tractor 2017+ | ROS | PACMod3 | PACMod3 Driver (Hexagon Tractor) | | Ford Ranger 2019+ | ROS | PACMod3 | PACMod3 Driver with message migration | | Polaris Ranger X900 | ROS | PACMod3 | PACMod3 Driver with message migration | | Toyota Minivan 2019+ | ROS | PACMod3 | PACMod3 Driver with message migration | | VEHICLE_HCV | ROS | PACMod3 | PACMod3 Driver with message migration | | VEHICLE_FTT | ROS | PACMod3 | PACMod3 Driver with message migration | More coming soon…

Changelog for package pacmod3

1.3.1 (2021-01-07)

• Add brake and steer detail rpt when vehicle type is JUPITER SPIRIT (#70)
• Issue #67 (#68)
• Contributors: Daisuke Nishimatsu, bjansky

1.3.0 (2020-01-23)

• Merge pull request #59 from astuff/maint/hybrid_ros1_ros2_msgs ROS1/ROS2 Hybrid Messages
• CI: Updating CI to build with hybrid messages.
• Merge pull request #63 from astuff/maint/add_engine_report Adding Engine Report
• Merge pull request #64 from astuff/maint/remove_unused_pid_rpts Removing unused PID reports.
• Adding Hazard Lights Cmd and Rpt Message (#61)
• Merge pull request #62 from astuff/maint/make_parse_const Maint/make parse const
• Merge branch 'master' into maint/make_parse_const
• Merge pull request #60 from astuff/maint/add_gearN_w_avail Add gear number and availability.
• Use master branch of astuff_sensor_msgs
• Adding gear number availability and number.
• Adding Gear number to Shift Aux Report.
• Make the input to all of the parse functions a const pointer since they shouldn't be modifying the raw data
• Merge pull request #57 from astuff/maint/cpp_11_updates Maint/cpp 11 updates
• Moving CAN_ID values to header file.
• Simplifying syntax in pacmod3_node.cpp.
• Simplifying the can_read function.
• Simplifying publishers.
• templatizing lookup_and_encode.
• Merge pull request #56 from astuff/fix/give_cmd_msgs_dlcs Adding DATA_LENGTH. Removing unused code.
• Merge pull request #53 from astuff/feature/freightliner_cascadia Initial Commit - Adding Freightliner Cascadia Trucks
• Reordering CAN messages, adding cruise control to freightliner.
• Merge branch 'master' into feature/freightliner_cascadia
• Adding freightliner specific messages - engine braking, marker lamp, sprayer.
• Making DATA_LENGTH constexpr.
• Adding DATA_LENGTH. Removing unused code. DATA_LENGTH is a property which defines the length of the data payload on a given CAN message. This is now used to initialize command message data storage.
• Merge pull request #55 from astuff/feature/door_system_remake Feature/door system remake
• Merge branch 'master' into feature/freightliner_cascadia
• Merge pull request #54 from astuff/feature/add_Jupiter_Spirit Feature/add jupiter spirit
• added vehicle Jupiter_Spirit
• Adding Freightliner Cascadia Trucks
• Merge pull request #50 from astuff/maint/dlc_agnosticism Making driver DLC-agnostic.
• Merge pull request #48 from astuff/maint/add_roslint Maint/add roslint
• Replaced all int64_t CAN IDs with uint32_ts.
• Shared Pointers everywhere!
• Fixing more C-style casts.
• Lint and copyright clean-up.
• Update src/pacmod3_ros_msg_handler.cpp Recommendation from \@zoakesAStuff Co-Authored-By: JWhitleyAStuff <<jwhitley@autonomoustuff.com>>
• CI: Adding catkin_test_results.
• Added roslint. Implemented suggestions. Changed to raw pointers.
• Merge pull request #47 from astuff/maint/ci_remove_lunar CI: Removing Lunar build AND fixing tests.
• Merge pull request #46 from astuff/maint/can_api_changes Changed motor_rpt_2 scale values to match new dbc
• Removing DBC. CI: Removing DBC validation.
• Updating reference to DBC in README.
• Contributors: Daniel Stanek, Joshua Whitley, Sam Rustan, Sanaz Fattahalhosseini, Zach Oakes, Sneha Ganesh, Mike Lemm

1.2.1 (2018-12-07)

• Merge pull request

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