pacmod3 repository

Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version foxy
Last Updated 2022-03-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 2002.1.0

README

PACMod3 (Platform Actuation and Control MODule) ROS Driver

CircleCI

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:

Topics published on supported platforms only:

Subscribed Topics

Topics subscribed on all platforms:

Topics subscribed on supported platforms only:

Supported Vehicles

At the moment, this pacmod3 driver only supports vehicles that use DBC version 3. The majority of existing Lexus platforms use DBC version 3. However, recently-purchased vehicle platforms (including Lexus) use a newer DBC version.

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

CONTRIBUTING

Any contribution that you make to this repository will be under the MIT license, as dictated by that license.


Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version master
Last Updated 2021-03-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 1.3.1

README

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

CircleCI

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...

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version dashing-devel
Last Updated 2020-02-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 1.3.1

README

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

CircleCI

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

  • Polaris GEM Series (e2/e4/e6) MY 2016+
  • Polaris eLXD MY 2016+
  • Polaris Ranger X900
  • International Prostar+ 122
  • Lexus RX-450h MY 2016+
  • More coming soon...

CONTRIBUTING

Any contribution that you make to this repository will be under the MIT license, as dictated by that license.


Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version master
Last Updated 2021-03-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 1.3.1

README

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

CircleCI

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...

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version master
Last Updated 2021-03-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 1.3.1

README

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

CircleCI

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...

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/astuff/pacmod3.git
VCS Type git
VCS Version master
Last Updated 2021-03-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pacmod3 1.3.1

README

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

CircleCI

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...

CONTRIBUTING

No CONTRIBUTING.md found.