Message Type

Topic

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.

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.

Message Type

Topic

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.

Message Type

Topic

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.