Message Type

Topic

Description

can_msgs/Frame

can_rx

All data published on this topic are raw CAN messages intended to be sent to the PACMod. This topic should be subscribed to by a CAN interface node (like kvaser_interface or socketcan_bridge).

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 braking subsystem.

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/AccelAuxRpt

parsed_tx/accel_aux_rpt

Additional information about the vehicle's accelerator system. Includes _is_valid flags for each field to indicate validity.

pacmod_msgs/BrakeAuxRpt

parsed_tx/brake_aux_rpt

Additional information about the vehicle's braking system. Includes _is_valid flags for each field to indicate validity.

pacmod_msgs/ShiftAuxRpt

parsed_tx/shift_aux_rpt

Additional information about the vehicle's shifting system. Includes _is_valid flags for each field to indicate validity.

pacmod_msgs/SteerAuxRpt

parsed_tx/steer_aux_rpt

Additional information about the vehicle's steering system. Includes _is_valid flags for each field to indicate validity.

pacmod_msgs/TurnAuxRpt

parsed_tx/turn_aux_rpt

Additional information about the vehicle's turn signal system. Includes _is_valid flags for each field to indicate validity.

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.

pacmod_msgs/VinRpt

parsed_tx/vin_rpt

The configured vehicle's VIN, make, model, manufacturer, and model year.

pacmod_msgs/AllSystemStatuses

as_tx/all_system_statuses

The current enable, fault, and override active statuses of all vehicle systems for this vehicle.

std_msgs/Bool

as_tx/enabled

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.

std_msgs/Float64

as_tx/vehicle_speed

The vehicle's current speed [m/s].

Message Type

Topic

Description

pacmod_msgs/SystemRptInt

parsed_tx/cruise_control_buttons_rpt

Status and parsed values [enum] of the cruise control buttons subsystem.

pacmod_msgs/SystemRptInt

parsed_tx/dash_controls_left_rpt

Status and parsed values [enum] of the dash controls (left) subsystem.

pacmod_msgs/SystemRptInt

parsed_tx/dash_controls_right_rpt

Status and parsed values [enum] of the dash controls (right) subsystem.

pacmod_msgs/SystemRptInt

parsed_tx/headlight_rpt

Status and parsed values [enum] of the headlight subsystem.

pacmod_msgs/SystemRptBool

parsed_tx/horn_rpt

Status and parsed values [bool] of the horn subsystem.

pacmod_msgs/SystemRptInt

parsed_tx/media_controls_rpt

Status and parsed values [enum] of the media controls subsystem.

pacmod_msgs/SystemRptBool

parsed_tx/parking_brake_rpt

Status and parsed values [bool] of the parking brake subsystem.

pacmod_msgs/SystemRptInt

parsed_tx/wiper_rpt

Status and parsed values [enum] of the wiper subsystem.

pacmod_msgs/HeadlightAuxRpt

parsed_tx/headlight_aux_rpt

Additional information about the vehicle's headlight subsystem. Includes _is_valid flags for each field to indicate validity.

pacmod_msgs/WiperAuxRpt

parsed_tx/wiper_aux_rpt

Additional information about the vehicle's wiper subsystem. Includes _is_valid flags for each field to indicate validity.

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/DateTimeRpt

parsed_tx/date_time_rpt

The vehicle-provided date and time (usually from GPS).

pacmod_msgs/DoorRpt

parsed_tx/door_rpt

Current status of all doors on the vehicle (open or closed) and _is_valid flags for each.

pacmod_msgs/InteriorLightsRpt

parsed_tx/interior_lights_rpt

The on/off and dim level status of vehicle interior lights and _is_valid flags for each.

pacmod_msgs/LatLonHeadingRpt

parsed_tx/lat_lon_heading_rpt

The vehicle-provided latitude, longitude, and heading

pacmod_msgs/OccupancyRpt

parsed_tx/occupancy_rpt

The occupancy and seat belt status of the available passenger locations in the car and _is_valid flags for each.

pacmod_msgs/RearLightsRpt

parsed_tx/rear_lights_rpt

The on/off status of the brake and reverse lights and _is_valid flags for each.

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/SteeringPIDRpt4

parsed_tx/steer_pid_rpt_4

The angular velocity and angular acceleration 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/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 on this topic are parsed by the PACMod driver. This topic should be published to by a CAN interface node (like kvaser_interface or socketcan_bridge).

pacmod_msgs/SystemCmdFloat

as_rx/accel_cmd

Commands the throttle subsystem to seek a specific pedal position [pct - 0.0 to 1.0].

pacmod_msgs/SystemCmdFloat

as_rx/brake_cmd

Commands the brake subsystem to seek a specific pedal position [pct - 0.0 to 1.0].

pacmod_msgs/SystemCmdInt

as_rx/shift_cmd

Commands the gear/transmission subsystem to shift to a different gear [enum].

pacmod_msgs/SteerSystemCmd

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/SystemCmdInt

as_rx/turn_cmd

Commands the turn signal subsystem to transition to a given state [enum].

Message Type

Topic

Description

pacmod_msgs/SystemCmdInt

as_rx/headlight_cmd

Commands to the headlight subsystem to enable/disable and set to low/high beams [enum].

pacmod_msgs/SystemCmdBool

as_rx/horn_cmd

Commands to the horn subsystem to enable/disable [bool].

pacmod_msgs/SystemCmdBool

as_rx/parking_brake_cmd

Commands to the parking brake subsystem to enable/disable [bool].

pacmod_msgs/SystemCmdInt

as_rx/wiper_cmd

Commands to the wiper subsystem to set off, intermittent (1-6), low, or high [enum].