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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... |