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icolwell-as merged 2 commits into from
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ROS1: Update README #113

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Fix circleci link, update note about supported platforms
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133 changes: 114 additions & 19 deletions README.md
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# PACMod (Platform Actuation and Control MODule) Vehicle Interface for Board Revision 3 #
# PACMod3 (Platform Actuation and Control MODule) ROS Driver #

[![CircleCI](https://circleci.com/gh/astuff/pacmod3/tree/master.svg?style=svg)](https://circleci.com/gh/astuff/pacmod3/tree/master)
[![CircleCI](https://circleci.com/gh/astuff/pacmod3/tree/ros1_master.svg?style=svg)](https://circleci.com/gh/astuff/pacmod3/tree/ros1_master)

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](http://wiki.ros.org/pacmod3).
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](https://github.com/astuff/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](https://github.com/astuff/pacmod/tree/release) |
| Polaris eLXD MY 2016+ | ROS | PACMod2 | [PACMod2 Driver](https://github.com/astuff/pacmod/tree/release) |
| International Prostar+ 122 | ROS | PACMod2 | [PACMod2 Driver](https://github.com/astuff/pacmod/tree/release) |
| Lexus RX-450h MY 2016+ | ROS and ROS2 | PACMod3 | [PACMod3 Driver](https://github.com/astuff/pacmod3) and [ROS2 Driver (DBC 3.4)](https://github.com/astuff/pacmod3/tree/dashing-devel) |
| Lexus RX-450h MY 2016+ V3| ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
| Kenworth T680 Semi 2017+ |ROS | PACMod3 | [PACMod3 Driver](https://github.com/astuff/pacmod3) |
| Freightliner Cascadia DD13 DayCab/Sleeper/Extended-Sleeper | ROS | PACMod3 | [PACMod3 Driver](https://github.com/astuff/pacmod3)|
| Tractor 2017+ | ROS | PACMod3 | [PACMod3 Driver (Hexagon Tractor)](https://github.com/astuff/pacmod3/tree/maint/hexagon_tractor) |
| Ford Ranger 2019+ | ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
| Polaris Ranger X900 | ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
| Toyota Minivan 2019+ | ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
| VEHICLE_HCV | ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
| VEHICLE_FTT | ROS | PACMod3 | [PACMod3 Driver with message migration](https://github.com/astuff/pacmod3/tree/maint/pacmod_msg_migration) |
More coming soon...
## Installation

Install pacmod3 using our debian repository:

```sh
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:

- `accel_rpt` ([pacmod3_msgs/SystemRptFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptFloat.msg))
- `accel_aux_rpt` ([pacmod3_msgs/AccelAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/AccelAuxRpt.msg))
- `brake_rpt` ([pacmod3_msgs/SystemRptFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptFloat.msg))
- `brake_aux_rpt` ([pacmod3_msgs/BrakeAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/BrakeAuxRpt.msg))
- `steering_rpt` ([pacmod3_msgs/SystemRptFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptFloat.msg))
- `steering_aux_rpt` ([pacmod3_msgs/SteeringAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SteeringAuxRpt.msg))
- `shift_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `shift_aux_rpt` ([pacmod3_msgs/ShiftAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/ShiftAuxRpt.msg))
- `turn_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `turn_aux_rpt` ([pacmod3_msgs/TurnAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/TurnAuxRpt.msg))
- `vehicle_speed_rpt` ([pacmod3_msgs/VehicleSpeedRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/VehicleSpeedRpt.msg))
- `vin_rpt` ([pacmod3_msgs/VinRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/VinRpt.msg))
- `global_rpt` ([pacmod3_msgs/GlobalRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/GlobalRpt.msg))
- `component_rpt` ([pacmod3_msgs/ComponentRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/ComponentRpt.msg))
- `all_system_statuses` ([pacmod3_msgs/AllSystemStatuses](https://github.com/astuff/pacmod3_msgs/blob/master/msg/AllSystemStatuses.msg))
- `can_rx` ([can_msgs/Frame](http://docs.ros.org/en/noetic/api/can_msgs/html/msg/Frame.html))

Topics published on supported platforms only:

- `brake_motor_rpt_1` ([pacmod3_msgs/MotorRpt1](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt1.msg))
- `brake_motor_rpt_2` ([pacmod3_msgs/MotorRpt2](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt2.msg))
- `brake_motor_rpt_3` ([pacmod3_msgs/MotorRpt3](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt3.msg))
- `steering_motor_rpt_1` ([pacmod3_msgs/MotorRpt1](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt1.msg))
- `steering_motor_rpt_2` ([pacmod3_msgs/MotorRpt2](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt2.msg))
- `steering_motor_rpt_3` ([pacmod3_msgs/MotorRpt3](https://github.com/astuff/pacmod3_msgs/blob/master/msg/MotorRpt3.msg))
- `wiper_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `wiper_aux_rpt` ([pacmod3_msgs/WiperAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/WiperAuxRpt.msg))
- `headlight_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `headlight_aux_rpt` ([pacmod3_msgs/HeadlightAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/HeadlightAuxRpt.msg))
- `horn_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
- `wheel_speed_rpt` ([pacmod3_msgs/WheelSpeedRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/WheelSpeedRpt.msg))
- `parking_brake_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
- `door_rpt` ([pacmod3_msgs/DoorRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DoorRpt.msg))
- `interior_lights_rpt` ([pacmod3_msgs/InteriorLightsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/InteriorLightsRpt.msg))
- `occupancy_rpt` ([pacmod3_msgs/OccupancyRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/OccupancyRpt.msg))
- `rear_lights_rpt` ([pacmod3_msgs/RearLightsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/RearLightsRpt.msg))
- `hazard_lights_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
- `date_time_rpt` ([pacmod3_msgs/DateTimeRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DateTimeRpt.msg))
- `lat_lon_heading_rpt` ([pacmod3_msgs/LatLonHeadingRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/LatLonHeadingRpt.msg))
- `yaw_rate_rpt` ([pacmod3_msgs/YawRateRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/YawRateRpt.msg))
- `cruise_control_buttons_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `engine_brake_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
- `marker_lamp_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
- `sprayer_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
- `detected_object_rpt` ([pacmod3_msgs/DetectedObjectRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DetectedObjectRpt.msg))
- `vehicle_dynamics_rpt` ([pacmod3_msgs/VehicleDynamicsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/VehicleDynamicsRpt.msg))

### Subscribed Topics

Topics subscribed on all platforms:

- `accel_cmd` ([pacmod3_msgs/SystemCmdFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdFloat.msg))
- `brake_cmd` ([pacmod3_msgs/SystemCmdFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdFloat.msg))
- `steering_cmd` ([pacmod3_msgs/SystemCmdFloat](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdFloat.msg))
- `shift_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `turn_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `can_tx` ([can_msgs/Frame](http://docs.ros.org/en/noetic/api/can_msgs/html/msg/Frame.html))

Topics subscribed on supported platforms only:

- `wiper_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `headlight_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `horn_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.msg))
- `hazard_lights_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.msg))
- `cruise_control_buttons_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `engine_brake_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
- `marker_lamp_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.msg))
- `sprayer_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.msg))
- `rear_pass_door_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))

## 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