update CI, cmakelists, package.xml, nodelets.xml, readme

Author: cullenstoneAS

.circleci/config.yml

@@ -10,7 +10,7 @@ commands:
             git submodule sync --recursive && git submodule update --recursive --init
             apt-get update -qq
             source /opt/ros/*/setup.bash
-            mkdir pacmod3 && mv `find -maxdepth 1 -not -name . -not -name pacmod3` pacmod3/
+            mkdir pacmod4 && mv `find -maxdepth 1 -not -name . -not -name pacmod4` pacmod4/
             rosdep update && rosdep install --from-paths . --ignore-src -y
             cd ..
             catkin init
@@ -26,13 +26,13 @@ commands:
       #     name: Lint
       #     command: |
       #       cd ..
-      #       catkin build pacmod3 --no-deps --make-args roslint
+      #       catkin build pacmod4 --no-deps --make-args roslint
       - run:
           name: Run Tests
           command: |
             source /opt/ros/*/setup.bash
             cd ..
-            catkin run_tests --no-deps pacmod3
+            catkin run_tests --no-deps pacmod4
             catkin_test_results
 
 jobs:

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(pacmod3)
+project(pacmod4)
 
 add_definitions(-std=c++14)
 
@@ -10,7 +10,7 @@ set(catkin_deps
   nodelet
   roscpp
   std_msgs
-  pacmod3_msgs
+  pacmod4_msgs
   can_msgs
 )
 
@@ -28,50 +28,32 @@ catkin_package(
 
 include_directories(
   include
-  pacmod3_common/include
+  pacmod4_common/include
   ${catkin_INCLUDE_DIRS}
 )
 
 # Common Library
 add_compile_definitions(ROS_VERSION=$ENV{ROS_VERSION})
-add_library(pacmod3_common STATIC
-  pacmod3_common/src/pacmod3_dbc_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc3_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc4_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc5_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc6_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc7_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc8_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc9_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc10_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc11_ros_api.cpp
-  pacmod3_common/src/pacmod3_dbc12_ros_api.cpp
-  pacmod3_common/src/autogen/pacmod3.c
-  pacmod3_common/src/autogen/pacmod4.c
-  pacmod3_common/src/autogen/pacmod5.c
-  pacmod3_common/src/autogen/pacmod6.c
-  pacmod3_common/src/autogen/pacmod7.c
-  pacmod3_common/src/autogen/pacmod8.c
-  pacmod3_common/src/autogen/pacmod9.c
-  pacmod3_common/src/autogen/pacmod10.c
-  pacmod3_common/src/autogen/pacmod11.c
-  pacmod3_common/src/autogen/pacmod12.c
+add_library(pacmod4_common STATIC
+  pacmod4_common/src/pacmod4_dbc_ros_api.cpp
+  pacmod4_common/src/pacmod4_dbc13_ros_api.cpp
+  pacmod4_common/src/autogen/pacmod13.c
 )
 
 # nodelets
 add_library(${PROJECT_NAME}_nodelet
-  src/pacmod3_nodelet.cpp
-  src/pacmod3_ros_msg_handler.cpp
+  src/pacmod4_nodelet.cpp
+  src/pacmod4_ros_msg_handler.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}_nodelet
-  pacmod3_common
+  pacmod4_common
   ${catkin_LIBRARIES}
 )
 
 # nodes
 add_executable(${PROJECT_NAME}_node
-  src/pacmod3_node.cpp
+  src/pacmod4_node.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}_node
@@ -81,11 +63,11 @@ target_link_libraries(${PROJECT_NAME}_node
 # TODO: Re-enable after auto-formatting
 # set(ROSLINT_CPP_OPTS "--filter=-build/include_subdir")
 # roslint_cpp(
-#   src/pacmod3_node.cpp
-#   src/pacmod3_nodelet.cpp
-#   src/pacmod3_ros_msg_handler.cpp
-#   include/pacmod3/pacmod3_nodelet.h
-#   include/pacmod3/pacmod3_ros_msg_handler.h
+#   src/pacmod4_node.cpp
+#   src/pacmod4_nodelet.cpp
+#   src/pacmod4_ros_msg_handler.cpp
+#   include/pacmod4/pacmod3_nodelet.h
+#   include/pacmod4/pacmod3_ros_msg_handler.h
 #   )
 
 install(TARGETS

README.md

@@ -1,26 +1,23 @@
-# PACMod3 (Platform Actuation and Control MODule) ROS Driver #
+# PACMod4 (Platform Actuation and Control MODule) ROS Driver #
 
-[![CircleCI](https://circleci.com/gh/astuff/pacmod3/tree/ros1_master.svg?style=svg)](https://circleci.com/gh/astuff/pacmod3/tree/ros1_master)
+[![CircleCI](https://circleci.com/gh/astuff/pacmod4/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.
+This ROS node is designed to allow the user to control a vehicle with the PACMod drive-by-wire system.
 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.
 
 ## Installation 
 
-Install pacmod3 using our debian repository:
+Install pacmod4 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
+sudo apt install ros-$ROS_DISTRO-pacmod4
 ```
 
-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. 
@@ -34,90 +31,4 @@ Please consult the PACMod user manual you received with your vehicle in order to
 - **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_00` ([pacmod3_msgs/ComponentRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/ComponentRpt.msg))
-- `component_rpt_01` ([pacmod3_msgs/ComponentRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/ComponentRpt.msg))
-- `component_rpt_02` ([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))
-- `cruise_control_buttons_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
-- `date_time_rpt` ([pacmod3_msgs/DateTimeRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DateTimeRpt.msg))
-- `detected_object_rpt` ([pacmod3_msgs/DetectedObjectRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DetectedObjectRpt.msg))
-- `door_rpt` ([pacmod3_msgs/DoorRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/DoorRpt.msg))
-- `estop_rpt` ([pacmod3_msgs/EStopRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/EStopRpt.msg))
-- `global_rpt_2` ([pacmod3_msgs/GlobalRpt2](https://github.com/astuff/pacmod3_msgs/blob/master/msg/GlobalRpt2.msg))
-- `engine_brake_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
-- `hazard_lights_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
-- `headlight_aux_rpt` ([pacmod3_msgs/HeadlightAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/HeadlightAuxRpt.msg))
-- `headlight_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
-- `horn_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
-- `interior_lights_rpt` ([pacmod3_msgs/InteriorLightsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/InteriorLightsRpt.msg))
-- `lat_lon_heading_rpt` ([pacmod3_msgs/LatLonHeadingRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/LatLonHeadingRpt.msg))
-- `marker_lamp_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
-- `occupancy_rpt` ([pacmod3_msgs/OccupancyRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/OccupancyRpt.msg))
-- `parking_brake_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.msg))
-- `rear_lights_rpt` ([pacmod3_msgs/RearLightsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/RearLightsRpt.msg))
-- `sprayer_rpt` ([pacmod3_msgs/SystemRptBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptBool.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))
-- `vehicle_dynamics_rpt` ([pacmod3_msgs/VehicleDynamicsRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/VehicleDynamicsRpt.msg))
-- `wheel_speed_rpt` ([pacmod3_msgs/WheelSpeedRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/WheelSpeedRpt.msg))
-- `wiper_aux_rpt` ([pacmod3_msgs/WiperAuxRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/WiperAuxRpt.msg))
-- `wiper_rpt` ([pacmod3_msgs/SystemRptInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemRptInt.msg))
-- `yaw_rate_rpt` ([pacmod3_msgs/YawRateRpt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/YawRateRpt.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:
-
-- `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))
-- `hazard_lights_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.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))
-- `marker_lamp_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))
-- `sprayer_cmd` ([pacmod3_msgs/SystemCmdBool](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdBool.msg))
-- `wiper_cmd` ([pacmod3_msgs/SystemCmdInt](https://github.com/astuff/pacmod3_msgs/blob/master/msg/SystemCmdInt.msg))
-
-## Supported Vehicles ##
-
-At the moment, this pacmod3 driver supports DBC versions 3 through 12 for a core set of common messages.
-This means not all vehicle-specific CAN messages are currently supported.
-If you need a specific CAN message to be supported please open an issue [here](https://github.com/astuff/pacmod3/issues).
-
-If you are unsure about which DBC version your existing PACMod supports, please reach out to our support team: https://autonomoustuff.com/support
+- **namespace**: The namespace of the PACMod driver, topics will be namespaced accordingly. Defaults to `pacmod`.

nodelets.xml

@@ -1,9 +1,9 @@
-<library path="lib/libpacmod3_nodelet">
-  <class name="pacmod3/pacmod3_nodelet"
-         type="pacmod3::Pacmod3Nl"
+<library path="lib/libpacmod4_nodelet">
+  <class name="pacmod4/pacmod4_nodelet"
+         type="pacmod4::Pacmod4Nl"
          base_class_type="nodelet::Nodelet">
     <description>
-      Pacmod3 ROS Driver
+      Pacmod4 ROS Driver
     </description>
   </class>
 </library>

package.xml

@@ -1,17 +1,15 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>pacmod3</name>
-  <version>2.2.2</version>
-  <description>AutonomouStuff PACMod v3 Driver Package</description>
+  <name>pacmod4</name>
+  <version>1.0.0</version>
+  <description>AutonomouStuff PACMod v4 Driver Package</description>
   <license>MIT</license>
 
-  <url type="website">http://wiki.ros.org/pacmod3</url>
-  <url type="repository">https://github.com/astuff/pacmod3</url>
-  <url type="bugtracker">https://github.com/astuff/pacmod3/issues</url>
+  <url type="website">http://wiki.ros.org/pacmod4</url>
+  <url type="repository">https://github.com/astuff/pacmod4</url>
+  <url type="bugtracker">https://github.com/astuff/pacmod4/issues</url>
 
   <maintainer email="[email protected]">AutonomouStuff Software Team</maintainer>
-  <author email="[email protected]">Joe Driscoll</author>
-  <author email="[email protected]">Josh Whitley</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
@@ -20,7 +18,7 @@
   <depend>nodelet</depend>
   <depend>roscpp</depend>
   <depend>std_msgs</depend>
-  <depend version_gte="1.0.0" version_lt="1.1.0">pacmod3_msgs</depend>
+  <depend version_eq="1.0.0">pacmod4_msgs</depend>
   <depend>can_msgs</depend>
 
   <export>