This repo contains code for both parsing and encoding pacmod3 CAN messages. The code related to parsing and encoding CAN frames is auto-generated thanks to the helpful c-coderdbc tool. The rest of the code is manually written and is used for packing and unpacking ROS pacmod3_msgs. The pacmod3_common library can be compiled under both ROS1 and ROS2 in order to reduce duplication and code maintenance efforts.
Each major version of the pacmod DBC is supported by this pacmod3_common library.
Below is a table of supported DBC versions.
| Major Version | Full DBC Version |
|---|---|
| 3 | 3.4.1 |
| 4 | 4.1.0 |
| 5 | 5.0.0 |
| 6 | 6.0.0 |
| 7 | 7.2.0 |
| 8 | 8.0.1 |
| 9 | 9.1.0 |
| 10 | 10.3.0 |
| 11 | 11.6.0 |
| 12 | 12.3.0 |