2026.L PacMOD ROS2

Communtations with vehicle happens through /pacmod topics, using the vehicles CAN bus network.

Within the Spectra PC we have a Kvaser PCIEcan 4xHS card that supports native communication through the can bus. Currently we' using the default Linux SocketCAN to acess the device, and the connected CAN-bus, on the can0 channel.

To start the ROS2 driver:

ros2 launch lexus_bringup can_and_status.launch.py

To see all to CAN channels on the PC:

sudo ifconfig -a

To restart the SocketCAN on the pc

sudo ip link set can0 down
sudo ip link set can0 up