This repo contains code for both parsing and encoding pacmod4 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 pacmod4_msgs. The pacmod4_common library can be compiled under both ROS1 and ROS2 in order to reduce duplication and code maintenance efforts.
Below is a table of supported DBC versions.
| Major Version | Full DBC Version |
|---|---|
| 13 | 13.2.0 |