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Published 20 hours ago • verified publisher icon lgsvl

SteerAngle conversion fix in ROS2 bridge

Open pijaro opened this issue 3 years ago • 4 comments

Since the steerAngle clamping is already done in LGSVLControlSensor, this one is causing the wheel angle issues.

pijaro avatar Apr 15 '21 09:04 pijaro

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CLAassistant avatar Apr 15 '21 09:04 CLAassistant

I've also noticed that, even with these changes, angular values seems to be invalid.

Ie. sending angle of 0.1 (in radians, accordingly to lgsvl_msgs) does not result in about 5deg wheel angle. It is way bigger. Probably something is still wrong (maybe in LGSVLControlSensor or deeper).

pijaro avatar May 19 '21 13:05 pijaro

Sorry, The problem still exists? the absolute value of the steer published from the simulator is larger than the steer I set. auto control = lgsvl_msgs::msg::VehicleControlData(); control.target_gear = lgsvl_msgs::msg::VehicleControlData::GEAR_DRIVE; control.acceleration_pct = 0.5; control.target_wheel_angle = 0.5; // settting in [-1, 1], the published value larger than 0.5. control_pub->publish(control); @pijaro how do you handle? thanks.

hanyh1191 avatar Apr 13 '22 01:04 hanyh1191

And I not found "Assets/Scripts/Bridge/Ros2/Ros2Conversions.cs" In new release source code 2021.3. ?

hanyh1191 avatar Apr 13 '22 02:04 hanyh1191