Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

SteerAngle conversion fix in ROS2 bridge #1372

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

SteerAngle conversion fix in ROS2 bridge #1372

wants to merge 1 commit into from

Conversation

pijaro
Copy link
Contributor

@pijaro pijaro commented Apr 15, 2021 •
edited
Loading

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

@CLAassistant
Copy link

CLAassistant commented Apr 15, 2021 •
edited
Loading

CLA assistant check
All committers have signed the CLA.

@pijaro
Copy link
Contributor Author

pijaro commented May 19, 2021

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).

dvd-gaiaplatform added a commit to dvd-gaiaplatform/ROS2 that referenced this pull request Nov 27, 2021
@dvd-gaiaplatform
Remove steer angle conversion.
3a7e189 
This is basically the same as lgsvl/simulator#1372, except that the target wheel angle is left unmodified (assumed to be in range `[-1, 1]`) instead of treating it as radians.
While this is in conflict with the comment on the `lgsvl_msgs` repo, it seems to match the implementation of the `lgsvl_interface` in `AutowareAuto`.
dvd-gaiaplatform added a commit to gaia-platform/ROS2 that referenced this pull request Jan 12, 2022
@dvd-gaiaplatform
Remove steer angle conversion.
597dde2 
This is basically the same as lgsvl/simulator#1372, except that the target wheel angle is left unmodified (assumed to be in range `[-1, 1]`) instead of treating it as radians.
While this is in conflict with the comment on the `lgsvl_msgs` repo, it seems to match the implementation of the `lgsvl_interface` in `AutowareAuto`.
@hanyh1191
Copy link

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
Copy link

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

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@Sutchu Sutchu Sutchu approved these changes

Assignees

@hadiTab hadiTab

Labels
2021.1
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
6 participants
@pijaro @CLAassistant @hanyh1191 @Sutchu @lemketron @hadiTab