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feat(vehicle_info_util): add script to calculate turning radius #1855
feat(vehicle_info_util): add script to calculate turning radius #1855
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Signed-off-by: Takayuki Murooka <[email protected]>
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Signed-off-by: Takayuki Murooka <[email protected]>
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@YamatoAndo @TakaHoribe Could you review this |
Codecov ReportBase: 10.42% // Head: 10.36% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1855 +/- ##
==========================================
- Coverage 10.42% 10.36% -0.07%
==========================================
Files 1226 1224 -2
Lines 87945 88540 +595
Branches 20455 20990 +535
==========================================
+ Hits 9171 9179 +8
- Misses 69270 69801 +531
- Partials 9504 9560 +56
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max_steer_angle = config["/**"]["ros__parameters"]["max_steer_angle"] | ||
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print("yaml path is {}".format(yaml_path)) | ||
print("Minimum turning radius is {} [m]".format(wheel_base / math.sin(max_steer_angle))) |
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It'd be better to show the definition of the radius since the formula depends on how you define the radius. If it is for the rear wheel, the equation should be
radius = wheel_base / tan(steer)
If it is for front steer, it will be
radius = wheel_base / sin(steer)
Maybe it is nice to print both, like
Minimum turning radius is 4.40 [m] for rear, 4.45[m] for front
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Thank you for the better idea.
50746d6
DONE
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cool!
Signed-off-by: Takayuki Murooka <[email protected]>
I'll leave the review up to @TakaHoribe 🙇 |
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LGTM!
@YamatoAndo |
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LGTM
Description
add script to calculate max turning radius
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