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feat(vehicle_info_util): add max_steer_angle #740

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merged 8 commits into from
May 11, 2022
Merged

feat(vehicle_info_util): add max_steer_angle #740

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6c1082e
feat(vehicle_info_util): add max_steer_angle
takayuki5168 Apr 21, 2022
e7b3df0
applied pre-commit
takayuki5168 Apr 21, 2022
2d6d954
Merge branch 'main' into feature/add-max-steer-angle
tkimura4 Apr 21, 2022
c2045f7
Merge branch 'main' into feature/add-max-steer-angle
takayuki5168 Apr 29, 2022
330d4a9
Merge branch 'main' into feature/add-max-steer-angle
takayuki5168 May 9, 2022
3e1056c
Merge branch 'main' into feature/add-max-steer-angle
tkimura4 May 10, 2022
3451138
Added max_steer_angle in test config
takayuki5168 May 11, 2022
3b73737
Merge branch 'main' into feature/add-max-steer-angle
takayuki5168 May 11, 2022
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1 change: 1 addition & 0 deletions control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,3 +9,4 @@
left_overhang: 0.1 # between left wheel center and vehicle left
right_overhang: 0.1 # between right wheel center and vehicle right
vehicle_height: 2.5
max_steer_angle: 0.70 # [rad]
1 change: 1 addition & 0 deletions simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml
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Expand Up @@ -10,3 +10,4 @@
width_m: 2.0
front_overhang_m: 0.5
rear_overhang_m: 0.5
max_steer_angle: 0.70 # [rad]
1 change: 1 addition & 0 deletions simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
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Expand Up @@ -190,6 +190,7 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options)
node_options.append_parameter_override("left_overhang", 0.5);
node_options.append_parameter_override("right_overhang", 0.5);
node_options.append_parameter_override("vehicle_height", 1.5);
node_options.append_parameter_override("max_steer_angle", 0.7);
}

// Send a control command and run the simulation.
Expand Down
1 change: 1 addition & 0 deletions vehicle/vehicle_info_util/config/vehicle_info.param.yaml
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Expand Up @@ -9,3 +9,4 @@
left_overhang: 0.1 # between left wheel center and vehicle left
right_overhang: 0.1 # between right wheel center and vehicle right
vehicle_height: 2.5
max_steer_angle: 0.70 # [rad]
5 changes: 4 additions & 1 deletion vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp
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Expand Up @@ -31,6 +31,7 @@ struct VehicleInfo
double left_overhang_m;
double right_overhang_m;
double vehicle_height_m;
double max_steer_angle_m;

// Derived parameters, i.e. calculated from base parameters
// The offset values are relative to the base frame origin, which is located
Expand All @@ -49,7 +50,8 @@ struct VehicleInfo
inline VehicleInfo createVehicleInfo(
const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m,
const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m,
const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m)
const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m,
const double max_steer_angle_m)
{
// Calculate derived parameters
const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m;
Expand All @@ -72,6 +74,7 @@ inline VehicleInfo createVehicleInfo(
left_overhang_m,
right_overhang_m,
vehicle_height_m,
max_steer_angle_m,
// Derived parameters
vehicle_length_m_,
vehicle_width_m_,
Expand Down
4 changes: 3 additions & 1 deletion vehicle/vehicle_info_util/src/vehicle_info_util.cpp
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Expand Up @@ -49,14 +49,16 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node)
vehicle_info_.left_overhang_m = getParameter<double>(node, "left_overhang");
vehicle_info_.right_overhang_m = getParameter<double>(node, "right_overhang");
vehicle_info_.vehicle_height_m = getParameter<double>(node, "vehicle_height");
vehicle_info_.max_steer_angle_m = getParameter<double>(node, "max_steer_angle");
}

VehicleInfo VehicleInfoUtil::getVehicleInfo()
{
return createVehicleInfo(
vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m,
vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m,
vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m);
vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m,
vehicle_info_.max_steer_angle_m);
}

} // namespace vehicle_info_util