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feat(raw_vehicle_cmd_converter): add steer command conversion with VGR #8504
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8504 +/- ##
==========================================
- Coverage 23.90% 23.89% -0.01%
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Files 1381 1384 +3
Lines 101923 101995 +72
Branches 38808 38819 +11
==========================================
+ Hits 24363 24372 +9
- Misses 75116 75179 +63
Partials 2444 2444
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Could you update the README, particularly by adding an image of the steering conversion scheme and clarifying/plotting what kind of value the VGR would be?
vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
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thanks! I updated readme and scripts for plot. |
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
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Co-authored-by: Takamasa Horibe <[email protected]>
@@ -86,11 +109,11 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( | |||
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void RawVehicleCommandConverterNode::publishActuationCmd() | |||
{ | |||
if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_) { | |||
if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_ || !actuation_status_ptr_) { |
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Some vehicles do not publish actiation_status. This is not necessary for vehicles that do not require the steering conversion. Please make a specific condition for that.
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thanks! fixed in 0a660ef
@@ -215,6 +241,41 @@ void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr | |||
control_cmd_ptr_ = msg; | |||
publishActuationCmd(); | |||
} | |||
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void RawVehicleCommandConverterNode::onSteering(const Steering::ConstSharedPtr msg) |
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Please mention that this subscriber can not be replaced by take()
method in a comment.
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added comment why not use polling sub
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
autowarefoundation#8504) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR Signed-off-by: kosuke55 <[email protected]> * make class and add test Signed-off-by: kosuke55 <[email protected]> * remove member vgr_coef from node Signed-off-by: kosuke55 <[email protected]> * update readme Signed-off-by: kosuke55 <[email protected]> * add svg Signed-off-by: kosuke55 <[email protected]> * add plot scripts Signed-off-by: kosuke55 <[email protected]> * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe <[email protected]> * not always subscribe actuation_status Signed-off-by: kosuke55 <[email protected]> * add comment for using normal sub for steering status Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
autowarefoundation#8504) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR Signed-off-by: kosuke55 <[email protected]> * make class and add test Signed-off-by: kosuke55 <[email protected]> * remove member vgr_coef from node Signed-off-by: kosuke55 <[email protected]> * update readme Signed-off-by: kosuke55 <[email protected]> * add svg Signed-off-by: kosuke55 <[email protected]> * add plot scripts Signed-off-by: kosuke55 <[email protected]> * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe <[email protected]> * not always subscribe actuation_status Signed-off-by: kosuke55 <[email protected]> * add comment for using normal sub for steering status Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
autowarefoundation#8504) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR Signed-off-by: kosuke55 <[email protected]> * make class and add test Signed-off-by: kosuke55 <[email protected]> * remove member vgr_coef from node Signed-off-by: kosuke55 <[email protected]> * update readme Signed-off-by: kosuke55 <[email protected]> * add svg Signed-off-by: kosuke55 <[email protected]> * add plot scripts Signed-off-by: kosuke55 <[email protected]> * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe <[email protected]> * not always subscribe actuation_status Signed-off-by: kosuke55 <[email protected]> * add comment for using normal sub for steering status Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
Description
Added conversion from steer angle to handle angle by variable gear ratio.
Both cmd and status are supported. (However, status conversion is not supported for steer_map.)
This is to unify the conversion of control commands, which has been done in vehicle_interface.
Also, status correction will be implemented in the future.
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.