Ackermann steering with steering angle and sub_topic. #1860
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
7f96ffc to
c5da579
Compare
4 tasks
c5da579 to
bdd0d10
Compare
ahcorde
requested changes
Jan 16, 2023
953de77 to
c041d57
Compare
c041d57 to
88d4dbf
Compare
Option to use <steering_only> to enable a mode that does not drive the
wheels. It instead only controls the central steering angle phi in radians
on a /model/{name_of_model}/steer_angle gz::msgs::Double.
This is usefull for simulating the control of a real vehicle without
direct cmd_vel capabilities.
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
88d4dbf to
53d556f
Compare
Codecov Report
@@ Coverage Diff @@
## gz-sim7 #1860 +/- ##
===========================================
- Coverage 64.71% 64.68% -0.03%
===========================================
Files 343 343
Lines 27430 27495 +65
===========================================
+ Hits 17750 17785 +35
- Misses 9680 9710 +30
Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. |
|
Changes look good to me, but can you add some tests to cover this new functionality? |
|
Mmmmm, found one last interesting use that needs addressed. 4 wheel steer and multiple vehicles, guess I get to add sub_topics to it as well. |
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
ahcorde
requested changes
Jan 19, 2023
e33cd2b to
3f436f8
Compare
|
@ahcorde thanks for the reviews, just finished adding them all. |
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
8eb207e to
a8a327d
Compare
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com> Co-authored-by: Michael Carroll <carroll.michael@gmail.com>
a8a327d to
4b053e8
Compare
|
@osrf-jenkins retest this please |
|
Only known CI issues remain on this one, so I think we are good. |
mjcarroll
approved these changes
Jan 23, 2023
ahcorde
approved these changes
Jan 24, 2023
10 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Closes #1863
Summary
Option to use <steering_only> to enable a mode that does not drive the wheels. It instead only controls the central steering angle phi in radians on a /model/{name_of_model}/steer_angle gz::msgs::Double. This is usefull for simulating the control of a real vehicle without direct cmd_vel capabilities.
Test it
Example:
UpdatedAckermannPlugin.mp4
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.