carla::ros2::autoware_steering_compensation Namespace Reference

Ported verbatim from tier4/autoware-support (commit 63e831e85 lineage). More...

Namespaces
namespace	detail

Functions
float	GetSteeringInput (const float output_angle)
	Target (actual) tire angle -> vehicle input that produces it.
float	GetSteeringOutput (const float input_angle)
	Desired vehicle-input angle -> observed (actual) tire angle.

Detailed Description

Ported verbatim from tier4/autoware-support (commit 63e831e85 lineage).

Note

This solution is not ideal and it should be temporary. Ideally a root cause should be found and some other solution should be implemented based on the findings. This solution is purely based on experiments. For better accuracy more data points can be added to the lookup table.

Function Documentation

GetSteeringInput()

float carla::ros2::autoware_steering_compensation::GetSteeringInput ( const float  output_angle )

inline

Target (actual) tire angle -> vehicle input that produces it.

Used when applying Autoware's steering command to the vehicle.

Definition at line 114 of file AutowareSteeringCompensation.h.

Referenced by carla::ros2::AutowareControlSubscriber::GetMessage().

GetSteeringOutput()

float carla::ros2::autoware_steering_compensation::GetSteeringOutput ( const float  input_angle )

inline

Desired vehicle-input angle -> observed (actual) tire angle.

Used when publishing the SteeringReport so Autoware sees the angle the wheels really reached.

Definition at line 108 of file AutowareSteeringCompensation.h.

Referenced by carla::ros2::AutowareVehicleStatusPublisher::SetSteering().