49 crp standardize control class #70
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AnonymDavid
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Nov 12, 2024
...trollers/ctrl_vehicle_control_lat_compensatory/src/ctrl_vehicle_control_lat_compensatory.cpp
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...trollers/ctrl_vehicle_control_lat_compensatory/src/ctrl_vehicle_control_lat_compensatory.cpp
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crp_APL/ctrl_vehicle_control/include/ctrl_vehicle_control/ctrl_vehicle_control.hpp
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| } | ||
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| twist_msg.angular.z = msg->steering_tire_angle; | ||
| ctrl_msg.lateral.steering_tire_angle = msg->steering_tire_angle; | ||
| ctrl_msg.lateral.steering_tire_rotation_rate = 0.0f; |
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I think this should be the value from the message instead of 0. We can always set it to 0 in the lat controller but if we need to use this value than this would block it.
…ctrl_vehicle_control_lat_compensatory.cpp Co-authored-by: Józsa Dávid <44705915+AnonymDavid@users.noreply.github.com>
…ctrl_vehicle_control_lat_compensatory.cpp Co-authored-by: Józsa Dávid <44705915+AnonymDavid@users.noreply.github.com>
…_vehicle_control.hpp Co-authored-by: Józsa Dávid <44705915+AnonymDavid@users.noreply.github.com>
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@AnonymDavid, done |
AnonymDavid
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Nov 14, 2024
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i guess it's good for now @AnonymDavid |
gfigneczi1
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Nov 21, 2024
...tory/include/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp
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...tory/include/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp
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...tory/include/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp
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| m_pub_cmd = this->create_publisher<autoware_control_msgs::msg::Lateral>("/control/command/control_cmdLat", 30); | ||
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| traj_sub = this->create_subscription<autoware_planning_msgs::msg::Trajectory>("/plan/trajectory", 10, std::bind(&CtrlVehicleControlLat::trajCallback, this, std::placeholders::_1)); | ||
| ego_vehicle_sub = this->create_subscription<crp_msgs::msg::Ego>("/ego", 10, std::bind(&CtrlVehicleControlLat::egoVehicleCallback, this, std::placeholders::_1)); |
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accordingly per the other comments
crp_APL/ctrl_vehicle_control/include/ctrl_vehicle_control/ctrl_vehicle_control.hpp
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| } | ||
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| void crp::apl::ControlHandler::run() | ||
| { | ||
| m_pub_twist_->publish(twist_msg); | ||
| ctrl_msg.stamp = this->now(); |
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shall we add the same stamp to the twist message as well?
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the twist msg has no time stamp
…ude/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp Co-authored-by: Ignéczi Gergő <51396141+gfigneczi1@users.noreply.github.com>
…ude/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp Co-authored-by: Ignéczi Gergő <51396141+gfigneczi1@users.noreply.github.com>
…ude/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp Co-authored-by: Ignéczi Gergő <51396141+gfigneczi1@users.noreply.github.com>
…_vehicle_control.hpp Co-authored-by: Ignéczi Gergő <51396141+gfigneczi1@users.noreply.github.com>
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@gfigneczi1 check again, corrected the required changes |
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Added control class cleanup