56 crptg1 test node fixing #73
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…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>
…' into 56-crptg1-test-node-fixing
…g1-test-node-fixing
mesmatyi
reviewed
Nov 18, 2024
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| // target values coming from the vehicle | ||
| float m_roadWheelAngleTarget{0.0f}; | ||
| float m_vehicleSpeedTarget{0.0f}; | ||
| float p_wheelBase{2.7f}; // in meters | ||
| double m_roadWheelAngleTarget{0.0f}; | ||
| double m_vehicleSpeedTarget{0.0f}; | ||
| double p_wheelBase{2.7f}; // in meters |
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These are fixed or overwritten in runtime ?
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| double m_maximumSpeedInit{20.0f}; // in mps | ||
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| double p_previewDistance = 100; // in meters | ||
| double m_maximumSpeed{0.0f}; | ||
| bool m_noEnoughPointsLeft{false}; |
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maybe these params can be in a launch file ?
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| m_egoMsg.tire_angle_front = m_roadWheelAngleTarget; | ||
| m_kinematicState.twist_with_covariance.twist.linear.x = m_vehicleSpeedTarget; | ||
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| return; |
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Maybe lateral acceleration can be publiseh too, or would be neat to have it in the future, for other types of controllers
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