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Move steering angle clipping further upstream #1

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Winter-Guerra opened this issue Feb 28, 2017 · 3 comments
Open

Move steering angle clipping further upstream #1

Winter-Guerra opened this issue Feb 28, 2017 · 3 comments
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@Winter-Guerra

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@Winter-Guerra
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According to the VESC config, the radian angles max out around +−0.264. Currently, clipping downstream in the VESC makes Gazebo sad. The clipping should move upstream in the node architecture.
@Winter-Guerra Winter-Guerra self-assigned this Feb 28, 2017
@mboulet
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mboulet commented Feb 28, 2017

Gazebo can't handle a command of 0.264? Or is the problem that gazebo does not use the vesc node?

@Winter-Guerra
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The VESC clips steering at around that value to match hardware. However, Gazebo does not know about this limitation and will try to turn wheels in an angle greater than that if commanded to. This breaks the physics in gazebo and causes the car to move sideways.

@mboulet
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mboulet commented Feb 28, 2017

Then it seems like the problem is that the simulator is not a good simulation of the actual hardware.

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@Winter-Guerra Winter-Guerra

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