feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (

#1131) Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Aug 22, 2024 · ed6adda · ed6adda
1 parent 1b3c7c5
commit ed6adda
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/...ware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/...ware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
@@ -26,3 +26,8 @@
       max_d: 0.0
       min_d: 0.0
       invalid_integration_decay: 0.97
+    convert_steer_cmd_method: "vgr"  # "vgr" or "steer_map"
+    vgr_coef_a: 15.713
+    vgr_coef_b: 0.053
+    vgr_coef_c: 0.042
+    convert_actuation_to_steering_status: true