From ed6addacf8dc8fe2c6ffaa33932dfc78b2bbb6b2 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 22 Aug 2024 13:59:58 +0900 Subject: [PATCH] feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (#1131) Signed-off-by: kosuke55 --- .../raw_vehicle_cmd_converter.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml index c11af361f3..68319bf91c 100644 --- a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml +++ b/autoware_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