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SteerAngle conversion fix in ROS2 bridge #1372

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SteerAngle conversion fix in ROS2 bridge #1372

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22 changes: 1 addition & 21 deletions Assets/Scripts/Bridge/Ros2/Ros2Conversions.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -368,34 +368,14 @@ public static Detected3DObjectArray ConvertTo(Lgsvl.Detection3DArray data)

public static VehicleControlData ConvertTo(Lgsvl.VehicleControlData data)
{
float Deg2Rad = UnityEngine.Mathf.Deg2Rad;
float MaxSteeringAngle = 39.4f * Deg2Rad;
float wheelAngle = 0f;

if (data.target_wheel_angle > MaxSteeringAngle)
{
wheelAngle = MaxSteeringAngle;
}
else if (data.target_wheel_angle < -MaxSteeringAngle)
{
wheelAngle = -MaxSteeringAngle;
}
else
{
wheelAngle = data.target_wheel_angle;
}

// ratio between -MaxSteeringAngle and MaxSteeringAngle
var k = (float)(wheelAngle + MaxSteeringAngle) / (MaxSteeringAngle*2);

// target_gear are not supported on simulator side

return new VehicleControlData()
{
TimeStampSec = Convert(data.header.stamp),
Acceleration = data.acceleration_pct,
Braking = data.braking_pct,
SteerAngle = UnityEngine.Mathf.Lerp(-1f, 1f, k),
SteerAngle = data.target_wheel_angle * UnityEngine.Mathf.Rad2Deg,
SteerInput = data.target_wheel_angular_rate,
};
}
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