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

autowarefoundation#1131) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Aug 27, 2024 · bac8f1b · bac8f1b
1 parent 71f0e83
commit bac8f1b
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