How to convert high level commands present in ssc_interface to low level commands for pacmod.
The ControlCommand has the following parameters. https://gitlab.com/autowarefoundation...
linear_velocity linear_acceleration steering_angle The ssc_interface uses these commands and publishes:- // publishers to SSC steer_mode_pub_ = nh_.advertise<automotive_platform_msgs::steermode>("as/arbitrated_steering_commands", 10); and so on for controlling the vehicle
I am creating SSC node myself so I have to convert the steer mode which is high level command to low level command which the pacmod reveices or subscribes to. How to do the conversion?
Hello @sudip , did you find the way to convert this command ?