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How to use ctrl_cmd messages instead of twist_cmd in Autoware + Gazebo simulation

asked 2019-06-06 09:05:02 -0500

bruno.rosa gravatar image

The README file states that it is possible to select the input from Autoware that is sent to Gazebo:

vehicle_cmd : select field twist_cmd (default) or ctrl_cmd

I tried sending messages via rqt, but gazebo only responded to twist_cmd. How do I select ctrl_cmd as the input?

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answered 2019-06-06 18:29:54 -0500

Masaya Kataoka gravatar image

Hi!

Gazebo Simulator plugin for Autoware supports twist_cmd and ctrl_cmd field now.

https://github.com/autowarefoundation...

This field can be selected by rosparam "~twiststamped" and "~ctrl_cmd"

https://github.com/autowarefoundation...

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Hello! Thanks for the answer. I set the parameters like this:

rosparam get /autoware_gazebo/vehicle_gazebo_input_subscriber/      
{ctrl_cmd: true, steering_angle_sub: true, twist_sub: false, twiststamped: false,
  velocity_sub: true}

And then tried to send a VehicleCmd message via rosqt, but the car only responds to the TwistStamped messages.

I'm using Gazebo 7.15.0. Do you know whether accepting CtrlCmd is a newer feature from Gazebo? Am I missing something else?

bruno.rosa gravatar imagebruno.rosa ( 2019-06-14 11:45:44 -0500 )edit

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Asked: 2019-06-06 09:05:02 -0500

Seen: 104 times

Last updated: Jun 06