feat(vehicle_info_util): add max_steer_angle (tier4#740)

* feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * applied pre-commit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
boyali · Oct 19, 2022 · 9fb0ec9 · 9fb0ec9
1 parent 1f01da9
commit 9fb0ec9
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Showing 6 changed files with 11 additions and 2 deletions.
diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml
@@ -9,3 +9,4 @@
     left_overhang: 0.1 # between left wheel center and vehicle left
     right_overhang: 0.1 # between right wheel center and vehicle right
     vehicle_height: 2.5
+    max_steer_angle: 0.70 # [rad]
diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml
@@ -10,3 +10,4 @@
       width_m: 2.0
       front_overhang_m: 0.5
       rear_overhang_m: 0.5
+      max_steer_angle: 0.70 # [rad]
diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
@@ -190,6 +190,7 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options)
   node_options.append_parameter_override("left_overhang", 0.5);
   node_options.append_parameter_override("right_overhang", 0.5);
   node_options.append_parameter_override("vehicle_height", 1.5);
+  node_options.append_parameter_override("max_steer_angle", 0.7);
 }
 
 // Send a control command and run the simulation.

diff --git a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml
@@ -9,3 +9,4 @@
     left_overhang: 0.1 # between left wheel center and vehicle left
     right_overhang: 0.1 # between right wheel center and vehicle right
     vehicle_height: 2.5
+    max_steer_angle: 0.70 # [rad]
diff --git a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp
@@ -31,6 +31,7 @@ struct VehicleInfo
   double left_overhang_m;
   double right_overhang_m;
   double vehicle_height_m;
+  double max_steer_angle_m;
 
   // Derived parameters, i.e. calculated from base parameters
   // The offset values are relative to the base frame origin, which is located
@@ -49,7 +50,8 @@ struct VehicleInfo
 inline VehicleInfo createVehicleInfo(
   const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m,
   const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m,
-  const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m)
+  const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m,
+  const double max_steer_angle_m)
 {
   // Calculate derived parameters
   const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m;
@@ -72,6 +74,7 @@ inline VehicleInfo createVehicleInfo(
     left_overhang_m,
     right_overhang_m,
     vehicle_height_m,
+    max_steer_angle_m,
     // Derived parameters
     vehicle_length_m_,
     vehicle_width_m_,

diff --git a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp
@@ -49,14 +49,16 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node)
   vehicle_info_.left_overhang_m = getParameter<double>(node, "left_overhang");
   vehicle_info_.right_overhang_m = getParameter<double>(node, "right_overhang");
   vehicle_info_.vehicle_height_m = getParameter<double>(node, "vehicle_height");
+  vehicle_info_.max_steer_angle_m = getParameter<double>(node, "max_steer_angle");
 }
 
 VehicleInfo VehicleInfoUtil::getVehicleInfo()
 {
   return createVehicleInfo(
     vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m,
     vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m,
-    vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m);
+    vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m,
+    vehicle_info_.max_steer_angle_m);
 }
 
 }  // namespace vehicle_info_util