Carla simulator doesn't execute the vehicle control command correctly

[MaisJamal]

Hello, thanks for creating such a useful simulator.

CARLA version: 0.9.6 (in docker container ubuntu 18.04) Platform/OS: Ubuntu 20.04

Steps to reproduce: I run autopilot from Apollo autonomous driving platform, which is connected to Carla by CarlaCyberBridge. I can receive the correct data of sensors in Apollo from Carla, but there seems to be incompatibility in Control command from Apollo to Carla. As you can see in this video, the ego vehicle is not following the correct control.

VehicleControlCMD in Apollo: throttle (double) target throttle in percentage [0, 100] brake (double) target brake in percentage [0, 100] steering_rate (double) target non-directional steering rate, in percentage of full scale per second [0, 100] steering_target (double) target steering angle, in percentage of full scale [-100, 100] parking_brake (bool) parking brake engage. true: engaged gear_location GEAR_REVERSE if the ego is in reverse mode

VehicleControl in Carla: throttle (float) A scalar value to control the vehicle throttle [0.0, 1.0]. steer (float) A scalar value to control the vehicle steering [-1.0, 1.0]. brake (float) A scalar value to control the vehicle brake [0.0, 1.0]. hand_brake (bool) Determines whether hand brake will be used. reverse (bool) Determines whether the vehicle will move backwards. manual_gear_shift (bool) Determines whether the vehicle will be controlled by changing gears manually. gear (int) States which gear is the vehicle running on.

What I do to convert the messages: vehicle_control = VehicleControl() vehicle_control.hand_brake = cyber_vehicle_control.parking_brake vehicle_control.brake = cyber_vehicle_control.brake / 100.0 vehicle_control.steer = cyber_vehicle_control.steering_target / 100.0 vehicle_control.throttle = cyber_vehicle_control.throttle / 100.0 vehicle_control.reverse = cyber_vehicle_control.gear_location == Chassis.GearPosition.GEAR_REVERSE self.carla_actor.apply_control(vehicle_control)

Can you please guide me on converting the vehicle command to Carla? Is there anything that I'm doing wrong? Should I add more information for control?

[stale[bot]]

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[Ezharjan]

I'm having the similiar issue that the vehicle_control doesn't work at all. My code is as follows, under the Carla version 0.9.13:

vehicle_control = vehicle.get_control()
vehicle_control.steer = -0.2 # A scalar value to control the vehicle steering [-1.0, 1.0]. Default is 0.0. 
vehicle.apply_control(vehicle_control) # Not working!!!