Maximum acceleration and deceleration of a vehicle

[yeapzexin]

Hi there,

I am currently using CARLA 0.9.12 to do the Autonomous Driving Software Project. I am trying to find the default maximum acceleration and deceleration of the spawn vehicle I am controlling. The config.json file that I used to spawn vehicle with via this command (roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch) is shown as below

{
"objects": [ { "type": "sensor.pseudo.traffic_lights", "id": "traffic_lights" }, { "type": "sensor.pseudo.objects", "id": "objects" }, { "type": "sensor.pseudo.actor_list", "id": "actor_list" }, { "type": "sensor.pseudo.markers", "id": "markers" }, { "type": "sensor.pseudo.opendrive_map", "id": "map" }, { "type": "vehicle.tesla.model3", "id": "ego_vehicle", "spawn_point": {"x": -77.9, "y": -17.59, "z": 0.2, "roll": 0.0, "pitch": 0.0, "yaw": 90.0}, "sensors": [ { "type": "sensor.lidar.ray_cast", "id": "vlp16_1", "spawn_point": {"x": -0.5, "y": 0.0, "z": 1.7, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "range": 100, "channels": 16, "points_per_second": 300000, "upper_fov": 15, "lower_fov": -15, "rotation_frequency": 20, "noise_stddev": 0.0 }, { "type": "sensor.camera.depth", "id": "depth_middle", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "fov": 90.0, "image_size_x": 400, "image_size_y": 70 }, { "type": "sensor.camera.rgb", "id": "rgb_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "image_size_x": 800, "image_size_y": 600, "fov": 90.0 }, { "type": "sensor.camera.rgb", "id": "rgb_view", "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0}, "image_size_x": 800, "image_size_y": 600, "fov": 90.0, "attached_objects": [ { "type": "actor.pseudo.control", "id": "control" } ] }, { "type": "sensor.camera.rgb", "id": "rgb_top", "spawn_point": {"x": 2.0, "y": 0.0, "z": 6.0, "roll": 0.0, "pitch": 90.0, "yaw": 0.0}, "image_size_x": 800, "image_size_y": 600, "fov": 90.0, "attached_objects": [ { "type": "actor.pseudo.control", "id": "control" } ] }, { "type": "sensor.other.imu", "id": "imu", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0, "noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0, "noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0 }, { "type": "sensor.other.gnss", "id": "gnss", "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0}, "noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0, "noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0 }, { "type": "sensor.other.collision", "id": "collision", "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0} }, { "type": "sensor.other.lane_invasion", "id": "lane_invasion", "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0} }, { "type": "sensor.pseudo.tf", "id": "tf" }, { "type": "sensor.pseudo.objects", "id": "objects" }, { "type": "sensor.pseudo.odom", "id": "odometry" }, { "type": "sensor.pseudo.speedometer", "id": "speedometer" }, { "type": "actor.pseudo.control", "id": "control" } ] } ] }

I do know that in this link: https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehicleinfomsg consists of max acceleration and deceleration adjustment via Carla_Ackermann_Control.EgoVehicleControlInfo.msg . However, I am not using Carla_Ackermann_Control at all so what is the way to know the default value of max acceleration and deceleration of the vehicle that is spawn with config.json file as above?

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