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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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While following Trajectory, the vehicle appears as its sliding instead of streering because of Yaw #6794

Open pjk19942 opened 1 year ago

pjk19942 commented 1 year ago

https://github.com/carla-simulator/carla/assets/125699572/e8adaf4c-6838-45c9-ba86-363d09653806

i I am fairly new to carla. I have a XYZ and ypr csv trajectory that i want my vehicle to follow. The vehicle is expected to change couple lanes (where its yaw changes significantly) . When the carla vehicle displays this the vehicle appears to slide or drift into the lane rather than streering (basically i expect the vehicle to turn a bit more sharply than it is which makes it appear like a slide/drift movement) . I have tried using other yaw values (waypoint = world.get_map().get_waypoint(location), rot = waypoint.transform.rotation) , this also results in similiar movement. i have also tried enabling /disabling the vehicle physics but it doesnt help.
pjk19942 commented 1 year ago

PS: In above video the physics is off but turning it on doesnt change the sliding motion.

Asapling commented 8 months ago

Obviously, I think you need to check your "ypr" data, and if it is read correctly, this problem will not occur.