Question about extract steering angle from manul control

[NYJiaxing]

Hello All,

I have a question about extract the steering angle when I manually control the vehicle. From other contributors, I know that the range of the manual control by the keyboard is [-1, +1] but this is not actual angle value that I can save for further learning and output. Secondly, I just fully read the paper: CARLA: An Open Urban Driving Simulator, in the article, the MP method mentioned that the steering angle controlled via PID algorithm, so I believe there must be a two digit number that I can expect lol.

• Could you please tell me where to get this angle? Like the measurements, sensor_data = self.client.read_data() function in the client class.

• My second question is in the article you mentioned I can extract following information from Carla server,

Non-Client-Controlled agents information: The positions, orientations and bounding boxes for all pedestrians and cars present in the environment. Traffic Lights information: The position and state of all traffic lights. Speed Limit Signs information: Position and readings from all speed limit signs.

Could you please provide sample code that can help extract this information?

Thank you so much for your reply.

[p-schulz]

@NYJiaxing you can easily create a control message, where you can set a steering value [-1, +1] and send it to the server. The actual steering angle depends on the selected vehicle, you can get the maximum angles in the front wheel blueprint of a vehicle (default Mustang is 70°). But I don't know if there's a field for retrieving the steering angle while manually controlling a player.

[link-er]

@felipecode @marcgpuig @p-schulz my question is related to the current issue - do I understand correctly that if I want to transform steering angle to degrees value I should simply multiply it by 70 (at least for default Mustang)? And how can I access the values for other cars (where is the Blueprint information)? Thanks!

[JackRen88]

Hello, everyone! How can I get the steering angle?

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[sheelabhadra]

Hi @JackRen88, were you able to figure out a way to obtain the current wheel angle?