Ackermann Steering plugin's steering only mode shows opposite behaviour than expected - Githubissues

gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.

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Ackermann Steering plugin's steering only mode shows opposite behaviour than expected #2314

Closed sauk2 closed 6 months ago

sauk2 commented 7 months ago

Environment

OS Version: Ubuntu 22.04
Source build of gz-sim8

Description

Issue pertains to Ackermann Steering plugin's steering_only mode specifically these lines.

Expected behavior: The inner wheel should turn more than the outer wheel during turning
Actual behavior: The opposite takes place. (Here I have commented out the chassis visual in the SDF for better visibility)

Screenshot from 2024-02-15 14-27-11

Steps to reproduce

Add the following tag in the example SDF file of Ackermann Steering plugin.
```
<steering_only>True</steering_only>
```
Build and source the workspace
Launch using the following command
```
gz sim ackermann_steering.sdf
```

Publish the following

gz topic -t "/model/vehicle_blue/steer_angle" -m gz.msgs.Double -p "data: 0.4"

Additionally comment out chassis visual for better visibility

Solution

Changing signs in these equations should suffice.

P.S. Raising a PR regarding the same