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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
Apache License 2.0
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Fixed turning error in ackermann steering #2342

Closed sauk2 closed 3 months ago

sauk2 commented 3 months ago

🦟 Bug fix

Fixes #2314

Summary

This is a fix to the error seen in Ackermann Steering's <steering_only> mode. The steps to reproduce this error are described in issue #2314.

The solution to this was changing signs in these equations.

Steps to check the fix

  1. Add the following tag in the example SDF file of Ackermann Steering plugin. 
    <steering_only>True</steering_only>
  2. Build and source the workspace
  3. Launch using the following command 
    gz sim ackermann_steering.sdf
  4. 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.

The output after fix looks like this

image

Checklist

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

bperseghetti commented 3 months ago

Thanks @sauk2 when this gets merged do you want to close https://github.com/gazebosim/gz-sim/pull/2315 ?

sauk2 commented 3 months ago

Thanks @sauk2 when this gets merged do you want to close #2315 ?

@bperseghetti Yes, I will go ahead and close #2315 once this gets merged. Thank you for your input and feedback on these PRs!