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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Controlling Speed of Ego Vehicle #1118

Closed asifsid-32 closed 3 years ago

asifsid-32 commented 4 years ago

Hello LGSVL Team,

I want to control speed of ego vehicle such that when i am using the keyboard as input it shouldn't cross a specified maximum speed. Even though i am pressing the forward key it should follow the specified speed. Is there anyway to do it without using pythonAPI ?

ntutangyun commented 4 years ago

you could add a custom check on the ego vehicle's speed when it's reading the forward key. if the speed exceeds the threshold, maybe you could simply ignore the forward key.

asifsid-32 commented 4 years ago

you could add a custom check on the ego vehicle's speed when it's reading the forward key. if the speed exceeds the threshold, maybe you could simply ignore the forward key.

@ntutangyun in which file we are supposed to make changes ?? Can you please help me with the source code ?

ntutangyun commented 4 years ago

hi @asifsid-32 maybe this is what you want:

https://github.com/lgsvl/simulator/blob/8b02c852c0642347f0b05125c726ceb09bfa0b26/Assets/Scripts/Dynamics/Examples/VehicleSMI.cs#L498

        if (VehicleController != null)
        {
            SteerInput = VehicleController.SteerInput;
            AccellInput = VehicleController.AccelInput;
        }

        if (RB.velocity.magnitude > 5f) 
        {
            AccelInput = 0f;
        }
asifsid-32 commented 4 years ago

hi @asifsid-32 maybe this is what you want:

https://github.com/lgsvl/simulator/blob/8b02c852c0642347f0b05125c726ceb09bfa0b26/Assets/Scripts/Dynamics/Examples/VehicleSMI.cs#L498


        if (VehicleController != null)

        {

            SteerInput = VehicleController.SteerInput;

            AccellInput = VehicleController.AccelInput;

        }

        if (RB.velocity.magnitude > 5f) 

        {

            AccelInput = 0f;

        }

Thanks !!

hadiTab commented 4 years ago

@asifsid-32 if you want to always drive at a constant speed you can add the cruise control sensor.