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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Ego vehicle goes and stops alternately when control vechicle by autoware topic /vehicle_cmd #1500

Open blacksheep0303 opened 3 years ago

blacksheep0303 commented 3 years ago

Hi, thanks in advance for any reply. If this issue is not suitable for this repository, please inform and close it, thanks!

I set up a simulation environment which connect Lgsvl and Autoware.AI1.14 .Then I send topic /vehicle_cmd to control ego vehicle. There are two mode to control ego vehicle: twist_cmd or ctrl_cmd . When I send /vehicle_cmd { ... gear_cmd: {gear: 64} ... ctrl_cmd: {linear_velocity: 1.0, linear_acceleration: 1.0, steering_angle: 0.0} } , the ego vehicle goes well.

However,when I send /vehicle_cmd { ... gear_cmd: {gear: 0} ... twist:{linear: {x: 1.0, y: 0.0, z: 0.0} angular: {x: 0.0, y: 0.0, z: 0.0}} , the AD Accel Input is sometimes more than 0 and sometimes less than 0.It makes ego vehicle go and stop alternately instead of moveing foward at given speed (which is x:1.0). I can't understand why the AD Accel Input is less than 0 when the speed is less than 1 .This makes ego vehicle's speed vary between 0 and 1 , which means that the vehicle is running very unsmoothly. Here are some pictures of AD Accel Input. twist_cmd_test1 twist_cmd_test2 twist_cmd_test3 twist_cmd_test4

Can anyone help me with this question? Why ego vehicle always brake when I use twist_cmd to control the movement of the vehicle.Thanks a lot!

EricBoiseLGSVL commented 3 years ago

Negative means that the brakes are being applied. Not sure why twist would differ. @hadiTab ?

j-corvo commented 3 years ago

I'm having the same problem. Anyone can help? @hadiTab @EricBoiseLGSVL

EricBoiseLGSVL commented 3 years ago

Please open the visualizer more so we can see the Actual Linear Velocity. This is derived from Velocity = (float)data.twist_cmd.twist.linear.x,

calculated from

var projectedLinVec = Vector3.Project(Dynamics.Velocity, transform.forward);
ActualLinVel = projectedLinVec.magnitude * (Vector3.Dot(Dynamics.Velocity, transform.forward) > 0 ? 1.0f : -1.0f);

and

var linMag = Mathf.Clamp(Mathf.Abs(data.Velocity.GetValueOrDefault() - ActualLinVel), 0f, 1f);
ADAccelInput = ActualLinVel < data.Velocity.GetValueOrDefault() ? linMag : -linMag;