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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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How to get steering angle of ego vehicle in python API #1540

Open dylanyd opened 3 years ago

dylanyd commented 3 years ago

Hi, I'm using python API to check the status of the ego vehicle. Now the AgentState API provides information on transform, velocity, and angular velocity. How can I get the steering angle such as the value shown in the Apollo Dreamview interface? Thanks for your help.

EricBoiseLGSVL commented 3 years ago

Hello @dylanyd GPSOdometrySensor ComfortSensor and VehicleOdometrySensor provides wheel angle. API does not at this time but you could add a new command in simulator and api code or add to agent state. Be careful you aren't changing the data class that gets sent via cyber, without new proto files it will fail.