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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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can't stop vehicle shortly in emergency situation #1810

Open dean1314 opened 3 years ago

dean1314 commented 3 years ago

Hi LGSVL Team

I can't stop the vehicle shortly when I send brake_cmd command to LGSVL system with ROS message type, so how to stop the vehicle shortly with ROS message type.

autoware1.14 Svl simulator version: 2020.06 OS: Ubuntu18.04

Thanks

EricBoiseLGSVL commented 3 years ago

You could try emergency brake. I highly recommend you move to our recent release, 2020.06 is very old.

dean1314 commented 3 years ago

Thanks a lot! so, is there any document about the emergency brake? The following pictures are the contents of vehicle_cmd topic, and I set the brake value of the brake_cmd to 100, but the vehiche don't stop shortly. Selection_033

Selection_034

EricBoiseLGSVL commented 3 years ago

No sorry, we don't have any control sensors that use a handbrake topic. You will need to edit the controller and then the bridge to handle the subscribed topic. You would need to look at handbrake on VehicleSMI and add to LGSVLControlSensor and ROS bridge.

EricBoiseLGSVL commented 3 years ago

If you want a quick fix you could edit LGSVL control sensor only; when brake is 100, get the rigidbody and set to Kinematic. That would stop the vehicle but is not realistic.