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Using a "higher-level" control like acceleration to send messages to the vehicle interface level was an intentional design decision. We want the message API between the controller and the vehicle interface to be somewhat vehicle-agnostic. As for the complexity of acceleration to pedal position, yes, it usually is more complex than what is represented in lgsvl_interface. However, this vehicle interface layer is designed to communicate with a simulator that is capable of using a wide range of vehicle models and dynamics. We didn't want to try to represent all of the possible vehicle configurations in this single interface so we just implemented something generic that works with all vehicle to greater and lesser degrees depending on the vehicle model. A vehicle interface layer for a real-world vehicle would contain more complex mappings.