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The README file states that it is possible to select the input from Autoware that is sent to Gazebo:
vehicle_cmd : select field twist_cmd (default) or ctrl_cmd
I tried sending messages via rqt, but gazebo only responded to twist_cmd. How do I select ctrl_cmd as the input?
Hi!
Gazebo Simulator plugin for Autoware supports twist_cmd and ctrl_cmd field now.
https://github.com/autowarefoundation...
This field can be selected by rosparam "~twiststamped" and "~ctrl_cmd"
Hello! Thanks for the answer. I set the parameters like this:
rosparam get /autoware_gazebo/vehicle_gazebo_input_subscriber/
{ctrl_cmd: true, steering_angle_sub: true, twist_sub: false, twiststamped: false,
velocity_sub: true}
And then tried to send a VehicleCmd message via rosqt, but the car only responds to the TwistStamped messages.
I'm using Gazebo 7.15.0. Do you know whether accepting CtrlCmd is a newer feature from Gazebo? Am I missing something else?
Asked: 2019-06-06 09:05:02 -0600
Seen: 495 times
Last updated: Jun 06 '19
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