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FSF-3935 fix: fixed car showing up weird in Foxglove and steering being in the actuator #2

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Merged
merged 1 commit into from
Jun 20, 2024
Merged

FSF-3935 fix: fixed car showing up weird in Foxglove and steering being in the actuator #2

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2 changes: 1 addition & 1 deletion config/mainConfig.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
pacsim:
timeouts:
start: 60 # time to trigger first timekeeping gate
start: 300 # time to trigger first timekeeping gate
acceleration: 25
autocross: 300
skidpad: 90
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8 changes: 4 additions & 4 deletions src/VehicleModel/VehicleModelBicycle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,13 +92,13 @@ class VehicleModelBicycle : public IVehicleModel
double avgRatio = 0.5 * (this->innerSteeringRatio + this->outerSteeringRatio);
if (in > 0)
{
this->steeringAngles.FL = this->innerSteeringRatio * in;
this->steeringAngles.FR = this->outerSteeringRatio * in;
this->steeringAngles.FL = this->innerSteeringRatio * in / avgRatio;
this->steeringAngles.FR = this->outerSteeringRatio * in / avgRatio;
}
else
{
this->steeringAngles.FL = this->outerSteeringRatio * in;
this->steeringAngles.FR = this->innerSteeringRatio * in;
this->steeringAngles.FL = this->outerSteeringRatio * in / avgRatio;
this->steeringAngles.FR = this->innerSteeringRatio * in / avgRatio;
}
return;
}
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18 changes: 9 additions & 9 deletions urdf/separate_model.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
</link>
<link name="Modell">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="-1.57 0 0" />
<geometry>
<mesh filename="package://pacsim/urdf/Model_without_Steering_Tires.stl" scale="0.01 0.01 0.01"/>
</geometry>
Expand All @@ -19,7 +19,7 @@
</link>
<link name="FL_inside">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<origin rpy="-1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FL_Inside.stl" scale="0.01 0.01 0.01"/>
</geometry>
Expand All @@ -28,55 +28,55 @@
</link>
<link name="FL_outside">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<origin rpy="-1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FL_Outside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="FR_inside">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<origin rpy="-1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FR_Inside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="FR_outside">
<visual>
<origin rpy="0.0 0 3.1415" xyz="0 0 0"/>
<origin rpy="-1.57 0 3.1415" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FL_Outside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="RR_inside">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<origin rpy="-1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/RR_Inside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="RR_outside">
<visual>
<origin rpy="0.0 0 3.14" xyz="0 0 0"/>
<origin rpy="-1.57 0 3.14" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FL_Outside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="RL_inside">
<visual>
<origin rpy="0.0 0 3.1415" xyz="0 0 0"/>
<origin rpy="-1.57 0 3.1415" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/RR_Inside.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<link name="RL_outside">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<origin rpy="-1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pacsim/urdf/FL_Outside.stl" scale="0.01 0.01 0.01"/>
</geometry>
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