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View Code? Open in Web Editor NEWF1TENTH ROS simulator and lab skeleton packages with corresponding handout latex files
F1TENTH ROS simulator and lab skeleton packages with corresponding handout latex files
Bug Description
On lines 505-524 of the compute_accel function in f110_simulator/node/simulator.cpp file, the if statement incorrectly deals with the case for when velocity is 0 m/s.
Line 514 should be:
} else if (state.velocity < 0)
The code below should be inserted between 523 and 524
else {
// accelerate
double kp = 2.0 * max_accel / max_speed;
set_accel(kp * dif);
}
Expected behavior
If the car is at rest (0 m/s) and is commanded the desired velocity is 2 m/s, the expected acceleration would be 4.29 m/s^2. However, currently it would accelerate at the force that the brakes are supposed to decelerate the car (max_decel which is 8.26 m/s^2 from the params.yaml file).
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