Camera origin is currently too far in the front (front of the lens), does not reflect real placement

Write simple teleop that publishes the correct UAVCAN message (might also be interesting for real car depending on connection quality)

Still drifting along when simulating in Gazebo 7

Add launch option to start in parking mode

• joint state publisher
• joint controller interfaces steering
• joint controller interfaces torque vectoring

Needs to be a better hull representation instead of the current box.

Currently the ray gets stuck at certain values, seems to be a Gazebo problem, needs a fix.

Emissive materials are supported by Gazebo, should be possible to create a simple plugin to toggle emissivity on/off.

Important to reuse the logic from the electronics code.

Exporting to f3d, importing to 3ds max and then exporting to IGES/DAE seemed to preserve some of the Autodesk Materials, should be enough for it to look properly.

Hi,

Could you please tell us how did you build the simulation in Gazebo?

Best Regards
TK

Currently car launches itself to space, probably controllers are generating forces which are way too large.

Besides #8 fixing the max forces on each of the joints is also an option (maxForce, but seems to be deprecated).

Only exists for R200 here.

Need to move the origin of the camera forward to the lens point to fix this.

PID values of controllers added in #5 are currently not tuned, need to be determined.

• steering control
• torque vectoring

Fix physical values of components

• wheel inertia
• wheel mass
• chassis inertia
• chassis mass
• steering mass
• steering inertia
• sensors
• friction of wheels

• Ximea Camera
• Realsense D435
• Hokuyo Lidar
• Pepperl&Fuchs light switch