Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

chore: cherry pick upstream PR143 #57

Merged
merged 3 commits into from
Oct 9, 2024
Merged
Changes from 1 commit
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
steer limit 35deg
  • Loading branch information
knorrrr committed Oct 9, 2024
commit 8d0a46fd5fae21ca0db015cf3e99a2dcf71d5011
Original file line number Diff line number Diff line change
@@ -65,8 +65,8 @@ void ActuationCmdConverter::on_actuation_cmd(const ActuationCommandStamped::Cons

const double velocity = std::abs(velocity_report_->longitudinal_velocity);
const double acceleration = get_acceleration(*msg, velocity);
// Add steer_cmd to history
steer_cmd_history_.emplace_back(msg->header.stamp, msg->actuation.steer_cmd);
// Add steer_cmd to history. Limit -35 deg to 35 deg
steer_cmd_history_.emplace_back(msg->header.stamp, std::clamp(msg->actuation.steer_cmd, -0.61, 0.61));


// Publish ControlCommand