feat(simple_planning_simulator): add steer dead band (autowarefoundat…

…ion#54) * feat(simple_planning_simulator): add steer dead band Signed-off-by: kosuke55 <[email protected]> * Update sample_vehicle_description/config/simulator_model.param.yaml Co-authored-by: Kosuke Takeuchi <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
aditya-yamaha · Jul 2, 2024 · 292d6d9 · 292d6d9
1 parent 5469d84
commit 292d6d9
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/sample_vehicle_description/config/simulator_model.param.yaml b/sample_vehicle_description/config/simulator_model.param.yaml
@@ -14,6 +14,7 @@
     acc_time_constant: 0.1 # time constant of the 1st-order acceleration dynamics
     steer_time_delay: 0.24 # dead time for the steering input
     steer_time_constant: 0.27 # time constant of the 1st-order steering dynamics
+    steer_dead_band: 0.0 # dead band of the steering angle
     x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate
     y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate
     enable_road_slope_simulation: true # if true, slopes in the lanelet map are used to apply an extra acceleration to the ego vehicle