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mackierx111mackierx111
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smooth override
1 parent c6c2700 commit 7ad9d84

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Lines changed: 38 additions & 15 deletions

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‎Assets/Awsim/Scenes/AutowareSimulationDemo.unity‎

Lines changed: 16 additions & 4 deletions
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@@ -83932,13 +83932,13 @@ MonoBehaviour:
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m_Name:
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m_EditorClassIdentifier:
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_devicePath: /dev/input/event3
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_kp: 5
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_kp: 4
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_ki: 0.2
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_kd: 0.05
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_minNormalizedSteeringTorque: 0.17
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_selfAligningTorqueSpeedCoeff: 5.2
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_selfAligningTorqueSteerCoeff: 1.8
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_stationarySteeringResistance: 0.1
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_stationarySteeringResistance: 0.011
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_readonlyVehicleComponent: {fileID: 8966377323996319312}
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_controlModeBasedInputProvider: {fileID: 5265622565273616511}
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--- !u!23 &1336751533137462666
@@ -97559,7 +97559,7 @@ MonoBehaviour:
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m_Name:
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m_EditorClassIdentifier:
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serviceName: input/control_mode_request
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_controlModeBasedInputter: {fileID: 0}
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_controlModeBasedInputter: {fileID: 5265622565273616511}
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--- !u!33 &1871169427814900695
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MeshFilter:
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m_ObjectHideFlags: 0
@@ -122567,7 +122567,19 @@ MonoBehaviour:
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m_ActionId: c62302a3-1cde-4005-9c97-e21e9e62ad2f
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m_ActionName: 'Vehicle/OverrideSteering[/LogitechG29DrivingForceRacingWheel/Base2]'
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- m_PersistentCalls:
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m_Calls: []
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m_Calls:
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- m_Target: {fileID: 1336311105983438457}
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m_TargetAssemblyTypeName: Awsim.Entity.AccelVehicleLogitechG29Input, Assembly-CSharp
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m_MethodName: OnSwitchAutonomous
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m_Mode: 0
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m_Arguments:
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m_ObjectArgument: {fileID: 0}
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m_ObjectArgumentAssemblyTypeName: UnityEngine.Object, UnityEngine
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m_IntArgument: 0
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m_FloatArgument: 0
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m_StringArgument:
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m_BoolArgument: 0
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m_CallState: 2
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m_ActionId: 7e213b94-be27-45c6-a1b8-b1c481019402
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m_ActionName: 'Vehicle/OnSwitchAutonomous[/LogitechG29DrivingForceRacingWheel/Base6]'
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m_NeverAutoSwitchControlSchemes: 0

‎Assets/Awsim/Scripts/Entity/Vehicle/AccelVehicle/Input/AccelVehicleControlModeBasedInputter.cs‎

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Original file line numberDiff line numberDiff line change
@@ -53,9 +53,13 @@ public void OnUpdate()
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if (_hasManuallyInputs)
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{
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var manuallyInput = ManuallyInputs[_activeManuallyInputIndex];
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_isOverridden = manuallyInput.UpdateInputs();
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_isSwitchAutonomous = manuallyInput.UpdateInputs();
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for (int i = 0; i < ManuallyInputs.Length; i++)
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{
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var tempOverriden = ManuallyInputs[i].UpdateInputs();
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if (i == _activeManuallyInputIndex)
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_isOverridden = tempOverriden;
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}
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}
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}
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‎Assets/Awsim/Scripts/Entity/Vehicle/AccelVehicle/Input/AccelVehicleKeyboardInput.cs‎

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Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ public class AccelVehicleKeyboardInput : MonoBehaviour, IAccelVehicleInput
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public string Name => "Keyboard";
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public float AccelerationInput { get; private set; }
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public float SteerAngleInput { get; private set; }
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public Gear GearInput { get; private set; }
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public Gear GearInput { get; private set; } = Gear.Drive;
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public TurnIndicators TurnIndicatorsInput { get; private set; }
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public HazardLights HazardLightsInput { get; private set; }
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public bool SwitchAutonomous { get; private set; }

‎Assets/Awsim/Scripts/Entity/Vehicle/AccelVehicle/Input/AccelVehicleLogitechG29Input.cs‎

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Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@ public Settings(string devicePath, float selfAligningTorqueCoeff)
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public string Name => "Logitech G29";
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public float AccelerationInput { get; private set; } = 0;
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public float SteerAngleInput { get; private set; } = 0;
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public Gear GearInput { get; private set; } = Gear.Parking;
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public Gear GearInput { get; private set; } = Gear.Drive;
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public TurnIndicators TurnIndicatorsInput { get; private set; } = TurnIndicators.None;
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public HazardLights HazardLightsInput { get; private set; } = HazardLights.Disable;
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public bool SwitchAutonomous { get; private set; } = false;

‎docs/DeveloperGuide/Layer/Entity/Vehicle/AccelVehicle/index.md‎

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@@ -41,7 +41,6 @@ By default, each key is assigned to the following classes.
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|R|Switch to move reverse gear.|
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|N|Switch to neutral gear.|
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|P|Switch to parking gear.|
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|C|Switch control mode to AUTONOMOUS.|
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|Up arrow|Forward acceleration.|
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|Down arrow|Reverse acceleration.|
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|Left arrow|Left turning.|
@@ -50,6 +49,7 @@ By default, each key is assigned to the following classes.
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|2|Turn right blinker on.|
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|3|Turn on hazard lights.|
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|4|Turn off blinker or hazard lights.|
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|C|Switch control mode `MANUAL` to `AUTONOMOUS`|
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- AccelVehicleLogitechG29Input
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@@ -59,15 +59,15 @@ By default, each key is assigned to the following classes.
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|Square|Switch to move reverse gear.|
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|Circle|Switch to neutral gear.|
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|Cross|Switch to parking gear.|
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|L2|Swtich control mode to MANUAL.|
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|L3|Switch control mode to AUTONOMOUS.|
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|Throttle pedal|Forward acceleration.|
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|Brake pedal|Reverse acceleration.|
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|Steering wheel|Turning.|
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|Left paddle|Turn left blinker on.|
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|Right paddle|Turn right blinker on.|
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|R2|Turn on hazard lights.|
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|R3|Turn off blinker or hazard lights.|
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|L2|Switch control mode `AUTONOMOUS` to `MANUAL`|
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|L3|Switch control mode `MANUAL` to `AUTONOMOUS`|
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## Create custom vehicle
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‎docs/GettingStarted/Advanced/LogitechG29/index.md‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -72,4 +72,5 @@ The `AWSIM-demo.x86-64` simulation (included in [AWSIM-demo.zip](../../../Downlo
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|Right paddle|Turn right blinker on.|
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|R2|Turn on hazard lights.|
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|R3|Turn off blinker or hazard lights.|
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|L2|Switch control mode `MANUAL` to `AUTONOMOUS`|
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|L2|Switch control mode `AUTONOMOUS` to `MANUAL`|
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|L3|Switch control mode `MANUAL` to `AUTONOMOUS`|

‎docs/GettingStarted/DemoDetails/index.md‎

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@@ -44,6 +44,9 @@ This vehicle dynamics model was created for Autoware simulation, and assuming th
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- Keyboard
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!!! info
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Keyboard input for throttle and steering instantly switches the control mode from `AUTONOMOUS` to `MANUAL`.
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|Key|Feature|
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|:--|:--|
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|D|Switch to move drive gear.|
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|2|Turn right blinker on.|
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|3|Turn on hazard lights.|
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|4|Turn off blinker or hazard lights.|
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|C|Switch control mode `MANUAL` to `AUTONOMOUS`|
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- Logitech G29 steering wheel
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@@ -74,6 +78,8 @@ This vehicle dynamics model was created for Autoware simulation, and assuming th
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|Right paddle|Turn right blinker on.|
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|R2|Turn on hazard lights.|
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|R3|Turn off blinker or hazard lights.|
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|L2|Switch control mode `AUTONOMOUS` to `MANUAL`|
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|L3|Switch control mode `MANUAL` to `AUTONOMOUS`|
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### Control mode
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@@ -116,7 +122,7 @@ Demo simulation has a total of four sensors.
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<popup-img src="image_5.png" width="500" alt="image_5"></popup-img>
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Lidar sensor is the component that simulates the *LiDAR* (*Light Detection and Ranging*) sensor.
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*LiDAR* works by emitting laser beams that bounce off objects in the environment, and then measuring the time it takes for the reflected beams to return, allowing the sensor to create a *3D* map of the surroundings.
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*LiDAR* works by emitting laser beams that bounc e off objects in the environment, and then measuring the time it takes for the reflected beams to return, allowing the sensor to create a *3D* map of the surroundings.
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This data is used for object detection, localization, and mapping.
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Publish ROS2 topics.
@@ -330,7 +336,7 @@ For performance, the pointcloud topic output from the LiDAR sensor is published
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| Topic | Message type | `frame_id` | `Hz` | `QoS` |
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|--:------------------------------------------|--:---------------------------------------------------------------------------------------------------------------------------------------------------------------|--:--------------------------------------|--:-:--|--:------------------------------------------------------------------|
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| `/clock` | [`rosgraph_msgs/Clock`](https://docs.ros.org/en/api/rosgraph_msgs/html/msg/Clock.html) | - | `100` | <ul><li>`Best effort`</li><li>`Volatile`</li><li>`Keep last/1`</li> |
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| `/sensing/camera/traffic_light/camera_info` | [`sensor_msgs/CameraInfo`](https://docs.ros.org/en/api/sensor_msgs/html/msg/CameraInfo.html) | `traffic_light_left_camera/camera_link` | `10` | <ul><li>`Best effort`</li><li>`Volatile`</li><li>`Keep last/1`</li> |
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| `/sensing/camera/traffic_light/camera_info` | [`sensor_msgs/C ameraInfo`](https://docs.ros.org/en/api/sensor_msgs/html/msg/CameraInfo.html) | `traffic_light_left_camera/camera_link` | `10` | <ul><li>`Best effort`</li><li>`Volatile`</li><li>`Keep last/1`</li> |
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| `/sensing/camera/traffic_light/image_raw` | [`sensor_msgs/Image`](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html) | `traffic_light_left_camera/camera_link` | `10` | <ul><li>`Best effort`</li><li>`Volatile`</li><li>`Keep last/1`</li> |
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| `/sensing/gnss/pose` | [`geometry_msgs/Pose`](https://docs.ros.org/en/api/geometry_msgs/html/msg/Pose.html) | `gnss_link` | `1` | <ul><li>`Reliable`</li><li>`Volatile`</li><li>`Keep last/1`</li> |
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| `/sensing/gnss/pose_with_covariance` | [`geometry_msgs/PoseWithCovarianceStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) | `gnss_link` | `1` | <ul><li>`Reliable`</li><li>`Volatile`</li><li>`Keep last/1`</li> |

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