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Use steer_p_gain for UpdateVelocity steer joint speed #2355

Merged
merged 2 commits into from
Apr 10, 2024
Merged

Use steer_p_gain for UpdateVelocity steer joint speed #2355

merged 2 commits into from
Apr 10, 2024

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retinfai
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@retinfai retinfai commented Apr 3, 2024 •
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Summary

This PR uses the steer_p_gain to control steering joint speed for ackermann based vehicles using Twist to drive. Replicates logic from the UpdateAngle, which is steering only.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@retinfai retinfai requested a review from mjcarroll as a code owner April 3, 2024 06:53
@github-actions github-actions bot added the 🎵 harmonic Gazebo Harmonic label Apr 3, 2024
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retinfai commented Apr 3, 2024

cc @bperseghetti

bperseghetti
bperseghetti approved these changes Apr 10, 2024
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Just waiting on CI.

@bperseghetti bperseghetti merged commit 401c811 into gazebosim:gz-sim8 Apr 10, 2024
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@bperseghetti bperseghetti bperseghetti approved these changes

@mjcarroll mjcarroll Awaiting requested review from mjcarroll mjcarroll is a code owner

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