Vehicle Plugin 100 % Ackermann unable to simulate
I have modified the Vehicle Plugin to be a subscriber to steering joint and gas joint positions in degrees radians. I then created a publisher to provide these values in a programmatic manner. I notice that when I command a valid gas and steering value the vehicle does not execute a perfect circle. This is critical as I want to use this simulation for path planning. I tried to set a right and left steering angle as well and just provide a force to the chassis and not the wheel joints . Would appreciate it if anyone could explain why this is happening ?
More info would be useful. When you say "the vehicle does not execute a perfect circle," do you mean that it doesn't move at all.. or it does move but drifts from the expected path? A video would help us to understand your problem!
Thanks. Github repo to share https://github.com/pchidamb/AckermanExample Have questions! 1. The vehicle turns if steering input < 0.5 radians . Otherwise it Slips and moves linearly. Why? 2. The radius circle it makes for clockwise /anti clock wise are not exactly the same ( 2-3 units variation) Is the steer,gas and brake link masses affecting solver , skew turns ? 3. Suggestion experiments with grade ,bank & friction coeff (value ballpark) would help. 4. Can I scale masses 100000 & simulate