fix(vehicle_info_util): correct max_steer_angle unit (#1414)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Jul 25, 2022 · 5e09191 · 5e09191
1 parent b217a20
commit 5e09191
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp
@@ -31,7 +31,7 @@ struct VehicleInfo
   double left_overhang_m;
   double right_overhang_m;
   double vehicle_height_m;
-  double max_steer_angle_m;
+  double max_steer_angle_rad;
 
   // Derived parameters, i.e. calculated from base parameters
   // The offset values are relative to the base frame origin, which is located
@@ -51,7 +51,7 @@ inline VehicleInfo createVehicleInfo(
   const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m,
   const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m,
   const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m,
-  const double max_steer_angle_m)
+  const double max_steer_angle_rad)
 {
   // Calculate derived parameters
   const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m;
@@ -74,7 +74,7 @@ inline VehicleInfo createVehicleInfo(
     left_overhang_m,
     right_overhang_m,
     vehicle_height_m,
-    max_steer_angle_m,
+    max_steer_angle_rad,
     // Derived parameters
     vehicle_length_m_,
     vehicle_width_m_,

diff --git a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp
@@ -49,7 +49,7 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node)
   vehicle_info_.left_overhang_m = getParameter<double>(node, "left_overhang");
   vehicle_info_.right_overhang_m = getParameter<double>(node, "right_overhang");
   vehicle_info_.vehicle_height_m = getParameter<double>(node, "vehicle_height");
-  vehicle_info_.max_steer_angle_m = getParameter<double>(node, "max_steer_angle");
+  vehicle_info_.max_steer_angle_rad = getParameter<double>(node, "max_steer_angle");
 }
 
 VehicleInfo VehicleInfoUtil::getVehicleInfo()
@@ -58,7 +58,7 @@ VehicleInfo VehicleInfoUtil::getVehicleInfo()
     vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m,
     vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m,
     vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m,
-    vehicle_info_.max_steer_angle_m);
+    vehicle_info_.max_steer_angle_rad);
 }
 
 }  // namespace vehicle_info_util