twist_gate: Don't send gear cmd when using LGSVL sim (!113) · Merge requests · AutonomouStuff / Autoware.AI / core_planning

Ian Colwell requested to merge 79_twist_gate_lgsvl_updates into as/master Apr 27, 2022

Resolves #79 (closed) by disabling gear cmd when using LGSVL sim. Previously we had intended to change the gear to Drive automatically, but it appears sending non-zero gear causes LGSVL to switch to ctrl_cmd input instead of twist_cmd. This behaviour is partially explained here: https://github.com/lgsvl/simulator/issues/1786

twist_gate: Don't send gear cmd when using LGSVL sim

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