Update the planning simulator to use the new AckermannControlCommand
Description
The control message AckermannControlCommand
is currently not supported by any package. To make the development of controllers using this new message type easier, the planning simulator should be updated to support this message.
Expected behavior
The planning simulator can be used with a controller that outputs AckermannControlCommand
.
One possibility is to keep the VehicleControlCommand
by default and use a parameter to change the control message type, e.g.:
ros2 launch simple_planning_simulator simple_planning_simulator.launch.py control_msg:=ackermann
Definition of Done
-
The ego vehicle can be controlled with AckermannControlCommand
messages when using the planning simulator. -
Documentation is updated with instructions to use the new message.