lgsvl_interface goes into reverse gear while braking
Description
When using basic_control
mode using either joystick or mpc_controller,
lgsvl_interface
goes into reverse gear while braking.
It stays stuck in that gear and does not recover,
unless manually changed by some other method like gear change buttons in lgsvl or joystick.
lgsvl_interface_goes_into_reverse_while_braking
How to Reproduce
Follow instructions from LGSVL page
ros2 launch lgsvl_interface lgsvl_vehicle_control_command.launch.py
Current Behavior
- In the topic
/vehicle_command
published by either joystick ormpc_controller
, if the value oflong_accel_mps2
becomes negative to decelerate/brakelgsvl_interface
goes into reverse gear. - After that for any value of
long_accel_mps2
,lgsvl_interface
would not change gear to drive.
Expected behavior
- Gear should not get locked to reverse and should be able to come back to drive/forward !227 (merged)
- While in drive/forward, for negative
long_accel_mps2
lgsvl_interface
should only brake and not change gears. !228 (merged) - Only when the vehicle is stopped, the vehicle should change gears to either forward/drive for positive
long_accel_mps2
and reverse for negativelong_accel_mps2
. !228 (merged) - If in reverse, negative
long_accel_mps2
should be used for accelerating backward and positivelong_accel_mps2
should brake/slow down vehicle from backward motion. !229 (merged)
Refer: Vehicle Interface Design
After Solving
Edited by Jit Ray Chowdhury