lgsvl_interface: publish negative velocity when gear=REV
Description
Modify lgsvl_interface
so that it publishes negative velocity when the vehicle moves backward.
This MR is needed for backward moving (for MPC/pure_pursuit). This is related to #535 (closed)
Following the current document, the controller assumes the negative velocity when the vehicle moves backward. https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/vehicle-interface-reference-implementation.html
Same in the VehicleControlCommand
as commented below.
# should be negative when reversed
float32 long_accel_mps2 0.0
Notes for Reviewer
For test of this MR: run the lgsvl_simulator with interface. Move the vehicle forward/backward and check the velocity in /vehicle/vehicle_kinematic_state
is positive/negative correctly.
Checklist
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Documentation was updated
Edited by takamasa horibe