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Add longitudinal camera offset #551
This enhancement is part of a large group of enhancements included in a different PR. I realized that it would be easier to understand and evaluate the merits of each individual enhancement before that PR is completed. I'll be submitting many more over the next few days.
This is a simple adjustment to the future state calculation in pathplanner.py to allow for adjusting the turning characteristics of a vehicle at lower speeds. Vehicles with long wheelbases with windshields set further back in the chassis have a tendency to under-steer at low speeds. This enhancement allows for a value (in meters) to be determined for each vehicle to eliminate that problem. For my 2018 Honda Accord, I found that 1.0 meters was ideal.