Feature negative speed #3
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… negative speeds (reversing).
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LGTM but Github building tools not liking it. ;) |
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Yes, I noticed that too. I think it mostly complains about code from syncing with the main repo and not the parts I added in this branch. The syncing never went through any checks since it wasn't handled as a PR so the checks notice it now |
| @@ -21,7 +21,7 @@ | |||
| import carla | |||
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| from srunner.scenariomanager.actorcontrols.external_control import ExternalControl | |||
| from srunner.scenariomanager.actorcontrols.npc_vehicle_control import NpcVehicleControl | |||
| from srunner.scenariomanager.actorcontrols.simple_vehicle_control import SimpleVehicleControl | |||
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Will this simple controller affect any other scenarios? I.e. will it always work as intended?
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The problem is that none of the controllers are optimal but this simple controller is the better of the two imo. The previous controller uses a PID controller to steer the vehicle both lateral and longitudinal which results in some response time (suboptimal for a scenariorunner imo). The new controller sets the velocity and angular velocity of the vehicle directly and thus makes the ScenarioRunner focus more on the scenario itself rather than following a trajectory to the best of its ability. The PID controller might be more "realistic" in a sense, but demands a lot of tuning to work half as good as the real controllers in a car. So in the end it's not really more realistic anyway.
… early and destroying all actors.
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There is a PR towards this branch that needs to be implemented regardless of these changes, but I branched it out from this branch so it needs to be merged here first. |
Fix early exit
…nner into feature_negative_speed
Switched controller and added support for negative speeds. Works towards: DAG-465