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removed tunning ackermann pid

This commit is contained in:
Joel Moriana 2022-02-07 17:27:04 +01:00 committed by joel-mb
parent 8b6c34e751
commit 702bf9db50
1 changed files with 0 additions and 10 deletions
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10
PythonAPI/examples/manual_control.py
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@ -276,10 +276,6 @@ class World(object):
sys.exit(1) sys.exit(1)
spawn_points = self.map.get_spawn_points() spawn_points = self.map.get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
spawn_point = carla.Transform(
carla.Location(x=-250.0, y=245.0, z=2.0),
carla.Rotation()
)
self.player = self.world.try_spawn_actor(blueprint, spawn_point) self.player = self.world.try_spawn_actor(blueprint, spawn_point)
self.show_vehicle_telemetry = False self.show_vehicle_telemetry = False
self.modify_vehicle_physics(self.player) self.modify_vehicle_physics(self.player)
@ -509,12 +505,6 @@ class KeyboardControl(object):
world.hud.notification("Recording start time is %d" % (world.recording_start)) world.hud.notification("Recording start time is %d" % (world.recording_start))
if isinstance(self._control, carla.VehicleControl): if isinstance(self._control, carla.VehicleControl):
if event.key == K_f: if event.key == K_f:
world.player.apply_ackermann_controller_settings(
carla.AckermannControllerSettings(
speed_kp=0.15, speed_ki=0.0, speed_kd=0.25,
accel_kp=0.01, accel_ki=0.0, accel_kd=0.01
)
)
# Toggle ackermann controller # Toggle ackermann controller
self._ackermann_enabled = not self._ackermann_enabled self._ackermann_enabled = not self._ackermann_enabled
world.hud.show_ackermann_info(self._ackermann_enabled) world.hud.show_ackermann_info(self._ackermann_enabled)