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fix: wheel flicker #172

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merged 1 commit into from
Oct 3, 2024
Merged

fix: wheel flicker #172

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10 changes: 2 additions & 8 deletions Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -173,10 +173,6 @@ private void Start()
// Set initial vehicle gear to Park to prevent movement
_vehicleController.data.bus[Channel.Input][InputData.AutomaticGear] = (int)Gearbox.AutomaticGear.P;

// reset vpp stuff for multi-scene loading (no idea why, but it works)
_vehicleController.enabled = false;
_vehicleController.enabled = true;

// Subscribe to events
_egoVehiclePositionManager = FindObjectOfType<EgoVehiclePositionManager>();
if (_egoVehiclePositionManager != null)
Expand Down Expand Up @@ -268,10 +264,8 @@ public void HandleSteer()

private void SetWheelSteerAngleDirectly(float angle)
{
foreach (var wheel in _frontWheels)
{
wheel.steerAngle = angle;
}
_vehicleController.wheelState[1].steerAngle = angle;
_vehicleController.wheelState[0].steerAngle = angle;
}

// temp method to simulate steering wheel input with delay, also inaccurate (mozzz)
Expand Down
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