vehicle-dynamics — CARLA 车辆动力学 SKILL
引用技能
agents/skills/simulation/gazebo/agents/skills/ros2-debug/
CARLA 车辆配置
# 设置车辆物理参数
vehicle_physics = carla.VehiclePhysicsControl(
torque_curve=[(0, 500), (3000, 800)],
max_rpm=6000,
drag_coefficient=0.3,
center_of_mass=carla.Vector3D(0, 0, -0.5),
)
轮胎模型
# Pacejka 轮胎模型参数
wheel_friction=0.8,
roll_friction=0.1,
ROS2 桥接
# CARLA → ROS2
carla_ros_bridge # 自动桥接
/carla/vehicle/odometry → /odom
/carla/vehicle/cmd_vel → /cmd_vel
禁止
- ❌ 不做车辆参数标定就用(与真实车行为差异大)