Fixed turning error in ackermann steering (gazebosim#2342)

This is a fix to the error seen in Ackermann Steering's <steering_only> mode. The steps to reproduce this error are described in issue gazebosim#2314. Signed-off-by: Saurabh Kamat <[email protected]> Signed-off-by: Gaurav Kumar <[email protected]>
GauravKumar9920 · Mar 30, 2024 · 55cd8a6 · 55cd8a6
1 parent 8ca57b4
commit 55cd8a6
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -968,11 +968,11 @@ void AckermannSteeringPrivate::UpdateAngle(
 
   double leftSteeringJointAngle =
       atan((2.0 * this->wheelBase * sin(ang)) / \
-      ((2.0 * this->wheelBase * cos(ang)) + \
+      ((2.0 * this->wheelBase * cos(ang)) - \
       (1.0 * this->wheelSeparation * sin(ang))));
   double rightSteeringJointAngle =
       atan((2.0 * this->wheelBase * sin(ang)) / \
-      ((2.0 * this->wheelBase * cos(ang)) - \
+      ((2.0 * this->wheelBase * cos(ang)) + \
       (1.0 * this->wheelSeparation * sin(ang))));
 
   auto leftSteeringPos = _ecm.Component<components::JointPosition>(