Low vehicle speeds not reported

[kudoukidd]

Steering Report CAN frame will not report low vehicle speeds. You got some zeros at startup, and then something like 0.23 m/s. Values between 0~0.2x m/s are all reported as 0.

[Micho Radovnikovich]

The speed measurement in the steering report message comes from the production vehicle, and it exhibits the deadband you are describing. To get feedback in low-speed situations, you have two options:

• Use the /vehicle/wheel_position_report topic (message type WheelPositionReport). This topic contains incremental position ticks instead of speed. This makes it useful for extremely low speed maneuvers such as parking.

• Use the /vehicle/wheel_speed_report topic (message type WheelSpeedReport). This topic contains the angular velocity of the individual wheels. These wheel speed measurements cut out to zero at a lower speed than the speed signal in the steering report message.