why speed command (unit:m/s)mentioned in the carla_ros_bridge? is different from speed command(unit:km/h) mentioned in the carla window

[carla-simulator]

why speed command (unit:m/s)mentioned in the carla_ros_bridge? is different from speed command(unit:km/h) mentioned in the carla window

[lgeo3]

@chengjinjack Thanks for the issue, after discussion on discord with @danil-tolkachev and other ros-bridge user, there seem to be a better way to handle car control than what we are doing right now.
Here are the two direction that we could implement:

1. Use something like PID controller in ROS bridge in order to control the car using speed command
2. Use another control message like ThrottleCmd from [1] and shift responsibility for speed control on user side

[1] https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/a73b98eab07879a850a58b403a4a9e3422d744bd/dbw_mkz_msgs/msg/?at=default

[fabianoboril]

Hi,
we updated the code in the master branch, which should address your issue. You can now either use a PID-controller to provide ackermann driving commands, or you can set throttle/brake values directly. Please have a look.

For now, I'll close this issues, as the problem should be resolved.

[yangydavid]

@fabianoboril Hi Could you elaborate a little more about how to directly set throttle/brake values? Any instructions would be very much appreciated! Thanks!