fix: reported velocity in reverse (#166)

Signed-off-by: Alptuğ Cırıt <[email protected]>
autowarefoundation · Sep 27, 2024 · f05ceaa · f05ceaa
1 parent 856998e
commit f05ceaa
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs
@@ -323,7 +323,7 @@ private void ReportVehicleState()
             VpSteeringReport = _frontWheels[0].steerAngle;
             VpGearReport = _vehicleController.data.bus[Channel.Vehicle][VehicleData.GearboxMode];
             VpVelocityReport =
-                transform.InverseTransformDirection(_rigidbody.velocity.normalized * _vehicleController.speed);
+                transform.InverseTransformDirection(_rigidbody.velocity);
             VpAngularVelocityReport = transform.InverseTransformDirection(AngularVelocity);
             VpThrottleStatusReport =
                 _vehicleController.data.bus[Channel.Input][InputData.Throttle] * VppToAutowareMultiplier;